Revision 0:81007dc65bac, committed 2019-08-16

Comitter:

VASKO

Date:

Fri Aug 16 22:22:05 2019 +0000

Commit message:

20190816

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP_DISCO_F429ZI.lib	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/BSP_DISCO_F429ZI/#53d9067a4feb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD_DISCO_F429ZI.lib	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/LCD_DISCO_F429ZI/#dc55a068bc1a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PrjDefs.h	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,146 @@
+#ifndef PrjDefs_h_active
+#define PrjDefs_h_active
+
+#include "mbed.h"
+#include "LCD_DISCO_F429ZI.h"
+#include "TS_DISCO_F429ZI.h"
+#include "rtos.h"
+
+//#define ParsLength (insert needed ParsLength here) // по умолчанию 4
+#define BaudRate 115200                 // по умолчанию 9600
+//#define WorkTx (insert TxPin name here) // по умолчанию PA_9, PD_8 или USBTX (зависит от платы)
+//#define WorkRx (insert RxPin name here) // по умолчанию PA_10, PD_9 или USBRX (зависит от платы)
+//#define UsedSerialClass Serial          // по умолчанию RawSerial
+#include "TxRxService.h"
+
+enum PrjEventCodes {
+    PrjEventNone,
+    Cmd_cT = 0x16,
+    CmdPWM,
+//    CmdTempS,
+//    Cmd_dTdt,
+    CmdExtra,
+    CmdStart,
+    CmdStop,
+    CmdPlus,
+    CmdMinus,
+    CmdExtraPars,
+    CmdSelExtraPars,
+    cT_Selected,
+    dT_Selected,
+    TempS_Selected,
+    TempS_Changing,
+    dTdt_Selected,
+    dTdt_Changing,
+    ChangingParamNone,
+    KP_Changing,
+    KI_Changing,
+    KD_Changing,
+    PWM_Changing,
+    KP_Selected,
+    KI_Selected,
+    KD_Selected,
+    PWM_Selected,
+    PrjEventCodesUndef};
+    
+enum ChangingParamNums {
+    ChangingParamNumsUndef};
+    
+typedef struct {
+    uint16_t xr;
+    uint16_t yr;
+    uint16_t wr;
+    uint16_t hr;
+    uint32_t cr;
+    uint16_t xt;
+    uint16_t yt;
+    uint32_t ct;
+    uint8_t s[10] = "---";
+    uint8_t gap = 2;
+    uint32_t cx = LCD_COLOR_LIGHTGRAY;
+    } RT_Pars;
+
+extern bool Start;
+extern uint8_t ChangingParam;
+extern uint8_t ExtraSelected;
+extern uint8_t TempR_Selected;
+extern float TempS;
+extern float dTdt;
+extern float cT;
+extern float dT;
+extern float KProp;
+extern float KInt;
+extern float KDif;
+extern float PWM;
+
+
+extern RT_Pars TempR_Rect;
+extern RT_Pars TempS_Rect;
+extern RT_Pars dTdt_Rect;
+extern RT_Pars Extra_Rect;
+extern RT_Pars Start_Rect;
+extern RT_Pars Plus_Rect;
+extern RT_Pars Minus_Rect;
+extern RT_Pars SelExtra_Rect;
+
+extern void InitLCDandTS();
+extern void R_T(RT_Pars *rp);
+extern bool HitTest(RT_Pars *rp,uint16_t x,uint16_t y);
+extern void RxMsgThrdFunc();
+extern void TouchScreenThrdFunc();
+extern void InitRects();
+extern void ReStartH();
+extern void Start_H();        
+extern void StopH();        
+    
+
+
+#define MailLength 30
+
+extern Mail<MsgType, MailLength> MsgMail;
+extern Thread RxMsgThrd;
+extern Thread TouchScreenThrd;
+extern Thread TouchScreenThrd;
+extern LCD_DISCO_F429ZI lcd;
+extern TS_DISCO_F429ZI ts;
+
+#define LowerLimit(Value,Min) if(Value < Min) Value = Min;
+#define UpperLimit(Value,Max) if(Value > Max) Value = Max;
+#define LoUpLimit(Value,Min,Max) LowerLimit(Value,Min) UpperLimit(Value,Max)
+
+#define MaxPower 1
+#define MinPower 0
+#define MaxKProp 1
+#define KPropStep 0.001
+#define MaxKInt 1
+#define KIntStep 0.001
+#define MaxKDif 1
+#define KDifStep 0.001
+#define MaxPWM 1
+#define PWM_Step 0.01
+#define dTdtStep 0.01
+#define Max_dTdt 2
+#define MaxTempS 150
+#define DefaultRectColor LCD_COLOR_LIGHTGRAY
+#define ChangingRectColor LCD_COLOR_YELLOW
+#define DefaultTextColor LCD_COLOR_WHITE
+#define ChangingTextColor LCD_COLOR_BLACK
+
+#define ScreenWidth 240
+#define ScreenHeight 320
+#define DefaultRectHeight 75
+#define DefaultSpace 4
+#define DefaultRightRectWidth DefaultRectHeight
