Skip to content

Commit

Permalink
Merge pull request #785 from entrylabs/develop-hw
Browse files Browse the repository at this point in the history 
하드웨어 버전업 1.9.59
  • Loading branch information
@Tnks2U
Tnks2U authored Oct 28, 2024
2 parents 627b111 + 1dba8c2 commit 415e0e5
Show file tree
Hide file tree
Showing 40 changed files with 2,307 additions and 26,873 deletions.
Binary file renamed ...PROBO_Easy_Down_Entry_ver8.38_install.exe → ...n_Entry/PROBO Easy Down Entry ver8.41.msi
View file
Binary file not shown.
13,406 changes: 0 additions & 13,406 deletions app/firmwares/microbit.hex
View file

This file was deleted.

11,824 changes: 0 additions & 11,824 deletions app/firmwares/microbit_ext.hex
View file

This file was deleted.

326 changes: 189 additions & 137 deletions app/modules/altino.js
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
function Module() {
this.tx_d = new Array(28);
this.rx_d56 = new Array(56);
this.rx_setting = new Array(31);
this.rx_dtest = new Array(512);

this.sensordata = {
Expand Down Expand Up @@ -47,7 +48,14 @@ function Module() {
dot5: 0,
dot6: 0,
dot7: 0,
dot8: 0
dot8: 0,
command: 10,
trim: 0,
pgain: 0,
igain: 0,
dgain: 0,
version: 0,
cnt: 0
};

for (var i = 0; i < 56; ++i) {
Expand All @@ -72,7 +80,15 @@ var ALTINO = {
DOT5: 'dot5',
DOT6: 'dot6',
DOT7: 'dot7',
DOT8: 'dot8'
DOT8: 'dot8',
COMMAND: 'command',
TRIM: 'trim',
PGAIN: 'pgain',
IGAIN: 'igain',
DGAIN: 'dgain',
VERSION: 'version',
SETTING: 'setting',
CNT: 'cnt'
};

Module.prototype.init = function(handler, config) {
Expand Down Expand Up @@ -136,121 +152,93 @@ Module.prototype.checkInitialData = function(data, config) {
// 하드웨어 데이터 처리
Module.prototype.handleLocalData = function(data) { // data: Native Buffer


var buf = this.rx_d56;
var settingBuf = this.rx_setting;
var rx_check_sum = 0;
var sensordata = this.sensordata;
var buftest = this.rx_dtest;
var motordata = this.motordata;

for (var i = 0; i < data.length; i++) {
var str = data[i];
buftest[i] = parseInt(str, 10);
for (var j = 0; j < 55; j++) {
buf[j] = buf[j + 1];

if(motordata.command == 252) {
settingBuf[i] = parseInt(str, 10);
}
buf[55] = buftest[i];

