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CliCmd_FlipSetting
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cfif 2024-12-04 13:10:49 +03:00
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27
Inc/CliCmd/FlipSetting.h Normal file
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//
// Created by zemon on 24.11.22.
//
#ifndef UVEOS_ON_NATION_FLIPSETTING_H
#define UVEOS_ON_NATION_FLIPSETTING_H
#include "CliCmd.h"
#include "CarFlipDetection.h"
#include "ComIntCmd/Vars.h"
typedef struct {
tVariablesTable *externTable;
tCarFlipDetection *flipDetect;
float val_x;
float val_y;
float val_z;
float angleCos;
} tFlipSetting;
void CliCmd_FlipSettingInit(tFlipSetting *tFlipSet, tCarFlipDetection *tFlipBase, tVariablesTable *externTable);
uint8_t CliCmd_FlipSetting(tFlipSetting *tFlipSet, tCliCmd *cli);
void CliCmd_flipModedHelp(void *env, tCliCmd *cli);
#endif //UVEOS_ON_NATION_FLIPSETTING_H

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Src/CliCmd/FlipSetting.c Normal file
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////
//// Created by zemon on 18.11.22.
////
//
//
#include "CliCmd/FlipSetting.h"
#include "SystemDelayInterface.h"
#include "XfcProtProcessorUtilDefines.h"
#include "string.h"
#include "stream.h"
void CliCmd_flipModedHelp(void *env, tCliCmd *cli) {
CliCmd_PrintLnStatic(cli, " access sub commands:");
CliCmd_PrintLnStatic(cli, " command [ exit ] - exit as this sub mode");
CliCmd_PrintLnStatic(cli, " command [ help ] - help this as sub mode");
CliCmd_PrintLnStatic(cli, " command [ stop] - stop listing data acsel");
CliCmd_PrintLnStatic(cli, " command [ rec_angle ] - record this params");
CliCmd_PrintLnStatic(cli, " command [ rec_vector ] - record this params");
CliCmd_PrintLnStatic(cli, " press ENTER key to continue");
CliCmd_PrintLnStatic(cli, "");
}
char sps[] = " ";
void printSps(tCliCmd *cli) {
SerialPortTransmit(cli->serialCommandPort, (uint8_t *) sps, sizeof(sps) - 1, SystemWaitForever);
}
void updateData(tFlipSetting *tFlipSet) {
tFlipSet->val_x = tFlipSet->flipDetect->current.value.x;
tFlipSet->val_y = tFlipSet->flipDetect->current.value.y;
tFlipSet->val_z = tFlipSet->flipDetect->current.value.z;
tFlipSet->angleCos = tFlipSet->flipDetect->current.angleCos;
}
void printData(tFlipSetting *tFlipSet, tCliCmd *cli, uint32_t timeout) {
uint32_t endMs = SystemGetMs() + timeout;
updateData(tFlipSet);
SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "angleCos=", sizeof("angleCos=") - 1, SystemWaitForever);
debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->angleCos);
printSps(cli);
SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "X=", 2, SystemWaitForever);
debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->val_x);
printSps(cli);
SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "Y=", 2, SystemWaitForever);
debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->val_y);
printSps(cli);
SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "Z=", 2, SystemWaitForever);
debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->val_z);
CliCmd_PrintLnStatic(cli, "");
while (endMs > SystemGetMs()) {
SystemDelayMs(4);
}
}
uint8_t recordVarData(tFlipSetting *tFlipSet, tCliCmd *cli, uint8_t stat) {
char *nameFiled;
tVariableDescriptor *descriptor;
if (VariablesTable_RequireChange(tFlipSet->externTable, 10)) {
if (stat == 0) {
nameFiled = "FLIP_DETECT_TRESHOLD_ANGLE_COS";
descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
memcpy(descriptor->addr, &tFlipSet->angleCos, sizeof(tFlipSet->angleCos));
VariablesTable_VariableChanged(tFlipSet->externTable, descriptor);
VariablesTable_ReleaseChange(tFlipSet->externTable);
CliCmd_PrintLnStatic(cli, " record angle is success");
//осовбождаем доступ к измененению настроек
VariablesTable_ReleaseChange(tFlipSet->externTable);
} else {
nameFiled = "FLIP_DETECT_GRAVITY_X";
descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
memcpy(descriptor->addr, &tFlipSet->val_x, sizeof(tFlipSet->val_x));
nameFiled = "FLIP_DETECT_GRAVITY_Y";
descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
memcpy(descriptor->addr, &tFlipSet->val_y, sizeof(tFlipSet->val_y));
nameFiled = "FLIP_DETECT_GRAVITY_Z";
descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
memcpy(descriptor->addr, &tFlipSet->val_z, sizeof(tFlipSet->val_z));
VariablesTable_VariableChanged(tFlipSet->externTable, descriptor);
VariablesTable_ReleaseChange(tFlipSet->externTable);
//осовбождаем доступ к измененению настроек
VariablesTable_ReleaseChange(tFlipSet->externTable);
CliCmd_PrintLnStatic(cli, " record vector is success");
return 0;
}
} else {
//осовбождаем доступ к измененению настроек
VariablesTable_ReleaseChange(tFlipSet->externTable);
CliCmd_PrintLnStatic(cli, "Variable is busy");
return 0;
}
return 0;
}
void getNewData(tFlipSetting *tFlipSet, tCliCmd *cli) {
CliCmd_PrintLnStatic(cli, "=================== THIS DATA ===================");
printData(tFlipSet, cli, 1);
CliCmd_PrintLnStatic(cli, "=================================================");
CliCmd_PrintLnStatic(cli, " [ rec_vector ] - record this vector data");
CliCmd_PrintLnStatic(cli, " [ rec_angle ] - record this angle data");
CliCmd_PrintLnStatic(cli, " [ ENTER_PRESS_KEY ] - update this data");
CliCmd_PrintLnStatic(cli, " [ exit ] - exiting as sub mode record/ and continue listing info");
}
void stopListing(tFlipSetting *tFlipSet, tCliCmd *cli) {
getNewData(tFlipSet, cli);
while (1) {
CliCmd_WaitLine(cli);
if (CliCmd_RxStartsWithStatic(cli, "rec_angle")) {
recordVarData(tFlipSet, cli, 0);
return;
}
if (CliCmd_RxStartsWithStatic(cli, "rec_vector")) {
recordVarData(tFlipSet, cli, 1);
return;
}
if (CliCmd_RxStartsWithStatic(cli, "")) {
printData(tFlipSet, cli, 1);
}
if (CliCmd_RxStartsWithStatic(cli, "exit")) {
return;
}
}
}
void CliCmd_FlipSettingInit(tFlipSetting *tFlipSet, tCarFlipDetection *tFlipBase, tVariablesTable *externTable) {
tFlipSet->flipDetect = tFlipBase;
tFlipSet->externTable = externTable;
}
uint8_t CliCmd_FlipSetting(tFlipSetting *tFlipSet, tCliCmd *cli) {
CliCmd_PrintLnStatic(cli, "THIS MODE FLIPPING SETTINGS");
while (1) {
CliCmd_WaitLineDelay(cli, 1500);
if (CliCmd_RxStartsWithStatic(cli, "exit")) {
CliCmd_PrintLnStatic(cli, "EXIT IN BASE MODE...");
return 0;
}
if (CliCmd_RxStartsWithStatic(cli, "help")) {
CliCmd_flipModedHelp(NULL, cli);
CliCmd_WaitLine(cli);
}
if (CliCmd_RxStartsWithStatic(cli, "stop")) {
stopListing(tFlipSet, cli);
}
printData(tFlipSet, cli, 1000);
SystemDelayMs(4);
}
}