+#define DefaultLeftRectXpos DefaultSpace
+#define DefaultRightRectXpos (ScreenWidth - DefaultRightRectWidth - DefaultSpace)
+#define DefaultLeftRectWidth (ScreenWidth - DefaultRightRectWidth - 3*DefaultSpace)
+
+#define Default1stRowRectYpos DefaultSpace
+#define Default2ndRowRectYpos (DefaultSpace*2 + DefaultRectHeight)
+#define Default3rdRowRectYpos (DefaultSpace*3 + 2*DefaultRectHeight)
+#define Default4thRowRectYpos (DefaultSpace*4 + 3*DefaultRectHeight)
+
+#define TextXpos 8
+#define TextYpos 28
+
+#endif //#ifndef PrjDefs_h_active
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PrjVars.cpp	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,30 @@
+#include "PrjDefs.h"
+
+Thread RxMsgThrd;
+Thread TouchScreenThrd;
+
+LCD_DISCO_F429ZI lcd;
+TS_DISCO_F429ZI ts;
+
+Mail<MsgType, MailLength> MsgMail;
+bool Start = 0;
+uint8_t ChangingParam = ChangingParamNone;
+uint8_t ExtraSelected = PWM_Selected;
+uint8_t TempR_Selected = cT_Selected;
+float TempS = 100;
+float dTdt = 0.1;
+float cT;
+float dT;
+float KProp = 0.100;
+float KInt = 0.002;
+float KDif = 0.100;
+float PWM = 0;
+
+RT_Pars TempR_Rect = {DefaultLeftRectXpos,Default1stRowRectYpos,DefaultLeftRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor};
+RT_Pars TempS_Rect = {DefaultLeftRectXpos,Default2ndRowRectYpos,DefaultLeftRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor};
+RT_Pars dTdt_Rect = {DefaultLeftRectXpos,Default3rdRowRectYpos,DefaultLeftRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor};
+RT_Pars Extra_Rect  = {DefaultLeftRectXpos,Default4thRowRectYpos,DefaultLeftRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor};
+RT_Pars Start_Rect = {DefaultRightRectXpos,Default1stRowRectYpos,DefaultRightRectWidth,DefaultRectHeight,LCD_COLOR_GREEN,TextXpos,TextYpos,LCD_COLOR_BLACK,"P/S"};
+RT_Pars Plus_Rect = {DefaultRightRectXpos,Default2ndRowRectYpos,DefaultRightRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor," +"};
+RT_Pars Minus_Rect = {DefaultRightRectXpos,Default3rdRowRectYpos,DefaultRightRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor," -"};
+RT_Pars SelExtra_Rect = {DefaultRightRectXpos,Default4thRowRectYpos,DefaultRightRectWidth,DefaultRectHeight,DefaultRectColor,TextXpos,TextYpos,DefaultTextColor," S"};

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RxMsgThread.cpp	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,118 @@
+#include "PrjDefs.h"
+
+DigitalOut xx(PG_13);
+//Ticker Tick;
+
+float dTprev = 0;
+float IntPart = 0;
+float PL = 0;
+float Power = 0;
+float RefT = 0;
+bool Expired;
+bool Down;
+
+void ResetPID(){
+    dTprev = 0;
+    IntPart = 0;
+    PL = 0;
+    Power = 0;
+    }//ResetPID
+    
+float GetRefT(float r){
+    if (Expired) return TempS;
+    float _f = r;
+    if(Start){
+        if(Down) _f -= dTdt * 0.1;
+        else _f += dTdt * 0.1;
+        }
+    else _f = 0;
+    if(Down && (_f<=TempS)) { Expired = 1; return TempS; } 
+    else if((!Down) && (_f>=TempS)){ Expired = 1; return TempS; }
+    else return _f; 
+    }//GetRefT
+
+void ReStartH(){
+    RefT = cT;
+    Expired = 0;
+    if(cT<=TempS) Down =0;
+    else Down = 1;
+    }//StartH        
+    
+void Start_H(){
+    ReStartH();
+    Start = 1;
+    }//StartH        
+    
+void StopH(){
+    RefT = 0;
+    Expired = 0;
+    Down = 0;
+    Start = 0;
+    ResetPID();
+    PWM = 0;
+    }//StopH        
+    
+void PID(){
+    float _f = dT * KProp / 10.0;
+    Power = _f;
+    LoUpLimit(Power, 0, MaxPower);
+    IntPart += (dT * KInt / 100.0);
+    LoUpLimit(IntPart, 0, MaxPower);
+    Power += IntPart;
+    _f = -(KDif * (dT - dTprev) / 10.0);
+    LoUpLimit(_f, 0, MaxPower);
+    Power += _f;
+    LoUpLimit(Power, 0, MaxPower);
+    PWM = Power;
+    dTprev = dT;
+    }//PID
+
+void RxMsgThrdFunc(){
+MsgType _msg;
+MsgType *_mail;
+TxRxServiceInit();