if (buf[0] === 2 && buf[55] === 3 && buf[1] === 56) {

rx_check_sum = buf[0];
rx_check_sum = rx_check_sum + buf[1];
rx_check_sum = rx_check_sum + buf[3];
rx_check_sum = rx_check_sum + buf[4];
rx_check_sum = rx_check_sum + buf[5];
rx_check_sum = rx_check_sum + buf[6];
rx_check_sum = rx_check_sum + buf[7];
rx_check_sum = rx_check_sum + buf[8];
rx_check_sum = rx_check_sum + buf[9];
rx_check_sum = rx_check_sum + buf[10];
rx_check_sum = rx_check_sum + buf[11];
rx_check_sum = rx_check_sum + buf[12];
rx_check_sum = rx_check_sum + buf[13];
rx_check_sum = rx_check_sum + buf[14];
rx_check_sum = rx_check_sum + buf[15];
rx_check_sum = rx_check_sum + buf[16];
rx_check_sum = rx_check_sum + buf[17];
rx_check_sum = rx_check_sum + buf[18];
rx_check_sum = rx_check_sum + buf[19];
rx_check_sum = rx_check_sum + buf[20];
rx_check_sum = rx_check_sum + buf[21];
rx_check_sum = rx_check_sum + buf[22];
rx_check_sum = rx_check_sum + buf[23];
rx_check_sum = rx_check_sum + buf[24];
rx_check_sum = rx_check_sum + buf[25];
rx_check_sum = rx_check_sum + buf[26];
rx_check_sum = rx_check_sum + buf[27];
rx_check_sum = rx_check_sum + buf[28];
rx_check_sum = rx_check_sum + buf[29];
rx_check_sum = rx_check_sum + buf[30];
rx_check_sum = rx_check_sum + buf[31];
rx_check_sum = rx_check_sum + buf[32];
rx_check_sum = rx_check_sum + buf[33];
rx_check_sum = rx_check_sum + buf[34];
rx_check_sum = rx_check_sum + buf[35];
rx_check_sum = rx_check_sum + buf[36];
rx_check_sum = rx_check_sum + buf[37];
rx_check_sum = rx_check_sum + buf[38];
rx_check_sum = rx_check_sum + buf[39];
rx_check_sum = rx_check_sum + buf[40];
rx_check_sum = rx_check_sum + buf[41];
rx_check_sum = rx_check_sum + buf[42];
rx_check_sum = rx_check_sum + buf[43];
rx_check_sum = rx_check_sum + buf[44];
rx_check_sum = rx_check_sum + buf[45];
rx_check_sum = rx_check_sum + buf[46];
rx_check_sum = rx_check_sum + buf[47];
rx_check_sum = rx_check_sum + buf[48];
rx_check_sum = rx_check_sum + buf[49];
rx_check_sum = rx_check_sum + buf[50];
rx_check_sum = rx_check_sum + buf[51];
rx_check_sum = rx_check_sum + buf[52];
rx_check_sum = rx_check_sum + buf[53];
rx_check_sum = rx_check_sum + buf[54];
rx_check_sum = rx_check_sum + buf[55];

rx_check_sum = rx_check_sum % 256;

if (rx_check_sum === buf[2]) {

sensordata.ir1 = buf[7] * 256 + buf[8]; //ir1
sensordata.ir2 = buf[9] * 256 + buf[10]; //ir2
sensordata.ir3 = buf[11] * 256 + buf[12]; //ir3
sensordata.ir4 = buf[13] * 256 + buf[14]; //ir4
sensordata.ir5 = buf[15] * 256 + buf[16]; //ir5
sensordata.ir6 = buf[17] * 256 + buf[18]; //ir6

sensordata.tor1 = buf[19] * 256 + buf[20]; //right torque
sensordata.tor2 = buf[21] * 256 + buf[22]; //left torque

sensordata.tem = buf[49] * 256 + buf[50]; //temperature

sensordata.cds = buf[43] * 256 + buf[44]; //cds

sensordata.accx = buf[25] * 256 + buf[26]; //acc x
sensordata.accy = buf[27] * 256 + buf[28]; //acc y
sensordata.accz = buf[29] * 256 + buf[30]; //acc z

sensordata.magx = buf[31] * 256 + buf[32]; //mag x
sensordata.magy = buf[33] * 256 + buf[34]; //mag y
sensordata.magz = buf[35] * 256 + buf[36]; //mag z

sensordata.stvar = buf[45] * 256 + buf[46]; //steering var

sensordata.sttor = buf[23] * 256 + buf[24]; //steering torque

sensordata.bat = buf[47] * 256 + buf[48]; //battery

sensordata.remote = buf[51]; //remote control

sensordata.gyrox = buf[37] * 256 + buf[38]; //gyro sensor x
sensordata.gyroy = buf[39] * 256 + buf[40]; //gyro sensor y
sensordata.gyroz = buf[41] * 256 + buf[42]; //gyro sensor z
}
else {
buf[i] = parseInt(str, 10);
}
}

if (buf[0] === 2 && buf[55] === 3 && buf[1] === 56) {
for(var i = 0; i < 56; i++) {
if(i != 2) rx_check_sum += buf[i];
}

