referee uart bug sometimes occur, level indicator added

Makefile

@@ -154,6 +154,7 @@ src/ui/src/ui_indicator_0_7.c \
 src/ui/src/ui_indicator_0_8.c \
 src/ui/src/ui_indicator_0_9.c \
 src/ui/src/ui_indicator_0_10.c \
+src/ui/src/ui_indicator_0_11.c \
 src/ui/src/ui_indicator_1_0.c 
 
 # ASM sources

src/app/inc/robot.h

@@ -34,6 +34,7 @@ typedef struct
   uint8_t prev_B;
   uint8_t prev_G;
   uint8_t prev_V;
+  uint8_t prev_Z;
   uint8_t prev_left_switch;
 } Key_Prev_t;
 

src/app/src/debug_task.c

@@ -21,6 +21,7 @@ extern Launch_Target_t g_launch_target;
 extern uint64_t t;
 extern Daemon_Instance_t *g_daemon_instances[3];
 extern Daemon_Instance_t *g_remote_daemon;
+extern Daemon_Instance_t *g_referee_daemon_instance_ptr;
 #define PRINT_RUNTIME_STATS
 #ifdef PRINT_RUNTIME_STATS
 char g_debug_buffer[1024*2] = {0};
@@ -52,6 +53,7 @@ void Debug_Task_Loop(void)
     // if (counter > 0xFFFFFFFF) {
     //     counter = 0;
     // }
-    DEBUG_PRINTF(&huart6, ">ref:%f\n>act:%f\n",g_motor_feed->velocity_pid->ref,g_motor_feed->stats->current_vel_rpm);
+    //DEBUG_PRINTF(&huart6, ">ref:%f\n>act:%f\n",g_motor_feed->velocity_pid->ref,g_motor_feed->stats->current_vel_rpm);
+    DEBUG_PRINTF(&huart6, ">ref:%d\n",g_referee_daemon_instance_ptr->counter);
 #endif
 }

src/app/src/robot.c

@@ -174,9 +174,14 @@ void Robot_Cmd_Loop()
             {
                 _toggle_robot_state(&g_robot_state.UI_enabled);
             }
+            if (g_remote.keyboard.Z == 1 && g_key_prev.prev_Z == 0)
+            {
+                Referee_Robot_State.Manual_Level++;
+            }
             g_key_prev.prev_B = g_remote.keyboard.B;
             g_key_prev.prev_G = g_remote.keyboard.G;
             g_key_prev.prev_V = g_remote.keyboard.V;
+            g_key_prev.prev_Z = g_remote.keyboard.Z;
             /* Keyboard Toggles Start Here */
 