+while (1) {
+    TxRxStates _trs = GetMsg(&_msg.cmd);
+    if(_trs == RxRcvd){
+        cT = _msg.pars.f[0];
+        if(Start){
+            RefT = GetRefT(RefT);
+            dT = RefT - cT;
+            xx=1;
+            PID();
+            xx=0;
+            _mail = MsgMail.alloc();
+            if(ExtraSelected == PWM_Selected) _mail->cmd = PWM_Selected;
+            else if(ExtraSelected == PWM_Changing) _mail->cmd = PWM_Changing;
+            else _mail->cmd = PrjEventNone;
+            _mail->pars.f[0] = PWM;
+            MsgMail.put(_mail);
+                
+            _mail = MsgMail.alloc();
+            if(TempR_Selected == cT_Selected){
+                _mail->cmd = cT_Selected;
+                _mail->pars.f[0] = cT;
+                }else{
+                    _mail->cmd = dT_Selected;
+                    _mail->pars.f[0] = dT;
+                    }
+            MsgMail.put(_mail);
+            }else{//if(Start)
+                PWM = 0;
+                ResetPID();
+                _mail = MsgMail.alloc();
+                _mail->cmd = cT_Selected;
+                _mail->pars.f[0] = cT;
+                MsgMail.put(_mail);
+                }//else{//if(Start)
+        
+        
+        
+        _msg.cmd = CmdPWM;
+        _msg.pars.f[0] =  PWM;
+        SendMsg(&_msg.cmd);
+        
+        }//if(_trs == RxRcvd)
+    ThisThread::sleep_for(1);
+    }//while(1)
+}//RxMsgThrdFunc
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TS_DISCO_F429ZI.lib	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/TS_DISCO_F429ZI/#4f8b6df8e235

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TS_Thread.cpp	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,283 @@
+#include "PrjDefs.h"
+
+#define mSperTick 10
+#define DelayBetweenTouch 5
+#define DelayAfter1stTouch 50
+#define PauseDelay 10
+#define DelayBefore1stTouch 1
+
+int32_t TickCtr = 0;
+int32_t TouchNum = 0;
+uint32_t TouchDelay = DelayBefore1stTouch;
+float pwm = 0;
+uint16_t x;
+uint16_t y;
+
+void Incrementer(float *f,float step,float max){
+    (*f) += step;
+    if((*f) > max) (*f) = max;
+    }
+    
+void Decrementer(float *f,float step,float min){
+    (*f) -= step;
+    if((*f) < min) (*f) = min;
+    }
+
+bool HitTest(RT_Pars *rp){
+    if(x < ((rp->xr) + (rp->gap))) return false;
+    if(x > ((rp->xr) + (rp->wr) - (rp->gap))) return false;
+    if(y < ((rp->yr) + (rp->gap))) return false;
+    if(y > ((rp->yr) + (rp->hr) - (rp->gap))) return false;
+    return true; 
+    }//HitTest
+
+void SetChangingParam(uint8_t v){
+    if(ChangingParam == v)ChangingParam = ChangingParamNone;
+    else ChangingParam = v;
+    MsgType *_mail;
+    _mail = MsgMail.alloc();
+    _mail->cmd = dTdt_Selected;
+    _mail->pars.f[0] = dTdt;
+    MsgMail.put(_mail);
+    _mail = MsgMail.alloc();
+    _mail->cmd = TempS_Selected;
+    _mail->pars.f[0] = TempS;
+    MsgMail.put(_mail);
+    _mail = MsgMail.alloc();
+                    switch (ExtraSelected){
+                        case KP_Selected: { _mail->cmd = KP_Selected; _mail->pars.f[0] = KProp; break; }
+                        case KI_Selected: { _mail->cmd = KI_Selected; _mail->pars.f[0] = KInt; break; }
+                        case KD_Selected: { _mail->cmd = KD_Selected; _mail->pars.f[0] = KDif; break; }
+                        case PWM_Selected: { _mail->cmd = PWM_Selected; _mail->pars.f[0] = PWM; break; }
+                        default: { _mail->cmd = PrjEventNone; break; }
+                        }//switch (ExtraSelected)
+    MsgMail.put(_mail);
+    }//SetChangingParam
+    
+void SelExtraPar(uint8_t v){
+    if(++ExtraSelected > PWM_Selected) ExtraSelected = KP_Selected;
+    SetChangingParam(ChangingParamNone);
+    }//SelExtraPar
+
+bool TouchDispatcher(){
+            
+    MsgType _msg;
+    
+
+            if(HitTest(&Start_Rect)){
