Записал демо.

desk/libs/thirdparty/oled_ssd1327_new/SSD1327.cpp

@@ -23,7 +23,7 @@ extern "C" {
 extern uint8_t buffer[];
 //#define frameBuffer buffer[];
 
-SSD1327 ssd1327(0, 0, 0);
+//SSD1327 ssd1327(0, 0, 0);
 
 SSD1327::SSD1327(int cs, int dc, int rst) {
     frameBuffer = buffer;

desk/modules/menu/menu.cpp

@@ -7,7 +7,7 @@
 
 #define DBG if(0)
 
-#define MON_DELAY           1000
+#define MON_DELAY           100
 
 osMessageQId    menu_event;
 osMutexId   menu_mutex;
@@ -102,7 +102,7 @@ static void vUpdate(void const *params)
     {
         osDelay(MON_DELAY);
         
-#if 1        
+#if 0        
         // Имитация изменения счетчиков для теста
         inc_raw_counters();
 #endif        

desk/modules/menu/menu_items.cpp

@@ -59,7 +59,7 @@ void menuFocus(void)
 {
     // Пункт "Сбросить счетчики"
     if (selectedMenuItem->Select == MCELL_RES) {
-        set_raw_counters(0, 0);
+        set_raw_counters(0, 0, 0);
         return;
     }
     
@@ -162,8 +162,12 @@ void change_revers(bool dir)
 static void screen_draw_main(uint8_t sel)
 {
     uint32_t raw_forw_turns, raw_back_turns, dir;
-    
+    int total;
+    move_t move;
+        
     get_raw_params(&raw_forw_turns, &raw_back_turns, &dir);
+    get_total(&total);
+    move = get_move();
     
     SSD1327_Clear(BLACK);
     
@@ -182,14 +186,16 @@ static void screen_draw_main(uint8_t sel)
     GFX_DrawString(8, 40, (char*)screen_str_buf, 15, 0);
     
     memset(screen_str_buf, 0, SCREEN_BUF_LEN);
-    sprintf(screen_str_buf, "T: %u", 0);
+    sprintf(screen_str_buf, "T: %d", total);
     GFX_DrawString(8, 60, (char*)screen_str_buf, 15, 0);
     
     memset(screen_str_buf, 0, SCREEN_BUF_LEN);
-    if (dir == 1)
-        sprintf(screen_str_buf, "Move fwd");
-    else
-        sprintf(screen_str_buf, "Move back");
+    if (move == m_forward)
+        sprintf(screen_str_buf, "M: forward");
+    else if (move == m_back)
+        sprintf(screen_str_buf, "M: back");
+    else 
+        sprintf(screen_str_buf, "M: stop");
     GFX_DrawString(8, 80, (char*)screen_str_buf, 15, 0);
         
     SSD1327_Display();
@@ -202,47 +208,61 @@ static void screen_draw_settings(uint8_t sel)
     
     SSD1327_Clear(BLACK);
     
-    //GFX_DrawRectangle(1, 1, 126, 125, 15);
-    
-    
-    //GFX_DrawRoundRectangle(1, 1, 126, 125, 3, 15);
+    // Рамка
+    GFX_DrawRoundRectangle(1, 1, 126, 125, 3, 15);
     
     select = sel == MCELL_K1 ? true : false;
-    //cli_print_int_param((char*)"F 1:   ", settings.factor_1, select);
     memset(screen_str_buf, 0, SCREEN_BUF_LEN);
     sprintf(screen_str_buf, "F 1: %u", settings.factor_1);
-    //GFX_DrawString(8, 20, (char*)screen_str_buf, 15, 0);
-            
+    GFX_DrawString(8, 20, (char*)screen_str_buf, 15, 0);
+       
     if (select)
-        oled_draw_rec(3, 5, 123, 22, 15);
+        oled_draw_string_frame(0);
     
     select = sel == MCELL_K2 ? true : false;
-    //cli_print_int_param((char*)"F 1:   ", settings.factor_1, select);
     memset(screen_str_buf, 0, SCREEN_BUF_LEN);
     sprintf(screen_str_buf, "F 2: %u", settings.factor_2);
-    //GFX_DrawString(8, 40, (char*)screen_str_buf, 15, 0);
-    
-    
-    SSD1327_Display();
-/*    
-    select = sel == MCELL_K1 ? true : false;
-    cli_print_int_param((char*)"Factor 1:   ", settings.factor_1, select);
+    GFX_DrawString(8, 40, (char*)screen_str_buf, 15, 0);
     