             /* AutoAiming Flag, not used only for debug */

src/app/src/ui_task.c

@@ -2,54 +2,61 @@
 
 void UI_Task_Loop(void)
 {
-   ui_self_id = Referee_Robot_State.ID;
-        if (!g_robot_state.UI_enabled)
-        {
-            ui_remove_indicator_0();
-            ui_init_indicator_0();
-            ui_remove_indicator_1();
-            ui_init_indicator_1();
-            g_robot_state.UI_enabled = 1;
-        }
-        if (g_launch_target.flywheel_enabled)
-        {
-            ui_indicator_1_Flywheel_Select->start_x = 270;
-            ui_indicator_1_Flywheel_Select->end_x = 320;
-        }
-        else
-        {
-            ui_indicator_1_Flywheel_Select->start_x = 335;
-            ui_indicator_1_Flywheel_Select->end_x = 385;
-        }
-        if (g_robot_state.spintop_mode)
-        {
-            ui_indicator_1_Spintop_Select->start_x = 270;
-            ui_indicator_1_Spintop_Select->end_x = 320;
-        }
-        else
-        {
-            ui_indicator_1_Spintop_Select->start_x = 335;
-            ui_indicator_1_Spintop_Select->end_x = 385;
-        }
-        if (g_robot_state.autoaiming_enabled)
-        {
-            ui_indicator_1_Autoaim_Select->start_x = 270;
-            ui_indicator_1_Autoaim_Select->end_x = 320;
-            ui_indicator_1_Aim_H_Line->color = 2;
-            ui_indicator_1_Aim_V_Line->color = 2;
-        }
-        else
-        {
-            ui_indicator_1_Autoaim_Select->start_x = 335;
-            ui_indicator_1_Autoaim_Select->end_x = 385;
-            ui_indicator_1_Aim_H_Line->color = 3;
-            ui_indicator_1_Aim_V_Line->color = 3;
-        }
-        if (ui_indicator_1_Supercap->number>=99)
-        {
-            ui_indicator_1_Supercap->number = 0;
-        }
-        ui_indicator_1_Supercap->number++;
-
-        ui_update_indicator_1();
+    ui_self_id = Referee_Robot_State.ID;
+    if (!g_robot_state.UI_enabled)
+    {
+        ui_remove_indicator_0();
+        ui_init_indicator_0();
+        ui_remove_indicator_1();
+        ui_init_indicator_1();
+        g_robot_state.UI_enabled = 1;
+    }
+    if (g_launch_target.flywheel_enabled)
+    {
+        ui_indicator_1_Flywheel_Select->start_x = 270;
+        ui_indicator_1_Flywheel_Select->end_x = 320;
+    }
+    else
+    {
+        ui_indicator_1_Flywheel_Select->start_x = 335;
+        ui_indicator_1_Flywheel_Select->end_x = 385;
+    }
+    if (g_robot_state.spintop_mode)
+    {
+        ui_indicator_1_Spintop_Select->start_x = 270;
+        ui_indicator_1_Spintop_Select->end_x = 320;
+    }
+    else
+    {
+        ui_indicator_1_Spintop_Select->start_x = 335;
+        ui_indicator_1_Spintop_Select->end_x = 385;
+    }
+    if (g_robot_state.autoaiming_enabled)
+    {
+        ui_indicator_1_Autoaim_Select->start_x = 270;
+        ui_indicator_1_Autoaim_Select->end_x = 320;
+        ui_indicator_1_Aim_H_Line->color = 2;
+        ui_indicator_1_Aim_V_Line->color = 2;
+    }
+    else
+    {
+        ui_indicator_1_Autoaim_Select->start_x = 335;
+        ui_indicator_1_Autoaim_Select->end_x = 385;
+        ui_indicator_1_Aim_H_Line->color = 3;
+        ui_indicator_1_Aim_V_Line->color = 3;
+    }
+    if (ui_indicator_1_Supercap->number>=99)
+    {
+        ui_indicator_1_Supercap->number = 0;
+    }
+    if(Referee_System.Online_Flag)
+    {
+        ui_indicator_1_Level_Indicator->number = Referee_Robot_State.Level;
+    }
+    else
+    {
+        ui_indicator_1_Level_Indicator->number = Referee_Robot_State.Manual_Level;
+    }
+    ui_indicator_1_Supercap->number++;
+    ui_update_indicator_1();
 }

src/devices/inc/referee_system.h

@@ -21,75 +21,27 @@
 
 #define REFEREE_TIMEOUT_MS 500
 
-//Standard Confrontation
-#define V1_STANDARD_POWER_MAX 120
-#define V1_STANDARD_HP_MAX 200
-#define V1_STANDARD_LAUNCH_SPEED_MAX 30
-#define V1_STANDARD_HEAT_MAX 280
-#define V1_STANDARD_COOLING_RATE 25
+#define ROBOT_TYPE_STANDARD
+//#define ROBOT_TYPE_HERO
+//#define ROBOT_TYPE_SENTRY
 
-#define V1_SBR_POWER_MAX 150
-#define V1_SBR_HP_MAX 200
-#define V1_SBR_LAUNCH_SPEED_MAX 30
-#define V1_SBR_HEAT_MAX 280
-#define V1_SBR_COOLING_RATE 50
+//Standard Default Configuration
+#define DEFAULT_STANDARD_POWER_MAX 200
+#define DEFAULT_STANDARD_LAUNCH_SPEED_MAX 30
+#define DEFAULT_STANDARD_HEAT_MAX 200
+#define DEFAULT_STANDARD_COOLING_RATE 10
 