+                if(TouchNum == 1){
+                    MsgType *_mail = MsgMail.alloc();
+                    _mail->cmd = CmdStart;
+                    if(Start) { PWM = 0; StopH(); }
+                    else { Start_H();}
+                    _mail->pars.ui8[0] = Start;
+                    MsgMail.put(_mail);
+                    }//if(TouchNum == 1)
+                }//if(HitTest(&Start_Rect))
+            else if(HitTest(&TempR_Rect)){
+                if(TouchNum == 1){
+                    MsgType *_mail = MsgMail.alloc();
+                    if(TempR_Selected == cT_Selected){
+                        TempR_Selected = dT_Selected;
+                        _mail->cmd = cT_Selected;
+                        _mail->pars.f[0] = cT;
+                        }else{
+                            TempR_Selected = cT_Selected;
+                            _mail->cmd = dT_Selected;
+                            _mail->pars.f[0] = dT;
+                            }
+                    MsgMail.put(_mail);
+                    }//if(TouchNum == 1)
+                }//if(HitTest(&TempR_Rect))
+            else if(HitTest(&TempS_Rect)){
+                if(TouchNum == 1){
+                    MsgType *_mail = MsgMail.alloc();
+                    if(ChangingParam != TempS_Changing) SetChangingParam(TempS_Changing);
+                    else SetChangingParam(TempS_Selected);
+                    _mail->cmd = ChangingParam;
+                    _mail->pars.f[0] = TempS;
+                    MsgMail.put(_mail);
+                    }//if(TouchNum == 1)
+                }//if(HitTest(&TempS_Rect))
+            else if(HitTest(&dTdt_Rect)){
+                if(TouchNum == 1){
+                    MsgType *_mail = MsgMail.alloc();
+                    if(ChangingParam != dTdt_Changing) SetChangingParam(dTdt_Changing);
+                    else SetChangingParam(dTdt_Selected);
+                    _mail->cmd = ChangingParam;
+                    _mail->pars.f[0] = dTdt;
+                    MsgMail.put(_mail);
+                    }//if(TouchNum == 1)
+                }//if(HitTest(&dTdt_Rect))
+            else if(HitTest(&SelExtra_Rect)){
+                if(TouchNum == 1){
+                    MsgType *_mail = MsgMail.alloc();
+                    SelExtraPar(0);
+                    switch (ExtraSelected){
+                        case KP_Selected: { _mail->cmd = KP_Selected; _mail->pars.f[0] = KProp; break; }
+                        case KI_Selected: { _mail->cmd = KI_Selected; _mail->pars.f[0] = KInt; break; }
+                        case KD_Selected: { _mail->cmd = KD_Selected; _mail->pars.f[0] = KDif; break; }
+                        case PWM_Selected: { _mail->cmd = PWM_Selected; _mail->pars.f[0] = PWM; break; }
+                        default: { _mail->cmd = PrjEventNone; break; }
+                        }//switch (ExtraSelected)
+                    MsgMail.put(_mail);
+                    }//if(TouchNum == 1)
+                }//if(HitTest(&ChooseExOpt_Rect))
+            else if(HitTest(&Extra_Rect)){
+                if(TouchNum == 1){
+                    MsgType *_mail = MsgMail.alloc();
+                    switch (ExtraSelected){
+                        case KP_Selected: {
+                            if(ChangingParam != KP_Changing) SetChangingParam(KP_Changing);
+                            else SetChangingParam(KP_Selected); 
+                            _mail->cmd = ChangingParam; 
+                            _mail->pars.f[0] = KProp; 
+                            break; }//KP_Selected
+                        case KI_Selected: { 
+                            if(ChangingParam != KI_Changing) SetChangingParam(KI_Changing);
+                            else SetChangingParam(KI_Selected); 
+                            _mail->cmd = ChangingParam; 
