void FactoryDefault() {
Config.Version = CONFIG_SCHEMA_VERSION;
Config.VoltageLimit_counts=2068;
Config.CurrentLimit_counts=1473;
Config.Amps_per_Count=0.003392741;
Config.Counts_per_Amp=294.7469417;
Config.Counts_per_Volt = 231.782986;
Config.Volts_per_Count = 0.0043143805193735;
Config.SystemAcceleration = 180.0;
Config.MaxSpeed = 180.0;
Config.PID_MaxError = 127;
Config.PID_Kp = 8;
Config.PID_Kd = 8;
Config.Counts_Per_Degree = 17.5;
Config.Degrees_Per_Count = 0.05714286;
Config.MyID=0xAA;
PRESET Empty;
Empty.Orbit.Type = 0;
SavePreset(0, (unsigned char *) &Empty);
SavePreset(1, (unsigned char *) &Empty);
SavePreset(2, (unsigned char *) &Empty);
SavePreset(3, (unsigned char *) &Empty);
SavePreset(4, (unsigned char *) &Empty);
}
void FactoryDefault() {
Config.Version=CONFIG_SCHEMA_VERSION;
Config.BatteryLowVoltageLevel = 1470;
Config.Battery12V_Q8 = 44288;
Config.PowerResponseLimiter_Slope = 6;
Config.PowerResponseLimiter_Intercept = 122;
Config.Counts_per_Volt = 231.782986;
Config.Volts_per_Count = 0.0043143805193735;
Config.BacklightIdleTimeout = 5000;
Config.BacklightPWM_Duty = 1;
Config.SystemAcceleration = 180.0;
Config.MaxSpeed = 180.0;
Config.PID_MaxError = 32;
Config.PID_Kp = 32;
Config.PID_Kd = 64;
Config.Counts_Per_Degree = 17.5;
Config.Degrees_Per_Count = 0.05714286;
PRESET Empty;
Empty.Orbit.Type=0;
SavePreset(0,(unsigned char *)&Empty);
SavePreset(1,(unsigned char *)&Empty);
SavePreset(2,(unsigned char *)&Empty);
SavePreset(3,(unsigned char *)&Empty);
SavePreset(4,(unsigned char *)&Empty);
}
AutomationPresetRef FAutomationTestPresetManager::AddNewPreset( const FText& PresetName, const TArray<FString>& SelectedTests )
{
AutomationPresetRef NewPreset = AddNewPreset();
NewPreset->SetPresetName(PresetName);
NewPreset->SetEnabledTests(SelectedTests);
SavePreset(NewPreset);
return NewPreset;
}
void FAutomationTestPresetManager::SavePreset( const AutomationPresetRef Preset )
{
FString PresetFileName = GetPresetFolder() / Preset->GetID().ToString() + TEXT(".uap");
FArchive* PresetFileWriter = IFileManager::Get().CreateFileWriter(*PresetFileName);
if (PresetFileWriter != nullptr)
{
SavePreset(Preset, *PresetFileWriter);
delete PresetFileWriter;
}
}
AutomationPresetPtr FAutomationTestPresetManager::AddNewPreset( const FText& PresetName, const TArray<FString>& SelectedTests )
{
if ( PresetName.IsEmpty() )
{
return nullptr;
}
const FName NewNameSlug = MakeObjectNameFromDisplayLabel(PresetName.ToString(), NAME_None);
if ( !Presets.FindByPredicate([&NewNameSlug] (const AutomationPresetPtr& Preset) { return Preset.IsValid() && Preset->GetID() == NewNameSlug; }) )
{
AutomationPresetRef NewPreset = MakeShareable(new FAutomationTestPreset(NewNameSlug));
NewPreset->SetName(PresetName);
NewPreset->SetEnabledTests(SelectedTests);
Presets.Add(NewPreset);
SavePreset(NewPreset);
return NewPreset;
}
return nullptr;
}
void Idle() {
unsigned int addr = 0;
unsigned char MsgAddr = 0;
unsigned char PresetNumber = 0;
unsigned char *ConfigPtr;
ConfigStruct TempConfig;
char idx;
MULTI temp;
PRESET tempPset;
if (ExtModeActive) {
idx = 255;
while (idx--);
return;
}
if (!RX_MsgComplete) {
idx = 255;
while (idx--);
return;
}
ChkSum = 0;
ReadIdx = 1;
RX_MsgComplete = 0;
MsgAddr = MessageStream_ReadByte();
if (MsgAddr == 0xFF) {
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(MyID);