-//Sentry Configuration
-#define SENTRY_POWER_MAX 100
-#define SENTRY_HP_MAX 600
-#define SENTRY_LAUNCH_SPEED_MAX 30
-#define SENTRY_HEAT_MAX 400
-#define SENTRY_COOLING_RATE 80
+//Sentry Default Configuration
+#define DEFAULT_SENTRY_POWER_MAX 100
+#define DEFAULT_SENTRY_LAUNCH_SPEED_MAX 30
+#define DEFAULT_SENTRY_HEAT_MAX 400
+#define DEFAULT_SENTRY_COOLING_RATE 80
 
-//3V3 Confrontation
-#define V3_STANDARD_LAUNCH_SPEED_MAX 30
-#define V3_STANDARD_LV10_HP_MAX 400
-#define V3_STANDARD_LV10_POWER_MAX 100
-
-#define V3_HERO_LAUNCH_SPEED_MAX 16
-#define V3_HERO_LV10_HP_MAX 500
-#define V3_HERO_LV10_POWER_MAX 120
-
-#define V3_HERO_POWER_FOCUSED_LV1_HP_MAX 200
-#define V3_HERO_POWER_FOCUSED_HP_INCREMENT 25
-#define V3_HERO_POWER_FOCUSED_LV1_POWER_MAX 70
-#define V3_HERO_POWER_FOCUSED_POWER_INCREMENT 5
-
-#define V3_HERO_HP_FOCUSED_LV1_HP_MAX 250
-#define V3_HERO_HP_FOCUSED_HP_INCREMENT 25
-#define V3_HERO_HP_FOCUSED_LV1_POWER_MAX 55
-#define V3_HERO_HP_FOCUSED_POWER_INCREMENT 5
-#define V3_HERO_HP_FOCUSED_LV9_POWER_MAX 100
-
-#define V3_STANDARD_POWER_FOCUSED_LV1_HP_MAX 150
-#define V3_STANDARD_POWER_FOCUSED_HP_INCREMENT 25
-#define V3_STANDARD_POWER_FOCUSED_LV1_POWER_MAX 60
-#define V3_STANDARD_POWER_FOCUSED_POWER_INCREMENT 5
-
-#define V3_STANDARD_HP_FOCUSED_LV1_HP_MAX 200
-#define V3_STANDARD_HP_FOCUSED_HP_INCREMENT 25
-#define V3_STANDARD_HP_FOCUSED_LV1_POWER_MAX 45
-#define V3_STANDARD_HP_FOCUSED_POWER_INCREMENT 5
-#define V3_STANDARD_HP_FOCUSED_LV9_POWER_MAX 90
-
-#define V3_STANDARD_BURST_FOCUSED_LV1_HEAT_MAX 200
-#define V3_STANDARD_BURST_FOCUSED_HEAT_INCREMENT 50
-#define V3_STANDARD_BURST_FOCUSED_LV1_COOLING_MAX 10
-#define V3_STANDARD_BURST_FOCUSED_COOLING_INCREMENT 5
-
-#define V3_STANDARD_COOLING_FOCUSED_LV1_HEAT_MAX 50
-#define V3_STANDARD_COOLING_FOCUSED_HEAT_INCREMENT 35
-#define V3_STANDARD_COOLING_FOCUSED_LV10_HEAT_MAX 400
-#define V3_STANDARD_COOLING_FOCUSED_LV1_COOLING_MAX 40
-#define V3_STANDARD_COOLING_FOCUSED_COOLING_INCREMENT 5
-#define V3_STANDARD_COOLING_FOCUSED_LV10_COOLING_MAX 80
-
-#define V3_HERO_LV1_HEAT_MAX 200
-#define V3_HERO_LV10_HEAT_MAX 200
-#define V3_HERO_HEAT_INCREMENT 30
-#define V3_HERO_LV1_COOLING_MAX 40
-#define V3_HERO_COOLING_INCREMENT 8
-#define V3_HERO_LV10_COOLING_MAX 120
+//Hero Default Configuration
+#define DEFAULT_HERO_POWER_MAX 55
+#define DEFAULT_HERO_LAUNCH_SPEED_MAX 16
+#define DEFAULT_HERO_HEAT_MAX 200
+#define DEFAULT_HERO_COOLING_RATE 40
 