+                            _mail->pars.f[0] = KInt; 
+                            break; }
+                        case KD_Selected: { 
+                            if(ChangingParam != KD_Changing) SetChangingParam(KD_Changing);
+                            else SetChangingParam(KD_Selected); 
+                            _mail->cmd = ChangingParam; 
+                            _mail->pars.f[0] = KDif; 
+                            break; }
+                        case PWM_Selected: { 
+                            if(ChangingParam != PWM_Changing) SetChangingParam(PWM_Changing);
+                            else SetChangingParam(PWM_Selected); 
+                            _mail->cmd = ChangingParam; 
+                            _mail->pars.f[0] = PWM; 
+                            break; }
+                        default: { _mail->cmd = PrjEventNone; break; }
+                        }//switch (ExtraSelected)
+                    MsgMail.put(_mail);
+                    }//if(TouchNum == 1)
+                }//if(HitTest(&Extra_Rect))
+            else if(HitTest(&Plus_Rect)){
+                MsgType *_mail = MsgMail.alloc();
+                switch(ChangingParam){
+                    case TempS_Changing:{
+                        Incrementer(&TempS,1,MaxTempS);
+                        _mail->cmd = TempS_Changing;
+                        _mail->pars.f[0] = TempS;
+                        ReStartH();
+                        break;}
+                    case dTdt_Changing:{
+                        Incrementer(&dTdt,dTdtStep,Max_dTdt);
+                        _mail->cmd = dTdt_Changing;
+                        _mail->pars.f[0] = dTdt;
+                        break;}
+                    case KP_Changing:{
+                        Incrementer(&KProp,KPropStep,MaxKProp);
+                        _mail->cmd = KP_Changing;
+                        _mail->pars.f[0] = KProp;
+                        break;}
+                    case KI_Changing:{
+                        Incrementer(&KInt,KIntStep,MaxKInt);
+                        _mail->cmd = KI_Changing;
+                        _mail->pars.f[0] = KInt;
+                        break;}
+                    case KD_Changing:{
+                        Incrementer(&KDif,KDifStep,MaxKDif);
+                        _mail->cmd = KD_Changing;
+                        _mail->pars.f[0] = KDif;
+                        break;}
+                    case PWM_Changing:{
+                        Incrementer(&PWM,PWM_Step,MaxPWM);
+                        _mail->cmd = PWM_Changing;
+                        _mail->pars.f[0] = PWM;
+                        break;}
+                    default: { _mail->cmd = PrjEventNone; break; }
+                    }//switch(ChangingParam)
+                MsgMail.put(_mail);
+                }//if(HitTest(&Plus_Rect))
+            else if(HitTest(&Minus_Rect)){
+                MsgType *_mail = MsgMail.alloc();
+                switch(ChangingParam){
+                    case TempS_Changing:{
+                        Decrementer(&TempS,1,0);
+                        _mail->cmd = TempS_Changing;
+                        _mail->pars.f[0] = TempS;
+                        ReStartH();
+                        break;}
+                    case dTdt_Changing:{
+                        Decrementer(&dTdt,dTdtStep,0);
+                        _mail->cmd = dTdt_Changing;
+                        _mail->pars.f[0] = dTdt;
+                        break;}
+                    case KP_Changing:{
+                        Decrementer(&KProp,KPropStep,0); //_f=(*(float *))ui32;
+                        _mail->cmd = KP_Changing;
+                        _mail->pars.f[0] = KProp;
+                        break;}
+                    case KI_Changing:{
+                        Decrementer(&KInt,KIntStep,0);