}
rx_check_sum = rx_check_sum % 256;

if(rx_check_sum == buf[2]) {

sensordata.ir1 = buf[7] * 256 + buf[8]; //ir1
sensordata.ir2 = buf[9] * 256 + buf[10]; //ir2
sensordata.ir3 = buf[11] * 256 + buf[12]; //ir3
sensordata.ir4 = buf[13] * 256 + buf[14]; //ir4
sensordata.ir5 = buf[15] * 256 + buf[16]; //ir5
sensordata.ir6 = buf[17] * 256 + buf[18]; //ir6

sensordata.tor1 = buf[19] * 256 + buf[20]; //right torque
sensordata.tor2 = buf[21] * 256 + buf[22]; //left torque

sensordata.tem = buf[49] * 256 + buf[50]; //temperature

sensordata.cds = buf[43] * 256 + buf[44]; //cds

sensordata.accx = buf[25] * 256 + buf[26]; //acc x
sensordata.accy = buf[27] * 256 + buf[28]; //acc y
sensordata.accz = buf[29] * 256 + buf[30]; //acc z

sensordata.magx = buf[31] * 256 + buf[32]; //mag x
sensordata.magy = buf[33] * 256 + buf[34]; //mag y
sensordata.magz = buf[35] * 256 + buf[36]; //mag z

sensordata.stvar = buf[45] * 256 + buf[46]; //steering var

sensordata.sttor = buf[23] * 256 + buf[24]; //steering torque

sensordata.bat = buf[47] * 256 + buf[48]; //battery

sensordata.remote = buf[51]; //remote control

sensordata.gyrox = buf[37] * 256 + buf[38]; //gyro sensor x
sensordata.gyroy = buf[39] * 256 + buf[40]; //gyro sensor y
sensordata.gyroz = buf[41] * 256 + buf[42]; //gyro sensor z

motordata.cnt = 0;
}
buf.length = 0;

}

if (settingBuf[0] === 2 && settingBuf[1] === 31) {

motordata.trim = settingBuf[5];
motordata.pgain = settingBuf[6];
motordata.igain = settingBuf[7];
motordata.dgain = settingBuf[8];
motordata.version = settingBuf[26];

if(motordata.command == 252) {
if(motordata.cnt == 0) {
this.tx_d.length = 0;
motordata.cnt += 1;
}
else if(motordata.cnt == 1) {
this.tx_d.length = 0;
motordata.cnt += 1;
}
}
settingBuf.length = 0;
}
};

// Web Socket(엔트리)에 전달할 데이터
Expand All @@ -266,6 +254,15 @@ Module.prototype.handleRemoteData = function(handler) {
var motordata = this.motordata;
var newValue;

if(handler.e(ALTINO.COMMAND)) {

newValue = handler.read(ALTINO.COMMAND);

if (motordata.command != newValue) {
motordata.command = newValue;
}
}

if (handler.e(ALTINO.RIGHT_WHEEL)) {

newValue = handler.read(ALTINO.RIGHT_WHEEL);
Expand Down Expand Up @@ -385,44 +382,100 @@ Module.prototype.handleRemoteData = function(handler) {

};


// 하드웨어에 전달할 데이터
Module.prototype.requestLocalData = function() {
var motordata = this.motordata;
var tx_d = this.tx_d;
var u16_tx_check_sum = 0;
var u16_tx_cnt;
var u16_cnt = 27;

tx_d[0] = 0x2;
tx_d[1] = 28;