MessageStream_WriteByte('O');
MessageStream_WriteByte('R');
MessageStream_WriteByte('B');
MessageStream_WriteByte('I');
MessageStream_WriteByte('T');
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
} else if (MsgAddr == MyID) {
unsigned char CmdID = MessageStream_ReadByte();
switch (CmdID) {
case CMD_GET_COMPLETE_STATUS:
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line2[idx]);
ChkSum += LCD_Line2[idx];
}
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line1[idx]);
ChkSum += LCD_Line1[idx];
}
bLock_Motor_Position = 1;
temp.dbl = Motor_Position;
bLock_Motor_Position = 0;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteByte(temp.ub[0]);
MessageStream_WriteByte(temp.ub[1]);
MessageStream_WriteByte(temp.ub[2]);
MessageStream_WriteByte(temp.ub[3]);
ChkSum += temp.ub[0];
ChkSum += temp.ub[1];
ChkSum += temp.ub[2];
ChkSum += temp.ub[3];
temp.dbl = 0;
while (!(temp.dbl == Move_speedQ24)) temp.dbl = Move_speedQ24;
temp.dbl *= INV_Conversion_Q24_500Hz;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteByte(temp.ub[0]);
MessageStream_WriteByte(temp.ub[1]);
MessageStream_WriteByte(temp.ub[2]);
MessageStream_WriteByte(temp.ub[3]);
ChkSum += temp.ub[0];
ChkSum += temp.ub[1];
ChkSum += temp.ub[2];
ChkSum += temp.ub[3];
temp.dbl = 0;
bLock_BatteryVoltage = 1;
temp.dbl = BatteryVoltage;
bLock_BatteryVoltage = 0;
temp.dbl *= Config.Volts_per_Count;
MessageStream_WriteByte(temp.ub[0]);
MessageStream_WriteByte(temp.ub[1]);
MessageStream_WriteByte(temp.ub[2]);
MessageStream_WriteByte(temp.ub[3]);
ChkSum += temp.ub[0];
ChkSum += temp.ub[1];
ChkSum += temp.ub[2];
ChkSum += temp.ub[3];
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_GETDISPLAY:
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line2[idx]);
ChkSum += LCD_Line2[idx];
}
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line1[idx]);
ChkSum += LCD_Line1[idx];
}
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_UI_CLICK:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_CLICK;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_CANCEL:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_CANCEL;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_BACK:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_BACK;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_INC:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_INC;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_DEC:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_DEC;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_MACRO:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = -MessageStream_ReadByte();
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_GET_UI_LOC:
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
MessageStream_WriteByte(UI_Location);
MessageStream_WriteByte(UI_Location);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_GET_POS:
bLock_Motor_Position = 1;
temp.dbl = Motor_Position;
bLock_Motor_Position = 0;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteMULTI(temp, CmdID);
break;
case CMD_GET_SPEED:
temp.dbl = 0;
while (!(temp.dbl == Move_speedQ24)) temp.dbl = Move_speedQ24;
temp.dbl *= INV_Conversion_Q24_500Hz;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteMULTI(temp, CmdID);
break;
case CMD_GET_BATTERY:
temp.dbl = 0;
bLock_BatteryVoltage = 1;
temp.dbl = BatteryVoltage;
bLock_BatteryVoltage = 0;