 #define REFEREE_BUFFER_LEN 							273u					//Buffer length to receive all data
 #define REFEREE_FRAME_HEADER_START 					0xA5 				//Frame header
@@ -142,6 +94,7 @@ typedef struct
 	uint8_t Game_Type; //1 for 7v7, 4 for 3v3, 5 for 1v1
 	uint8_t ID; //3,4,5 Red Standard - 103,104,105 Blue Standard
 	uint8_t Level;
+	uint8_t Manual_Level;
 
 	uint16_t Cooling_Rate;
 	uint16_t Heat_Max;
@@ -151,7 +104,7 @@ typedef struct
 	float Chassis_Power;
 	float Power_Buffer;
 	uint16_t Shooter_Heat_1;
-  uint16_t Shooter_Heat_2;
+  	uint16_t Shooter_Heat_2;
 	uint8_t Shooting_Frequency;
 	float Shooting_Speed;
 }Referee_Robot_State_t;
@@ -296,7 +249,7 @@ typedef struct
 	}RFID;
 
 	uint16_t Info_Update_Frame;
-	uint8_t Offline_Flag;
+	uint8_t Online_Flag;
 } Referee_System_t;
 
 void Referee_Get_Data(UART_Instance_t *uart_instance);

src/devices/src/referee_system.c

@@ -17,31 +17,59 @@ Daemon_Instance_t *g_referee_daemon_instance_ptr;
 
 void Referee_Set_Robot_State(void)
 {
-    Referee_Robot_State.Game_Type = Referee_System.Game_Status.Type;
-    Referee_Robot_State.ID = Referee_System.Robot_State.ID;
-    Referee_Robot_State.Level = Referee_System.Robot_State.Level;
+    if (Referee_System.Online_Flag)
+    {
+        Referee_Robot_State.Game_Type = Referee_System.Game_Status.Type;
+        Referee_Robot_State.ID = Referee_System.Robot_State.ID;
+        Referee_Robot_State.Level = Referee_System.Robot_State.Level;
+
+        Referee_Robot_State.Cooling_Rate = Referee_System.Robot_State.Shooter_Cooling_Value;
+        Referee_Robot_State.Heat_Max = Referee_System.Robot_State.Shooter_Heat_Max;
+        Referee_Robot_State.Launch_Speed_Max = DEFAULT_STANDARD_LAUNCH_SPEED_MAX;
+        Referee_Robot_State.Chassis_Power_Max = Referee_System.Robot_State.Chassis_Power_Max;
+
+        Referee_Robot_State.Chassis_Power = Referee_System.Power_Heat.Chassis_Power;
+        Referee_Robot_State.Power_Buffer = Referee_System.Power_Heat.Chassis_Power_Buffer;
+        Referee_Robot_State.Shooter_Heat_1 = Referee_System.Power_Heat.Shooter_1_17mm_Heat;
+        Referee_Robot_State.Shooter_Heat_2 = Referee_System.Power_Heat.Shooter_2_17mm_Heat;
+        Referee_Robot_State.Shooting_Frequency = Referee_System.Shooter.Frequency;
+        Referee_Robot_State.Shooting_Speed = Referee_System.Shooter.Speed;
+    }
+    else
+    {
+        #ifdef ROBOT_TYPE_STANDARD
+            Referee_Robot_State.Cooling_Rate = DEFAULT_STANDARD_COOLING_RATE+(Referee_Robot_State.Manual_Level-1)*5;
+            Referee_Robot_State.Heat_Max = DEFAULT_STANDARD_HEAT_MAX+(Referee_Robot_State.Manual_Level-1)*50;
+            Referee_Robot_State.Launch_Speed_Max = DEFAULT_STANDARD_LAUNCH_SPEED_MAX;
+            Referee_Robot_State.Chassis_Power_Max = DEFAULT_STANDARD_POWER_MAX+(Referee_Robot_State.Manual_Level-1)*5;
+        #endif
 
