void reconstruct_reverse_track() {
if (get_step_count() > 0) {
TRACE_DEBUG("-- reconstruct_reverse_track -- \r\n");
char txt_buff[16];
sprintf(txt_buff, "Total steps: %2d", get_step_count());
HY1602F6_Log("Reversing track", txt_buff);
init_oa_configuration();
CD4053_EnableIRSensors();
waitms(1000);
int step_count = get_step_count() - 1;
for (; step_count >= 0; step_count--) {
char lcd_buff1[16];
sprintf(lcd_buff1, "angle: %3d", (int) steps_data[step_count]);
char lcd_buff2[16];
sprintf(lcd_buff2, "step: %3d", step_count);
HY1602F6_Log(lcd_buff1, lcd_buff2);
turn_of_angle(steps_data[step_count]);
go_prosto();
}
Kierunek(RIGHT_ENGINES, STOP_GEAR);
Kierunek(LEFT_ENGINES, STOP_GEAR);
} else {
TRACE_WARNING("-- No steps recorded. --\r\n");
HY1602F6_Log("Invalid track", "No data found");
}
}
/**@brief Button event handler.
*
* @param[in] pin_no The pin number of the button pressed.
*/
static void button_event_handler(uint8_t pin_no)
{
switch (pin_no)
{
case EVAL_BOARD_BUTTON_0:
mlog_str("button 0 pressed\r\n");
if (connected)
ble_oto_send_step_count(&m_oto, get_step_count());
motor_off();
led_stop();
break;
case EVAL_BOARD_BUTTON_1:
mlog_str("button 1 pressed\r\n");
if (!connected)
advertising_start();
break;
default:
APP_ERROR_HANDLER(pin_no);
}
}
void onStepDetectedCallback(void) {
TRACE_DEBUG("-- Step detected %3d -- \r\n", get_step_count());
// mag_info mg_i = MMC212xM_GetMagneticFieldInfo(&twid);
steps_data[get_step_count() - 1] = get_descrete_angle(
L3G4200D_GetData().sAngle_z);
L3G4200D_Reset(&twid);
char txt_buff[16];
sprintf(txt_buff, "s: %2d a: %3d", get_step_count(),
(int) steps_data[get_step_count() - 1]);
HY1602F6_Log("Step detected", txt_buff);
TRACE_INFO("-- Detected angle: %4d, Descrete angle: %d -- \r\n", L3G4200D_GetData().sAngle_z, (int)steps_data[get_step_count() - 1]);
}
static void select_click_handler(ClickRecognizerRef recognizer, void *context) {
bool running = app_worker_is_running();
if (running){
get_step_count();
static char step_count[] = "9999";
snprintf(step_count, sizeof("9999"), "%d", s_worker_steps);
text_layer_set_text(text_layer, step_count);
}else{
text_layer_set_text(text_layer, "Not Running");
}
}
void menu_window_load(Window *window) {
Layer *window_layer = window_get_root_layer(window);
GRect bounds = layer_get_frame(window_layer);
step_count = get_step_count();
info_bar = layer_create(GRect(0, 0, bounds.size.w, 44));
layer_add_child(window_layer, info_bar);
layer_set_update_proc(info_bar, update_info_bar);
main_menu = menu_layer_create(GRect(0, 44, bounds.size.w, bounds.size.h-44));
menu_layer_set_highlight_colors(main_menu, GColorTiffanyBlue, GColorWhite);
menu_layer_set_click_config_onto_window(main_menu, window);
menu_layer_set_callbacks(main_menu, NULL, (MenuLayerCallbacks) {
.get_num_rows = (MenuLayerGetNumberOfRowsInSectionsCallback)menu_get_num_rows_callback,
.get_cell_height = (MenuLayerGetCellHeightCallback)get_cell_height_callback,
.draw_row = (MenuLayerDrawRowCallback)menu_draw_row_callback,
.select_click = (MenuLayerSelectCallback)menu_select_callback,
.get_num_sections = (MenuLayerGetNumberOfSectionsCallback)menu_get_num_sections_callback,
});