+                        _mail->cmd = KI_Changing;
+                        _mail->pars.f[0] = KInt;
+                        break;}
+                    case KD_Changing:{
+                        Decrementer(&KDif,KDifStep,0);
+                        _mail->cmd = KD_Changing;
+                        _mail->pars.f[0] = KDif;
+                        break;}
+                    case PWM_Changing:{
+                        Decrementer(&PWM,PWM_Step,0);
+                        _mail->cmd = PWM_Changing;
+                        _mail->pars.f[0] = PWM;
+                        break;}
+                    default: { _mail->cmd = PrjEventNone; break; }
+                    }//switch(ChangingParam)
+                MsgMail.put(_mail);
+                }//if(HitTest(&Minus_Rect))
+            else return 0;
+            return 1;
+/*
+            if(HitTest(&ExOptions_Rect,TS_State.X,TS_State.Y)){
+                MsgType *_mail = MsgMail.alloc();
+                _mail->cmd = ExOptSetting;
+                MsgMail.put(_mail);
+                }
+            if(HitTest(&ChooseExOpt_Rect,TS_State.X,TS_State.Y)){
+                MsgType *_mail = MsgMail.alloc();
+                _mail->cmd = ExOptChoosing;
+                MsgMail.put(_mail);
+                }
+*/
+}//TouchDispatcher
+
+void TouchScreenThrdFunc(){
+TS_StateTypeDef TS_State;
+while(1){
+    ts.GetState(&TS_State);      
+    if(TS_State.TouchDetected){
+        x = TS_State.X;
+        y = TS_State.Y;
+        if(++TickCtr > TouchDelay){
+            TickCtr=0;
+            TouchNum++;
+            if(!TouchDispatcher()){
+                TickCtr=0;
+                TouchNum=0;
+                TouchDelay = DelayBefore1stTouch;
+                }
+            if(TouchNum == 1) TouchDelay = DelayAfter1stTouch;
+            else TouchDelay = DelayBetweenTouch;
+            }//if(++TickCtr>TouchDelay)
+            
+        }else{//if(TS_State.TouchDetected)
+            TickCtr=0;
+            TouchNum=0;
+            TouchDelay = DelayBefore1stTouch;
+            }
+    ThisThread::sleep_for(mSperTick);
+}//while(1) 
+}//TouchScreenThrdFunc
+/*
+                pwm += 0.001; if (pwm > 1) pwm = 0;
+                _msg.cmd = 0x17;
+                _msg.pars.f[0] =  pwm;
+                SendMsg(&_msg.cmd);
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TxRxService.cpp	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,101 @@
+#include "PrjDefs.h"
+
+UsedSerialClass Wcom(WorkTx,WorkRx);
+
+uint8_t ArrTx[ArrTxSize] = ArrTxInitializer;
+MsgType ArrRx;
+MsgType RxBuff;
+MsgType TxBuff;
+uint8_t *pArrTx = &ArrTx[0];
+uint8_t *pArrRx = &ArrRx.cmd;
+bool RxBuffFull = 0;
+bool ArrTxBusy = 0;
+bool TxBuffFull = 0;
+bool HdrRcvd = 0;
+bool MsgEnabled = 0;
+uint8_t HBctr = 0;
+
+uint8_t GetCheckSum(uint8_t *p){
+    uint8_t cs = 0;
+    for(int i = 0; i < (sizeof(MsgType)-1); i++){
+        cs = cs + *(p++);
+        cs = cs + 1;
+        }
+    return cs;
+    }    
+
+void IntrTx(); 
+
+void CopyArr_InitTx(uint8_t *parr){
+    memcpy(&ArrTx[HeaderLength], parr, sizeof(TxBuff));
+    pArrTx = &ArrTx[0];
+    Wcom.putc(*pArrTx);
+    if(!ArrTxBusy) {
+        ArrTxBusy = 1;
+        Wcom.attach(IntrTx, Serial::TxIrq);
+        }
+    TxBuffFull = 0;
+    }
+
+void IntrTx() {
+    if ( ++pArrTx <= &ArrTx[ArrTxSize-1] ) Wcom.putc(*pArrTx);
+    else {
+        if(TxBuffFull) CopyArr_InitTx(&TxBuff.cmd);
+            else {
+                Wcom.attach(NULL, Serial::TxIrq);
+                ArrTxBusy = 0;
+                }
+        }
+    }//IntrTx
+
+TxRxStates SendMsg(uint8_t *parr){
+        if(TxBuffFull){ return TxBuffBusy; }
+        *(parr + (sizeof(MsgType)-1)) = GetCheckSum(parr);
+        if(ArrTxBusy) {                                //ВНИМАНИЕ!!! IntrTx последнего байта пакета!!! НЕАТОМАРНЫЙ КУСОК КОДА!!!