-    select = sel == MCELL_K2 ? true : false;
-    cli_print_int_param((char*)"Factor 2:   ", settings.factor_2, select);
+    if (select)
+        oled_draw_string_frame(1);
     
     select = sel == MCELL_REV ? true : false;
+    memset(screen_str_buf, 0, SCREEN_BUF_LEN);
     if (settings.revers == true)
-        cli_print_str_param((char*)"Revers:     ", (char*)"yes", select);
+        sprintf(screen_str_buf, "Rev.:  yes");
     else
-        cli_print_str_param((char*)"Revers:     ", (char*)"no", select);
+        sprintf(screen_str_buf, "Rev.:  no");
+    GFX_DrawString(8, 60, (char*)screen_str_buf, 15, 0);
+    
+    if (select)
+        oled_draw_string_frame(2);
     
     select = sel == MCELL_RES ? true : false;
-    cli_print_str_param((char*)"Reset counters", (char*)"", select);
+    memset(screen_str_buf, 0, SCREEN_BUF_LEN);
+    if (settings.revers == true)
+        sprintf(screen_str_buf, "Reset");
+    else
+        sprintf(screen_str_buf, "Reset");
+    GFX_DrawString(8, 80, (char*)screen_str_buf, 15, 0);
+    
+    if (select)
+        oled_draw_string_frame(3);
+    
+    SSD1327_Display();
     
     select = sel == MCELL_SAVE ? true : false;
-    cli_print_str_param((char*)"Save settings", (char*)"", select);
-*/
+    memset(screen_str_buf, 0, SCREEN_BUF_LEN);
+    if (settings.revers == true)
+        sprintf(screen_str_buf, "Save set");
+    else
+        sprintf(screen_str_buf, "Save set");
+    GFX_DrawString(8, 100, (char*)screen_str_buf, 15, 0);
+    
+    if (select)
+        oled_draw_string_frame(4);
+    
+    SSD1327_Display();
 }
 #endif
 // -------------------------------------------------------------------------- //

desk/modules/ssd_1327/oled_common.cpp

@@ -34,6 +34,7 @@ void init_oled(void)
     ssd1327.writeFullBuffer();
 #endif
     
+#if 0    
     SSD1327_DrawPixel(20, 20, 15);
     SSD1327_DrawPixel(21, 20, 15);
     SSD1327_DrawPixel(22, 20, 15);
@@ -49,7 +50,7 @@ void init_oled(void)
     SSD1327_DrawPixel(20, 23, 15);
     SSD1327_DrawPixel(21, 23, 15);
     SSD1327_DrawPixel(22, 23, 15);
-    
+#endif    
     
     //GFX_Image(15, 0, (uint8_t*)logo_grayscale, 96, 96);
             
@@ -118,12 +119,36 @@ void oled_draw_rec(int x_start, int y_start, int x_end, int y_end, uint8_t color
     for (int i = 0; i < y_end; i++) {
         GFX_DrawLine(x_start, y_start + i, x_end, y_start + i, color);
     }
-    //GFX_DrawLine(x_start, y_start, x_end, y_start, color);
     GFX_DrawLine(x_start, y_end, x_end, y_end, color);
-    //GFX_DrawLine(x_start, y_start, x_start, y_end, color);
-    //GFX_DrawLine(x_end, y_start, x_end, y_end, color);
 }
 
