mirror of
https://github.com/DashyFox/StackSport.git
synced 2025-05-04 07:10:17 +00:00
494 lines
12 KiB
C
494 lines
12 KiB
C
/*
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* UART3_CMD_Handler.c
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*
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* Created on: Sep 12, 2024
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* Author: DashyFox
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*/
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#include "UART3_CMD_Handler.h"
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#include "Print.h"
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#include "RobotFunctions.h"
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#include "EEPROM.h"
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#define HIGHBIT(b) (((b)>>8)&0xff)
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#define LOWBIT(b) ((b)&0xff)
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extern CurrentInfo currentInfo;
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extern InfoBlock infoBlock;
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extern void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
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uint8_t data_length);
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uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
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if (current_length < required_length) {
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print("Invalid length for command ");
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printNumber(cmd);
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print(" len = ");
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printNumber(current_length);
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print("\n");
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return 0;
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}
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return 1;
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}
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// 10
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void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 8;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t shotIndx = dataPtr[1];
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Shot shot;
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shot.isExist = 1;
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shot.countRepeatShot = dataPtr[2];
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shot.speedRollerTop = dataPtr[3] + 100;
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shot.speedRollerBottom = dataPtr[4] + 100;
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shot.speedScrew = map(dataPtr[5], 0, 120, 0, 100);
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shot.rotationAxial = map((int8_t)dataPtr[6], -99, 99, 0, 180);
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shot.rotationHorizontal = map((int8_t)dataPtr[7], -99, 99, 0, 180);
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shot.rotationVertical = 180 - (int8_t)dataPtr[8] - 90;
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saveShot(shotIndx, &shot);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 5;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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Program prog;
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uint8_t progIndx = dataPtr[1];
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prog.header.shotCount = (len - 3) / sizeof(ProgramShot);
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prog.header.countRepeat = dataPtr[2];
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prog.header.options = dataPtr[3];
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if (dataPtr[4] != 0xFF && dataPtr[5]) {
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for (uint8_t i = 0; i < prog.header.shotCount; i++) {
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uint8_t pos = 4 + i * sizeof(ProgramShot);
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prog.shots[i].id = dataPtr[pos + 0];
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prog.shots[i].speedScrew = dataPtr[pos + 1];
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}
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} else {
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delProg(progIndx);
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}
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saveProg(progIndx, &prog);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 5;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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Macro macro;
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uint8_t macroIndx = dataPtr[1];
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macro.header.programmCount = (len - 1) / sizeof(MacroProgram);
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if (/**/dataPtr[2] != 0xFF && //
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dataPtr[3] != 0xFF && //
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dataPtr[4] != 0xFF && //
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dataPtr[5] != 0xFF) {
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for (uint8_t i = 0; i < macro.header.programmCount; i++) {
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uint8_t pos = 2 + i * sizeof(MacroProgram);
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macro.programs[i].id = dataPtr[pos+0];
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macro.programs[i].speedScrew = dataPtr[pos+2];
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macro.programs[i].countRepeat = dataPtr[pos+3];
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macro.programs[i].options = dataPtr[pos+4];
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}
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} else {
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delMacro(macroIndx);
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}
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 102
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void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t shotIndx = dataPtr[1];
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prepareShot(shotIndx);
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startShooting(infoBlock.hwInfo.timings.preRun);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 110
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void UART3_Stop(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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stopShooting();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 13
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void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t shotIndex = dataPtr[1];
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delShot(shotIndex);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 14
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void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t progIndex = dataPtr[1];
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delProg(progIndex);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 15
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void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t macroIndex = dataPtr[1];
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delMacro(macroIndex);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 120
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void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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getInfoBlock();
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EEPROM_EARSE();
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 180
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void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t res = currentInfo.state == RUN;
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SendResponse(dataPtr[0], 0, &res, sizeof(res));
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}
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// 200
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void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 2;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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uint8_t newDef = dataPtr[2];
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printNumber(newDef);
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print("\n");
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newDef += 90; // from center
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if (newDef > 180)
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newDef = 180;
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currentServo->def = newDef;
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printNumber(newDef);
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print("\n");
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 205
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void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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int16_t def = currentServo->def - 90; // offset from center
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uint8_t res[2];
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res[0] = HIGHBIT(def);
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res[1] = LOWBIT(def);
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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// 201
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void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 3;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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uint16_t maxAngl = (dataPtr[2] << 8) | dataPtr[3];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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if (maxAngl > 180)
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maxAngl = 180;
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if (maxAngl < 0)
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maxAngl = 0;
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currentServo->max = maxAngl;
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 202
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void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 3;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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uint16_t minAngl = (dataPtr[2] << 8) | dataPtr[3];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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if (minAngl > 180)
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minAngl = 180;
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if (minAngl < 0)
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minAngl = 0;
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currentServo->min = minAngl;
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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uint8_t maxAngl = currentServo->max;
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uint8_t res[2];
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res[0] = HIGHBIT(maxAngl);
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res[1] = LOWBIT(maxAngl);
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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void UART3_GetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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uint8_t minAngl = currentServo->min;
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uint8_t res[2];
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res[0] = HIGHBIT(minAngl);
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res[1] = LOWBIT(minAngl);
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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// 203
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void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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setPosDefaultSingle(dataPtr[1]);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 206
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void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 2;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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infoBlock.hwInfo.timings.preRun = (dataPtr[1] << 8) | dataPtr[2];
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 207
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void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t res[2];
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res[0] = HIGHBIT(infoBlock.hwInfo.timings.preRun);
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res[1] = LOWBIT(infoBlock.hwInfo.timings.preRun);
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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// 210 !!!!!!!!
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void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 211 !!!!!!!!!!!
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void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t res[1];
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// res[0] = ;
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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// 212
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void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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infoBlock.hwInfo.motors.speed_Screw_min = dataPtr[1];
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 215
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void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t res[1];
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res[0] = infoBlock.hwInfo.motors.speed_Screw_min;
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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// 214
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void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t inv = dataPtr[1];
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infoBlock.hwInfo.servos[SERVO_AXIAL].invert = inv;
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert = inv;
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infoBlock.hwInfo.servos[SERVO_VERTICAL].invert = inv;
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 215
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void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t res[1];
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res[0] = (infoBlock.hwInfo.servos[SERVO_AXIAL].invert
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|| infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert
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|| infoBlock.hwInfo.servos[SERVO_VERTICAL].invert);
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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// 181
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void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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typedef struct __attribute__((packed)) {
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uint8_t status;
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uint8_t macro_number;
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uint8_t program_number;
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uint8_t shot_number;
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uint8_t total_macro_done_HIGH;
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uint8_t total_macro_done_LOW;
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uint8_t total_program_done_HIGH;
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uint8_t total_program_done_LOW;
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uint8_t total_shot_done_HIGH;
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uint8_t total_shot_done_LOW;
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} StatusStruct;
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StatusStruct res;
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res.status = currentInfo.state == RUN;
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res.shot_number = currentInfo.shot.index;
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res.program_number = currentInfo.program.index;
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res.macro_number = currentInfo.macro.index;
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res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.totalShots);
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res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.totalShots);
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res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.totalPrograms);
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res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.totalPrograms);
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res.total_macro_done_HIGH = HIGHBIT(infoBlock.statInfo.totalMacros);
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res.total_macro_done_LOW = LOWBIT(infoBlock.statInfo.totalMacros);
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SendResponse(dataPtr[0], 0, (uint8_t*) &res, sizeof(res));
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}
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// 121
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void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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memset(&infoBlock.statInfo, 0x00, sizeof(infoBlock.statInfo));
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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