tx_d[3] = 1;
tx_d[4] = 10;
tx_d[5] = motordata.steering;
tx_d[6] = motordata.rightmode;
tx_d[7] = (motordata.rightmotor & 0xFF00) >> 8;
tx_d[8] = motordata.rightmotor & 0xFF;
tx_d[9] = motordata.leftmode;
tx_d[10] = (motordata.leftmotor & 0xFF00) >> 8;
tx_d[11] = motordata.leftmotor & 0xFF;
tx_d[12] = motordata.ascii;
tx_d[13] = motordata.dot1;
tx_d[14] = motordata.dot2;
tx_d[15] = motordata.dot3;
tx_d[16] = motordata.dot4;
tx_d[17] = motordata.dot5;
tx_d[18] = motordata.dot6;
tx_d[19] = motordata.dot7;
tx_d[20] = motordata.dot8;
tx_d[21] = motordata.led2 | 0x01;
tx_d[22] = motordata.note;
tx_d[23] = motordata.led;
tx_d[24] = 1;
tx_d[25] = 0;
tx_d[26] = 0;
tx_d[27] = 0x3;

if(motordata.command == 252) {
if(motordata.cnt == 0) {
var u16_cnt = 21;

tx_d[0] = 0x2;
tx_d[1] = 22;

tx_d[3] = 1;
tx_d[4] = 252;
tx_d[5] = 0;
tx_d[6] = 0;
tx_d[7] = 0;
tx_d[8] = 0;
tx_d[9] = 0;
tx_d[10] = 0;
tx_d[11] = 0;
tx_d[12] = 0;
tx_d[13] = 0;
tx_d[14] = 0;
tx_d[15] = 0;
tx_d[16] = 0;
tx_d[17] = 0;
tx_d[18] = 0;
tx_d[19] = 0;
tx_d[20] = 0;
tx_d[21] = 0x3;
}
else if(motordata.cnt == 1) {
var u16_cnt = 21;

tx_d[0] = 0x2;
tx_d[1] = 22;

tx_d[3] = 1;
tx_d[4] = 252;
tx_d[5] = 1;
tx_d[6] = motordata.trim;
tx_d[7] = motordata.pgain;
tx_d[8] = motordata.igain;
tx_d[9] = motordata.dgain;
tx_d[10] = 0;
tx_d[11] = 0;
tx_d[12] = 0;
tx_d[13] = 0;
tx_d[14] = 0;
tx_d[15] = 0;
tx_d[16] = 0;
tx_d[17] = motordata.version;
tx_d[18] = 0;
tx_d[19] = 0;
tx_d[20] = 0;
tx_d[21] = 0x3;
}
}
else {
motordata.cnt = 0;
var u16_cnt = 27;

tx_d[0] = 0x2;
tx_d[1] = 28;

tx_d[3] = 1;
tx_d[4] = 10;
tx_d[5] = motordata.steering;
tx_d[6] = motordata.rightmode;
tx_d[7] = (motordata.rightmotor & 0xFF00) >> 8;
tx_d[8] = motordata.rightmotor & 0xFF;
tx_d[9] = motordata.leftmode;
tx_d[10] = (motordata.leftmotor & 0xFF00) >> 8;
tx_d[11] = motordata.leftmotor & 0xFF;
tx_d[12] = motordata.ascii;
tx_d[13] = motordata.dot1;
tx_d[14] = motordata.dot2;
tx_d[15] = motordata.dot3;
tx_d[16] = motordata.dot4;
tx_d[17] = motordata.dot5;
tx_d[18] = motordata.dot6;
tx_d[19] = motordata.dot7;
tx_d[20] = motordata.dot8;
tx_d[21] = motordata.led2 | 0x01;
tx_d[22] = motordata.note;
tx_d[23] = motordata.led;
tx_d[24] = 1;
tx_d[25] = 0;
tx_d[26] = 0;
tx_d[27] = 0x3;
}

u16_tx_check_sum = u16_tx_check_sum + tx_d[1];
for (u16_tx_cnt = 3; u16_tx_cnt <= u16_cnt; u16_tx_cnt++) {
Expand All @@ -432,7 +485,6 @@ Module.prototype.requestLocalData = function() {


tx_d[2] = u16_tx_check_sum;

return tx_d;
};

Expand Down
Loading

0 comments on commit 415e0e5

Please sign in to comment.