23
modular.json Normal file
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{
"dep": [
{
"type": "git",
"provider": "NAVIGATOR_UVEOS_NATION_TELIT",
"repo": "CmsisCore5"
},
{
"type": "git",
"provider": "NAVIGATOR_UVEOS_NATION_TELIT",
"repo": "CliCmd"
}
],
"cmake": {
"inc_dirs": [
"Inc"
],
"srcs": [
"Src/**.c"
]
}
}

52
user.txt Normal file
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1.Ввести в консоль комманду set_flip, в ответ должно быть:
THIS MODE FLIPPING SETTINGS
angleCos=NaN X=0.070200 Y=-0.081900 Z=0.945750
angleCos=NaN X=0.072150 Y=-0.081900 Z=0.943800
angleCos=NaN X=0.070200 Y=-0.083850 Z=0.945750
angleCos=NaN X=0.066300 Y=-0.079950 Z=0.947700
angleCos=NaN X=0.072150 Y=-0.081900 Z=0.945750
2.Установить устройство в нормальное положение
3.Ввести комманду stop - ответ примерно такого вида:
=================== THIS DATA ===================
angleCos=NaN X=0.066300 Y=-0.076050 Z=0.941850
=================================================
[ rec_vector ] - record this vector data
[ rec_angle ] - record this angle data
[ ENTER_PRESS_KEY ] - update this data
[ exit ] - exiting as sub mode record/ and continue listing info
4.Ввести комманду rec_vector
~ответ:
record vector is success
angleCos=NaN X=0.072150 Y=-0.083850 Z=0.943800
angleCos=0.999943 X=0.074100 Y=-0.081900 Z=0.937950
angleCos=0.999945 X=0.072150 Y=-0.083850 Z=0.939900
angleCos=0.999969 X=0.074100 Y=-0.076050 Z=0.945750
5.Установите устройство в критический угол (после которого происходит опрокидывание)
6.Вбейте комманду stop
~ответ:
=================== THIS DATA ===================
angleCos=0.239791 X=-0.871650 Y=-0.070200 Z=0.276900
=================================================
[ rec_vector ] - record this vector data
[ rec_angle ] - record this angle data
[ ENTER_PRESS_KEY ] - update this data
[ exit ] - exiting as sub mode record/ and continue listing info
7.Вбейте комманду rec_angle
record angle is success
angleCos=0.999369 X=0.072150 Y=-0.109200 Z=0.939900
angleCos=0.999282 X=0.074100 Y=-0.111150 Z=0.939900
angleCos=0.999392 X=0.078000 Y=-0.107250 Z=0.941850
На данном этапе установлен нормальный вектор, и угол сробатывания
НО ОНИ НЕ СОХРАНЕНЫ В ПЗУ.
Для сохранения в ПЗУ, необходимо изменить настройку (фактически любую) на вкладке "Натройки"
В частности можно включить срабатывание при перевороте задав значение параметра FLIP_DETECT_ENABLE в 1