temp.dbl *= Config.Volts_per_Count;
MessageStream_WriteMULTI(temp, CmdID);
break;
case CMD_GET_PRESET:
PresetNumber = MessageStream_ReadByte();
if (PresetNumber > 5) {
NackCmd(CmdID, 1);
break;
}
if (PresetNumber == 0) {
NackCmd(CmdID, 1);
break;
}
LoadPreset(PresetNumber, (unsigned char *) &tempPset);
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx<sizeof (tempPset); idx++) {
MessageStream_WriteByte(tempPset.ub[idx]);
ChkSum += tempPset.ub[idx];
}
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_SET_PRESET:
PresetNumber = MessageStream_ReadByte();
if (PresetNumber > 5) {
NackCmd(CmdID, 1);
break;
}
if (PresetNumber == 0) {
NackCmd(CmdID, 1);
break;
}
ChkSum += PresetNumber;
for (idx = 0; idx < 120; idx++) {
tempPset.ub[idx] = MessageStream_ReadByte();
ChkSum += tempPset.ub[idx];
}
if (ChkSum == MessageStream_ReadByte()) {
SavePreset(PresetNumber, (unsigned char *) &tempPset);
AckCmd(CmdID);
} else {
NackCmd(CmdID, ChkSum);
}
break;
case CMD_GET_CONFIG:
ConfigPtr = (unsigned char *) &Config;
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx<sizeof (Config); idx++) {
MessageStream_WriteByte((*ConfigPtr));
ChkSum += (*ConfigPtr);
ConfigPtr++;
}
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_SET_CONFIG:
ConfigPtr = (unsigned char *) &TempConfig;
for (idx = 0; idx < sizeof (Config); idx++) {
(*ConfigPtr) = MessageStream_ReadByte();
ChkSum += (*ConfigPtr);
ConfigPtr++;
}
if (ChkSum == MessageStream_ReadByte()) {
addr=0;
EEprom_write(&addr, (unsigned char *) &TempConfig, sizeof (TempConfig));
AckCmd(CmdID);
} else {
NackCmd(CmdID, ChkSum);
}
break;
default:
NackCmd(CmdID, 0xFF);
}
}
return;
}
signed char CreateOrbitProgram() {
UI_Location = UI_LOC_ORBITSETUP;
signed char ret;
const char *DIRECTION_1 = "CLOCKWISE\0";
const char *DIRECTION_0 = "COUNTER CLOCKWISE\0";
const char*DirectionMenu[2];
DirectionMenu[0] = DIRECTION_0;
DirectionMenu[1] = DIRECTION_1;
const char *SpeedMODE_0 = "MANUAL\0";
const char *SpeedMODE_1 = "PER ORBIT\0";
const char *SpeedMODE_2 = "FOR ALL ORBITS\0";
const char*SpeedModeMenu[3];
SpeedModeMenu[0] = SpeedMODE_0;
SpeedModeMenu[1] = SpeedMODE_1;
SpeedModeMenu[2] = SpeedMODE_2;
const char *ENDMODE_0 = "BY ORBIT COUNT\0";
const char *ENDMODE_1 = "BY TOTAL TIME\0";
const char *ENDMODE_2 = "NEVER ENDING\0";
const char*EndModeMenu[3];
EndModeMenu[0] = ENDMODE_0;
EndModeMenu[1] = ENDMODE_1;
EndModeMenu[2] = ENDMODE_2;
const char *COMMAND_0 = "RUN PROGRAM\0";
const char *COMMAND_1 = "SAVE PRESET\0";
const char*CommandMenu[2];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
labelOrigin:
LCD_ClearDisplay();
LCD_PrintString("MOVE TO START...\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK.\0");
bFollowMode = 1;
ret = GetClick();
bFollowMode = 0;
if (ret < 0) return ret;
CurrentOrbitProgram.Origin_deg = (unsigned int) GetCurrentAngle();
labelDirection:
ret = DisplayChoices(DirectionMenu, 1, "ROTATION DIRECTION:\0", CurrentOrbitProgram.IsClockWise);
if (ret == -1) goto labelOrigin;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.IsClockWise = ret;
labelEndMode:
ret = DisplayChoices(EndModeMenu, 2, "PROGRAM END MODE:\0", CurrentOrbitProgram.EndMode);
if (ret == -1) goto labelDirection;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.EndMode = ret;
switch (CurrentOrbitProgram.EndMode) {
case 0: //End based on Cycle Count.