+
+#define STR_H               20
+#define STR_Y_S             36           
+#define STR_FRAME_START_Y   8
+
+#define STR_X_S             4
+#define STR_X_E             123
+
+//
+void oled_draw_string_frame(uint8_t str_num)
+{
+    for (int i = 0; i < 2; i++) {
+        // нижняя
+        GFX_DrawLine(STR_X_S, str_num*STR_H + STR_Y_S + i, STR_X_E, str_num*STR_H + STR_Y_S + i, 15);
+        
+        // верхняя
+        GFX_DrawLine(STR_X_S, str_num*STR_H + STR_Y_S - STR_H + i, STR_X_E, str_num*STR_H + STR_Y_S - STR_H + i, 15);
+    }
+    
+    // Правая
+    GFX_DrawLine(STR_X_E, str_num*STR_H + STR_Y_S, STR_X_E, str_num*STR_H + STR_Y_S - STR_H, 15);
+    
+    // Левая
+    GFX_DrawLine(STR_X_S, str_num*STR_H + STR_Y_S, STR_X_S, str_num*STR_H + STR_Y_S - STR_H, 15);
+}
+
+
 //
 void init_gpio_oled(void)
 {

desk/modules/ssd_1327/oled_common.h

@@ -14,5 +14,7 @@ void oled_draw_rec(int x_start, int y_start, int x_end, int y_end, uint8_t color
 //
 void init_gpio_oled(void);
 
+//
+void oled_draw_string_frame(uint8_t str_num);
 
 #endif // __OLED_COMMON_H

desk/modules/uart_bridge/uart_bridge.cpp

@@ -1,11 +1,13 @@
 #include "stm32g4xx_hal.h"
 #include "uart_bridge.h"
 #include "uart_bridge_cfg.h"
+#include "settings.h"
 #include "cmsis_os.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 
+#define DBG if(0)
 
 UART_HandleTypeDef huart_bridge;
 osMessageQId mb_rx_queue;
@@ -19,8 +21,13 @@ static char rx_buf[DATA_BUF_SIZE];
 
 uint32_t forw_turns;
 uint32_t back_turns;
+uint32_t forw_turns_old;
+uint32_t back_turns_old;
+int total_turns;
+move_t move = m_stop;
 uint32_t direction;
 
+
 //
 void init_usart(void)
 {
@@ -84,7 +91,7 @@ void vUartBridge(void const *params)
         event = osMessageGet(mb_rx_queue, 1000);
        
         if (event.status == osEventMessage) {
-            printf("%c", event.value.v);
+            DBG printf("%c", event.value.v);
             if (event.value.v == '{') {
                 rx_buf[cnt++] = event.value.v;
                 begin = true;
@@ -99,8 +106,22 @@ void vUartBridge(void const *params)
                 back_turns = get_uint_param(rx_buf, 1);
                 direction = get_uint_param(rx_buf, 2);
 
+                // Расчет пройденного пути
+                if (settings.revers == false) {
+                    total_turns = forw_turns - back_turns;
+                }
+                else {
+                    total_turns = back_turns - forw_turns;
+                }
+
+                // Направление движения и остановка
+                calc_move();
+                
                 begin = false;
                 cnt = 0;
+                
+                forw_turns_old = forw_turns;
+                back_turns_old = back_turns;
             }
             
             if (cnt == DATA_BUF_SIZE) {
@@ -141,7 +162,7 @@ void usart_bridge_rx_cb(void)
 void usart_error_cb(void)
 {
     error_cnt++;
-    printf("error cb\r\n");
+    DBG printf("error cb\r\n");
 }
 
 extern "C" {
@@ -153,6 +174,33 @@ void USART2_IRQHandler(void)
 
 }
 
+// -------------------------------------------------------------------------- //
+// Расчет параметров
+
+// Направление движения и остановка (в зависимости от реверса).
+void calc_move(void)
+{
+    if (direction == 0) {
+        if (forw_turns > forw_turns_old)
+            if (settings.revers == 0)
+                move = m_forward;
+            else
+                move = m_back;
+        else if (forw_turns == forw_turns_old)
+            move = m_stop;
+    }
+    else
+    {
+        if (back_turns > back_turns_old)
+            if (settings.revers == 0)
+                move = m_back;
+            else
+                move = m_forward;
+        else if (back_turns == back_turns_old)
+            move = m_stop;
+    }
+}
+
 // -------------------------------------------------------------------------- //
 // API
 
@@ -164,6 +212,18 @@ void get_raw_params(uint32_t *f_turns, uint32_t *b_turns, uint32_t *dir)
     *dir = direction;
 }
 
+//
+void get_total(int *val)
+{
+    *val = total_turns;
+}
+
+//
+move_t get_move(void)
+{
+    return move;
+}
+
 //
 void set_raw_params(uint32_t f_turns, uint32_t b_turns, uint32_t dir)
 {
@@ -173,10 +233,11 @@ void set_raw_params(uint32_t f_turns, uint32_t b_turns, uint32_t dir)
 }
 
 // 
-void set_raw_counters(uint32_t f_turns, uint32_t b_turns)
+void set_raw_counters(uint32_t f_turns, uint32_t b_turns, int tot)
 {
     forw_turns = f_turns;
     back_turns = b_turns;
+    total_turns = tot;
 }
 
 //

desk/modules/uart_bridge/uart_bridge.h

@@ -1,6 +1,14 @@
 #ifndef __UART_BRIDGE_H
 #define __UART_BRIDGE_H
 
+typedef enum
+{
+    m_stop = 0,
+    m_forward,
+    m_back,
+    
+} move_t;
+
 //
 void init_usart(void);
 
@@ -13,6 +21,11 @@ uint32_t get_uint_param(char* buf, uint8_t index);
 //
 void usart_bridge_rx_cb(void);
 
+// -------------------------------------------------------------------------- //
+// Расчет параметров
+
+//
+void calc_move(void);
 
 // -------------------------------------------------------------------------- //
 // API
@@ -20,11 +33,17 @@ void usart_bridge_rx_cb(void);
 //
 void get_raw_params(uint32_t *f_turns, uint32_t *b_turns, uint32_t *dir);
 
+//
+void get_total(int *val);
+
+//
+move_t get_move(void);
+
 //
 void set_raw_params(uint32_t f_turns, uint32_t b_turns, uint32_t dir);
 
 // 
-void set_raw_counters(uint32_t f_turns, uint32_t b_turns);
+void set_raw_counters(uint32_t f_turns, uint32_t b_turns, int tot);
 
 //
 void inc_raw_counters(void);

desk/user/FreeRTOSConfig.h

@@ -70,7 +70,7 @@
 #define configMAX_PRIORITIES                     ( 12 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
 //#define configTOTAL_HEAP_SIZE                    ((size_t)(10 * 1024))
-#define configTOTAL_HEAP_SIZE                    ((size_t)(6 * 1024))
+#define configTOTAL_HEAP_SIZE                    ((size_t)(10 * 1024))
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0

output/robot.bin

@@ -1,16 +1,16 @@
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project/ewarm/robot/stm32g030xx_flash.icf

@@ -10,7 +10,7 @@ define symbol __ICFEDIT_region_RAM_start__ = 0x20000000;
 define symbol __ICFEDIT_region_RAM_end__   = 0x20001FFF;
 /*-Sizes-*/
 define symbol __ICFEDIT_size_cstack__ = 0x400;
-define symbol __ICFEDIT_size_heap__   = 0x100;
+define symbol __ICFEDIT_size_heap__   = 0x200;
 /**** End of ICF editor section. ###ICF###*/
 
 define memory mem with size = 4G;

robot/modules/sc60224/encoder.cpp

@@ -21,8 +21,8 @@ uint32_t forw_turns_irq;
 uint32_t back_turns_irq;
 
 uint8_t direction = 1;
-uint32_t forw_turns = 123456789;
-uint32_t back_turns = 987654321;
+uint32_t forw_turns = 0; //123456789
+uint32_t back_turns = 0; //987654321
 
 bool access_turns = true;
 
@@ -117,21 +117,21 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
         }
     }
     
-    while (!access_turns) {}
+    //while (!access_turns) {}
 
-#if 0    
+#if 1    
     direction = direction_irq;
     forw_turns = forw_turns_irq;
-    back_turns = forw_turns_irq;
+    back_turns = back_turns_irq;
 #endif    
 }
 
 //
 static void create_data_pack_encoder(void)
 {
-    access_turns = false;
+    //access_turns = false;
     sprintf((char*)tx_buf, "{%u,%u,%u,}\n", forw_turns, back_turns, direction);
-    access_turns = true;
+    //access_turns = true;
 }
 
 //