+            memcpy(&TxBuff.cmd, parr, sizeof(TxBuff)); //ВНИМАНИЕ!!! IntrTx последнего байта пакета!!! НЕАТОМАРНЫЙ КУСОК КОДА!!!
+            TxBuffFull=1;                              //ВНИМАНИЕ!!! IntrTx последнего байта пакета!!! НЕАТОМАРНЫЙ КУСОК КОДА!!!
+            if(!ArrTxBusy) CopyArr_InitTx(&TxBuff.cmd);//ВНИМАНИЕ!!! IntrTx последнего байта пакета!!! НЕАТОМАРНЫЙ КУСОК КОДА!!!
+            } else CopyArr_InitTx(parr);
+        return TxOK;
+    }//StartTx
+
+void IntrRx() {
+    uint8_t _ch = Wcom.getc();
+    if(_ch == HeaderByte){ 
+        if((++HBctr) >= HeaderLength){ 
+            HdrRcvd = 1;
+            pArrRx = &ArrRx.cmd;
+            MsgEnabled = 0;
+            } 
+        }else{ 
+            HBctr = 0;
+            if(HdrRcvd) { HdrRcvd = 0; MsgEnabled = 1; }
+            }
+    if(MsgEnabled){
+        *pArrRx = _ch;
+        if ( pArrRx++ >= &ArrRx.cs ){
+            pArrRx = &ArrRx.cmd; 
+            memcpy(&RxBuff.cmd, &ArrRx.cmd, sizeof(RxBuff));
+            RxBuffFull = 1;
+            MsgEnabled = 0;
+            }
+        }//if(MsgEnabled)
+    }//IntrRx
+
+void TxRxServiceInit(){
+#ifdef BaudRate
+    Wcom.baud(BaudRate);
+#endif
+    Wcom.attach(IntrRx, Serial::RxIrq);
+    Wcom.attach(NULL, Serial::TxIrq);//я УПЁРТЫЙ дебил
+    }
+    
+TxRxStates GetMsg(uint8_t *parr){
+    if(!RxBuffFull) return RxBuffEmpty;
+    else{
+        memcpy(parr, &RxBuff.cmd, sizeof(RxBuff));
+        RxBuffFull = 0;
+        if(GetCheckSum(&RxBuff.cmd) == RxBuff.cs) return RxRcvd;
+        else return RxCS_Err;
+        }
+    }//GetMsg
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TxRxService.h	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,88 @@
+    
+#ifndef ParsLength
+  #define ParsLength 4
+#endif
+#if ParsLength>16
+  #error The length of the parameters seems to be too long. Maybe You should use a different Protocol.
+#elif ParsLength<2
+  #error The length of the parameters seems to be meaningless. Maybe You should use a different Protocol.
+#endif
+
+#ifndef UsedSerialClass
+  #define UsedSerialClass RawSerial
+#endif
+
+#define HeaderByte 0x00
+#define HeaderLength (ParsLength+1)
+
+// ++++++++ Назначение параметров используемого U(S)ART по умолчанию 
+// У F031K6 U(S)ART один, поэтому 
+// для F031K6 и для всех неопробованных плат назначается 
+// U(S)ART по умолчанию (USBTX,USBRX). 