labelCycleCount :
if (CurrentOrbitProgram.CycleCount_rev < 1) CurrentOrbitProgram.CycleCount_rev = 1;
if (CurrentOrbitProgram.CycleCount_rev > 999) CurrentOrbitProgram.CycleCount_rev = 999;
ret = GetFloat("ORBIT LIMIT:\0", "", &CurrentOrbitProgram.CycleCount_rev, 1, 999, 1.0);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
labelSpeedMode:
if (CurrentOrbitProgram.CycleCount_rev > 1) ret = DisplayChoices(SpeedModeMenu, 2, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
else ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelCycleCount;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
case 2:
if (CurrentOrbitProgram.CycleTime_sec < (4 * CurrentOrbitProgram.CycleCount_rev)) CurrentOrbitProgram.CycleTime_sec = 4 * CurrentOrbitProgram.CycleCount_rev;
ret = GetTime("TIME FOR ALL ORBITS\0", &CurrentOrbitProgram.CycleTime_sec, 4 * CurrentOrbitProgram.CycleCount_rev, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = (360 * CurrentOrbitProgram.CycleCount_rev) / CurrentOrbitProgram.CycleTime_sec;
break;
}
break;
case 1://End based on runtime.
labelProgramRuntime :
ret = GetTime("TOTAL RUNTIME:\0", &CurrentOrbitProgram.ProgramRunTime_sec, 1, 86400, 0b1110);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
labelSpeedMode2:
ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelProgramRuntime;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode2;
if (ret == -2) return (-2);
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode2;
if (ret == -2) return (-2);
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
}
CurrentOrbitProgram.CycleCount_rev = (CurrentOrbitProgram.Speed_deg_sec * CurrentOrbitProgram.ProgramRunTime_sec) / 360;
break;
case 2: //NO END AT ALL
labelSpeedMode3 :
ret = DisplayChoices(SpeedModeMenu, 1, "ORBIT SPEED:\0", CurrentOrbitProgram.SpeedMode);
if (ret == -1) goto labelEndMode;
if (ret == -2) return (-2);
if (ret < 0) return ret;
switch (ret) {
case 0:
if (CurrentOrbitProgram.Speed_deg_sec < 0.01) CurrentOrbitProgram.Speed_deg_sec = 0.01;
ret = GetFloat("SPEED\0", "\xDF/Sec\0", &CurrentOrbitProgram.Speed_deg_sec, 0.01, 90, 0.01);
if (ret == -1) goto labelSpeedMode3;
if (ret == -2) return (-2);
if (ret < 0) return ret;
break;
case 1:
if (CurrentOrbitProgram.CycleTime_sec < 4) CurrentOrbitProgram.CycleTime_sec = 4;
ret = GetTime("TIME PER ORBIT:\0", &CurrentOrbitProgram.CycleTime_sec, 4, 86400, 0b1110);
if (ret == -1) goto labelSpeedMode3;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.Speed_deg_sec = 360 / CurrentOrbitProgram.CycleTime_sec;
break;
}
break;
}
labelActions:
ret = DisplayChoices(CommandMenu, 1, "ACTION:\0", 0);
if (ret == -1) goto labelCycleCount;
if (ret == -2) return (-2);
if (ret < 0) return ret;
if (ret == 0) {
return RunOrbitProgram();
}
ret = GetPresetNumber();
if (ret == -1) goto labelActions;
if (ret == -2) return (-2);
if (ret < 0) return ret;
CurrentOrbitProgram.Type = 2;
SavePreset(ret, (unsigned char *) &CurrentOrbitProgram);
goto labelActions;
}