-    Referee_Robot_State.Cooling_Rate = Referee_System.Robot_State.Shooter_Cooling_Value;
-    Referee_Robot_State.Heat_Max = Referee_System.Robot_State.Shooter_Heat_Max;
-    Referee_Robot_State.Launch_Speed_Max = V3_STANDARD_LAUNCH_SPEED_MAX;
-    Referee_Robot_State.Chassis_Power_Max = Referee_System.Robot_State.Chassis_Power_Max;
+        #ifdef ROBOT_TYPE_HERO
+            Referee_Robot_State.Cooling_Rate = DEFAULT_HERO_COOLING_RATE+(Referee_Robot_State.Manual_Level-1)*8;
+            Referee_Robot_State.Heat_Max = DEFAULT_HERO_HEAT_MAX+(Referee_Robot_State.Manual_Level-1)*30;
+            Referee_Robot_State.Launch_Speed_Max = DEFAULT_HERO_LAUNCH_SPEED_MAX;
+            Referee_Robot_State.Chassis_Power_Max = DEFAULT_HERO_POWER_MAX+(Referee_Robot_State.Manual_Level-1)*5;
+        #endif
 
-    Referee_Robot_State.Chassis_Power = Referee_System.Power_Heat.Chassis_Power;
-    Referee_Robot_State.Power_Buffer = Referee_System.Power_Heat.Chassis_Power_Buffer;
-    Referee_Robot_State.Shooter_Heat_1 = Referee_System.Power_Heat.Shooter_1_17mm_Heat;
-    Referee_Robot_State.Shooter_Heat_2 = Referee_System.Power_Heat.Shooter_2_17mm_Heat;
-    Referee_Robot_State.Shooting_Frequency = Referee_System.Shooter.Frequency;
-    Referee_Robot_State.Shooting_Speed = Referee_System.Shooter.Speed;
+        #ifdef ROBOT_TYPE_SENTRY
+            Referee_Robot_State.Cooling_Rate = DEFAULT_SENTRY_COOLING_RATE;
+            Referee_Robot_State.Heat_Max = DEFAULT_SENTRY_HEAT_MAX;
+            Referee_Robot_State.Launch_Speed_Max = DEFAULT_SENTRY_LAUNCH_SPEED_MAX;
+            Referee_Robot_State.Chassis_Power_Max = DEFAULT_SENTRY_POWER_MAX;
+        #endif
+    }
 }
 void Referee_System_Timeout_Callback()
 {
 	// Attemp to reinitialize UART service
 	UART_Service_Init(g_referee_uart_instance_ptr);
+    Referee_System.Online_Flag = 0;
 }
 
 void Referee_System_Init(UART_HandleTypeDef *huart)
 {
     Referee_System.huart = huart;
+    Referee_Robot_State.Manual_Level = 1;
     HAL_UART_Receive_DMA(huart, Referee_System.Buffer, REFEREE_BUFFER_LEN);
 
     g_referee_uart_instance_ptr = UART_Register(huart, Referee_System.Buffer, REFEREE_BUFFER_LEN, Referee_Get_Data);
@@ -62,6 +90,7 @@ void Referee_Get_Data(UART_Instance_t *uart_instance)
         if (Referee_System.Buffer[n] == REFEREE_FRAME_HEADER_START)
         {
             Daemon_Reload(g_referee_daemon_instance_ptr);
+            Referee_System.Online_Flag = 1;
             switch (Referee_System.Buffer[n + 5] | Referee_System.Buffer[n + 6] << 8)
             {
             case REFEREE_GAME_STATUS: