Init
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cfif
commit
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//
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// Created by zemon on 24.11.22.
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//
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#ifndef UVEOS_ON_NATION_FLIPSETTING_H
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#define UVEOS_ON_NATION_FLIPSETTING_H
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#include "CliCmd.h"
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#include "CarFlipDetection.h"
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#include "ComIntCmd/Vars.h"
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#include "Accel_QMA6100P.h"
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#include "CarCrashDetection.h"
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typedef struct {
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tVariablesTable *externTable;
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tCarFlipDetection *flipDetect;
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tAccelCoor *accelCoor;
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tCarCrashDetection *carCrashDetection;
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float isDetectValue;
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float val_x;
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float val_y;
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float val_z;
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int32_t valGraviti_x;
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int32_t valGraviti_y;
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int32_t valGraviti_z;
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float asi15This;
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float asi15Limit;
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float angleCos;
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} tFlipSetting;
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void CliCmd_FlipSettingInit(
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tFlipSetting *tFlipSet,
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tCarFlipDetection *tFlipBase,
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tVariablesTable *externTable,
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tAccelCoor *tAccelCoor,
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tCarCrashDetection *carCrashDetection
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);
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uint8_t CliCmd_FlipSetting(tFlipSetting *tFlipSet, tCliCmd *cli);
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void CliCmd_flipModedHelp(void *env, tCliCmd *cli);
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#endif //UVEOS_ON_NATION_FLIPSETTING_H
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////
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//// Created by zemon on 18.11.22.
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////
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//
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//
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#include "CliCmd/FlipSetting.h"
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#include "SystemDelayInterface.h"
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#include "XfcProtProcessorUtilDefines.h"
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#include "string.h"
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#include "stream.h"
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void CliCmd_flipModedHelp(void *env, tCliCmd *cli) {
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CliCmd_PrintLnStatic(cli, " access sub commands:");
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CliCmd_PrintLnStatic(cli, " command [ exit ] - exit as this sub mode");
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CliCmd_PrintLnStatic(cli, " command [ help ] - help this as sub mode");
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CliCmd_PrintLnStatic(cli, " command [ stop] - stop listing data acsel");
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CliCmd_PrintLnStatic(cli, " command [ rec_angle ] - record this params");
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CliCmd_PrintLnStatic(cli, " command [ rec_vector ] - record this params");
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CliCmd_PrintLnStatic(cli, " press ENTER key to continue");
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CliCmd_PrintLnStatic(cli, "");
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}
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char sps[] = " ";
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char ln[] = "\n";
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void printSps(tCliCmd *cli) {
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) sps, sizeof(sps) - 1, SystemWaitForever);
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}
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void printLn(tCliCmd *cli) {
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) ln, sizeof(ln) - 1, SystemWaitForever);
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}
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void updateData(tFlipSetting *env) {
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env->val_x = env->flipDetect->current.value.x;
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env->val_y = env->flipDetect->current.value.y;
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env->val_z = env->flipDetect->current.value.z;
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env->valGraviti_x = env->accelCoor->x;
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env->valGraviti_y = env->accelCoor->y;
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env->valGraviti_z = env->accelCoor->z;
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if(env->isDetectValue != env->carCrashDetection->asi15.isDetectValue) {
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env->isDetectValue = env->carCrashDetection->asi15.isDetectValue;
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}
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env->asi15This = env->carCrashDetection->asi15This;
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env->asi15Limit = *env->carCrashDetection->asi15.threshold;
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env->angleCos = env->flipDetect->current.angleCos;
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}
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void printData(tFlipSetting *tFlipSet, tCliCmd *cli, uint32_t timeout) {
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uint32_t endMs = SystemGetMs() + timeout;
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updateData(tFlipSet);
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printLn(cli);
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CliCmd_PrintLnStatic(cli, "==================================================================");
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| Cos=", sizeof("| Cos="), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->angleCos);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "X=", 2, SystemWaitForever);
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debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->val_x);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "Y=", 2, SystemWaitForever);
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debug_printf(cli->serialCommandPort, "%f", *(float *) &tFlipSet->val_y);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "Z=", 2, SystemWaitForever);
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debug_printf(cli->serialCommandPort, "%f |", *(float *) &tFlipSet->val_z);
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printSps(cli);
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printLn(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| ACCELERATOR_X", sizeof("| ACCELERATOR_X"), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "(MicroG)=%d", *(int32_t *) &tFlipSet->valGraviti_x);
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debug_printf(cli->serialCommandPort, " (MiliG)=%d |" , *(int32_t *) &tFlipSet->valGraviti_x/1000);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| ACCELERATOR_Y", sizeof("| ACCELERATOR_Y"), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "(MicroG)=%d", *(int32_t *) &tFlipSet->valGraviti_y);
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debug_printf(cli->serialCommandPort, " (MiliG)=%d |" , *(int32_t *) &tFlipSet->valGraviti_y/1000);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| ACCELERATOR_Z", sizeof("| ACCELERATOR_Z"), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "(MicroG)=%d", *(int32_t *) &tFlipSet->valGraviti_z);
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debug_printf(cli->serialCommandPort, " (MiliG)=%d |" , *(int32_t *) &tFlipSet->valGraviti_z/1000);
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printSps(cli);
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printLn(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| THIS_ASI15", sizeof("| THIS_ASI15"), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "=%f |", *(float *) &tFlipSet->asi15This);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| ASI_TRESHOLD", sizeof("| ASI_TRESHOLD"), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "=%f |", *(float *) &tFlipSet->asi15Limit);
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printSps(cli);
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SerialPortTransmit(cli->serialCommandPort, (uint8_t *) "| ACTIVATION_VALUE_ASI15", sizeof("| ACTIVATION_VALUE_ASI15"), SystemWaitForever);
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debug_printf(cli->serialCommandPort, "=%f |", *(float *) &tFlipSet->isDetectValue);
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printLn(cli);
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CliCmd_PrintLnStatic(cli, "==================================================================");
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printLn(cli);
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while (endMs > SystemGetMs()) {
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SystemDelayMs(1);
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}
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}
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uint8_t recordVarData(tFlipSetting *tFlipSet, tCliCmd *cli, uint8_t stat) {
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char *nameFiled;
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tVariableDescriptor *descriptor;
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if (VariablesTable_RequireChange(tFlipSet->externTable, 10)) {
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if (stat == 0) {
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nameFiled = "FLIP_DETECT_TRESHOLD_ANGLE_COS";
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descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
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memcpy(descriptor->addr, &tFlipSet->angleCos, sizeof(tFlipSet->angleCos));
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VariablesTable_VariableChanged(tFlipSet->externTable, descriptor);
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VariablesTable_ReleaseChange(tFlipSet->externTable);
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CliCmd_PrintLnStatic(cli, " record angle is success");
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//осовбождаем доступ к измененению настроек
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VariablesTable_ReleaseChange(tFlipSet->externTable);
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} else {
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nameFiled = "FLIP_DETECT_GRAVITY_X";
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descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
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memcpy(descriptor->addr, &tFlipSet->val_x, sizeof(tFlipSet->val_x));
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nameFiled = "FLIP_DETECT_GRAVITY_Y";
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descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
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memcpy(descriptor->addr, &tFlipSet->val_y, sizeof(tFlipSet->val_y));
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nameFiled = "FLIP_DETECT_GRAVITY_Z";
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descriptor = VariablesTable_GetByName(tFlipSet->externTable, nameFiled, strlen(nameFiled));
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memcpy(descriptor->addr, &tFlipSet->val_z, sizeof(tFlipSet->val_z));
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VariablesTable_VariableChanged(tFlipSet->externTable, descriptor);
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VariablesTable_ReleaseChange(tFlipSet->externTable);
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//осовбождаем доступ к измененению настроек
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VariablesTable_ReleaseChange(tFlipSet->externTable);
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CliCmd_PrintLnStatic(cli, " record vector is success");
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return 0;
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}
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} else {
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//осовбождаем доступ к измененению настроек
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VariablesTable_ReleaseChange(tFlipSet->externTable);
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CliCmd_PrintLnStatic(cli, "Variable is busy");
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return 0;
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}
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return 0;
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}
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void getNewData(tFlipSetting *tFlipSet, tCliCmd *cli) {
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CliCmd_PrintLnStatic(cli, "=================== THIS DATA ===================");
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printData(tFlipSet, cli, 1);
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CliCmd_PrintLnStatic(cli, "=================================================");
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CliCmd_PrintLnStatic(cli, " [ rec_vector ] - record this vector data");
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CliCmd_PrintLnStatic(cli, " [ rec_angle ] - record this angle data");
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CliCmd_PrintLnStatic(cli, " [ ENTER_PRESS_KEY ] - update this data");
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CliCmd_PrintLnStatic(cli, " [ exit ] - exiting as sub mode record/ and continue listing info");
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}
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void stopListing(tFlipSetting *tFlipSet, tCliCmd *cli) {
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getNewData(tFlipSet, cli);
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while (1) {
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CliCmd_WaitLine(cli);
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if (CliCmd_RxStartsWithStatic(cli, "rec_angle")) {
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recordVarData(tFlipSet, cli, 0);
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return;
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}
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if (CliCmd_RxStartsWithStatic(cli, "rec_vector")) {
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recordVarData(tFlipSet, cli, 1);
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return;
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}
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if (CliCmd_RxStartsWithStatic(cli, "")) {
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printData(tFlipSet, cli, 1);
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}
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if (CliCmd_RxStartsWithStatic(cli, "exit")) {
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return;
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}
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}
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}
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void CliCmd_FlipSettingInit(
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tFlipSetting *tFlipSet,
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tCarFlipDetection *tFlipBase,
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tVariablesTable *externTable,
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tAccelCoor *accelCoor,
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tCarCrashDetection *carCrashDetection
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) {
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tFlipSet->carCrashDetection = carCrashDetection;
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tFlipSet->accelCoor = accelCoor;
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tFlipSet->flipDetect = tFlipBase;
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tFlipSet->externTable = externTable;
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}
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uint8_t CliCmd_FlipSetting(tFlipSetting *tFlipSet, tCliCmd *cli) {
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CliCmd_PrintLnStatic(cli, "THIS MODE FLIPPING SETTINGS");
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while (1) {
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CliCmd_WaitLineDelay(cli, 1500);
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if (CliCmd_RxStartsWithStatic(cli, "exit")) {
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CliCmd_PrintLnStatic(cli, "EXIT IN BASE MODE...");
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return 0;
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}
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if (CliCmd_RxStartsWithStatic(cli, "help")) {
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CliCmd_flipModedHelp(NULL, cli);
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CliCmd_WaitLine(cli);
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}
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if (CliCmd_RxStartsWithStatic(cli, "stop")) {
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stopListing(tFlipSet, cli);
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}
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printData(tFlipSet, cli, 1);
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SystemDelayMs(1);
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}
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}
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{
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"dep": [
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{
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"type": "git",
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"provider": "Smart_Components_Aurus",
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"repo": "CmsisCore5"
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},
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{
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"type": "git",
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"provider": "Smart_Components_Aurus",
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"repo": "CliCmd"
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}
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],
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"cmake": {
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"inc_dirs": [
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"Inc"
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],
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"srcs": [
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"Src/**.c"
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]
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}
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}
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1.Ввести в консоль комманду set_flip, в ответ должно быть:
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THIS MODE FLIPPING SETTINGS
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angleCos=NaN X=0.070200 Y=-0.081900 Z=0.945750
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angleCos=NaN X=0.072150 Y=-0.081900 Z=0.943800
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angleCos=NaN X=0.070200 Y=-0.083850 Z=0.945750
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angleCos=NaN X=0.066300 Y=-0.079950 Z=0.947700
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angleCos=NaN X=0.072150 Y=-0.081900 Z=0.945750
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2.Установить устройство в нормальное положение
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3.Ввести комманду stop - ответ примерно такого вида:
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=================== THIS DATA ===================
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angleCos=NaN X=0.066300 Y=-0.076050 Z=0.941850
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=================================================
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[ rec_vector ] - record this vector data
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[ rec_angle ] - record this angle data
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[ ENTER_PRESS_KEY ] - update this data
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[ exit ] - exiting as sub mode record/ and continue listing info
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4.Ввести комманду rec_vector
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~ответ:
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record vector is success
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angleCos=NaN X=0.072150 Y=-0.083850 Z=0.943800
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angleCos=0.999943 X=0.074100 Y=-0.081900 Z=0.937950
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angleCos=0.999945 X=0.072150 Y=-0.083850 Z=0.939900
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angleCos=0.999969 X=0.074100 Y=-0.076050 Z=0.945750
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5.Установите устройство в критический угол (после которого происходит опрокидывание)
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6.Вбейте комманду stop
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~ответ:
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=================== THIS DATA ===================
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angleCos=0.239791 X=-0.871650 Y=-0.070200 Z=0.276900
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=================================================
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[ rec_vector ] - record this vector data
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[ rec_angle ] - record this angle data
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[ ENTER_PRESS_KEY ] - update this data
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[ exit ] - exiting as sub mode record/ and continue listing info
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7.Вбейте комманду rec_angle
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record angle is success
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angleCos=0.999369 X=0.072150 Y=-0.109200 Z=0.939900
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angleCos=0.999282 X=0.074100 Y=-0.111150 Z=0.939900
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angleCos=0.999392 X=0.078000 Y=-0.107250 Z=0.941850
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На данном этапе установлен нормальный вектор, и угол сробатывания
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НО ОНИ НЕ СОХРАНЕНЫ В ПЗУ.
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Для сохранения в ПЗУ, необходимо изменить настройку (фактически любую) на вкладке "Натройки"
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В частности можно включить срабатывание при перевороте задав значение параметра FLIP_DETECT_ENABLE в 1
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