+#ifndef WorkTx 
+  #ifdef TARGET_NUCLEO_L432KC
+    #define WorkTx PA_9  // USART1
+  #elif defined TARGET_NUCLEO_F072RB
+    #define WorkTx PA_9  // USART1
+  #elif defined TARGET_DISCO_F429ZI
+    #define WorkTx PG_14  // USART6; USART1(PA_9,PA_10) используется для терминала
+  #elif defined TARGET_NUCLEO_F031K6
+    #define WorkTx USBTX
+  #else
+    #define WorkTx USBTX
+  #endif
+#endif
+#ifndef WorkRx
+  #ifdef TARGET_NUCLEO_L432KC
+    #define WorkRx PA_10 // USART1
+  #elif defined TARGET_NUCLEO_F072RB
+    #define WorkRx PA_10 // USART1
+  #elif defined TARGET_DISCO_F429ZI
+    #define WorkRx PG_9  // USART6; USART1(PA_9,PA_10) используется для терминала
+  #elif defined TARGET_NUCLEO_F031K6
+    #define WorkRx USBRX
+  #else
+    #define WorkRx USBRX
+  #endif
+#endif
+// Назначение выводов используемого U(S)ART по умолчанию --------
+
+
+#pragma pack(push, 1)//https://os.mbed.com/forum/bugs-suggestions/topic/4264/  проблема выравнивания данных
+typedef union {
+    uint8_t ui8[ParsLength];
+    int8_t i8[ParsLength];
+    uint16_t ui16[ParsLength/2];
+    int16_t i16[ParsLength/2];
+#if ParsLength>=4
+    uint32_t ui32[ParsLength/4];
+    int32_t i32[ParsLength/4];
+    float f[ParsLength/4];
+#endif
+    } ParsType;
+  
+typedef struct {
+    uint8_t cmd;
+    ParsType pars;
+    uint8_t cs;
+    } MsgType;
+#pragma pack(pop)
+
+#define ArrTxSize (HeaderLength + sizeof(MsgType))
+#define ArrRxSize (HeaderLength + sizeof(MsgType))
+
+enum TxRxStates {
+    TxOK,
+    TxBuffBusy,
+    RxBuffEmpty,
+    RxRcvd,
+    RxCS_Err,
+    Undefined
+    };
+
+#define ArrTxInitializer {HeaderByte,HeaderByte,HeaderByte,HeaderByte,HeaderByte}
+
+extern void TxRxServiceInit();
+extern TxRxStates SendMsg(uint8_t *parr);
+extern TxRxStates GetMsg(uint8_t *parr);
+ 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Utils.cpp	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,48 @@
+#include "PrjDefs.h"
+
+void InitRects(){
+    R_T(&TempR_Rect);
+    sprintf((char*)TempS_Rect.s, "Ttg=%3.0fC", TempS);
+    R_T(&TempS_Rect);
+    sprintf((char*)dTdt_Rect.s, "dTdt%1.2f", dTdt);
+    R_T(&dTdt_Rect);
+    sprintf((char*)Extra_Rect.s, "KP=%1.3f", KProp);
+    sprintf((char*)Extra_Rect.s, "PL=%1.3f", PWM);
+    R_T(&Extra_Rect);
+    R_T(&Start_Rect);
+    R_T(&Plus_Rect);
+    R_T(&Minus_Rect); 
+    R_T(&SelExtra_Rect);
+    }//InitRects
+
+void InitLCDandTS() {
+    BSP_LCD_SetFont(&Font24);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    uint8_t status = ts.Init(lcd.GetXSize(), lcd.GetYSize());
+    if (status != TS_OK){
+        lcd.Clear(LCD_COLOR_RED);
+        lcd.SetBackColor(LCD_COLOR_RED);
+        lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE);
+        lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"INIT FAIL", CENTER_MODE);
+        wait(1);
+        }else{
+            lcd.Clear(LCD_COLOR_GREEN);
+            lcd.SetBackColor(LCD_COLOR_GREEN);
+            lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"INIT OK", CENTER_MODE);
+            wait(0.5);
+            }
+    lcd.Clear(LCD_COLOR_BLACK);
+    lcd.SetBackColor(LCD_COLOR_BLACK);
+}//InitLCDandTS
+
+void R_T(RT_Pars *rp){
+    uint32_t _c = lcd.GetTextColor();
+    uint32_t _b = lcd.GetBackColor();
+    lcd.SetTextColor(rp->cr);
+    lcd.FillRect(rp->xr, rp->yr, rp->wr, rp->hr);
+    lcd.SetBackColor(rp->cr);
+    lcd.SetTextColor(rp->ct);
+    lcd.DisplayStringAt(((rp->xr)+(rp->xt)), ((rp->yr)+(rp->yt)), &(rp->s[0]), LEFT_MODE);
+//    lcd.SetBackColor(_b);
+//    lcd.SetTextColor(_c);
+    }//R_T
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,143 @@
+#include "PrjDefs.h"
+
+int main()
+{
+
+    MsgType _msg;
+
+    RxMsgThrd.start(RxMsgThrdFunc);
+    RxMsgThrd.set_priority(osPriorityHigh);
+    
+    TouchScreenThrd.start(TouchScreenThrdFunc);
+    TouchScreenThrd.set_priority(osPriorityAboveNormal);
+  
+    InitLCDandTS();
+    
+    InitRects();
+    
+    while(1){               
+        osEvent evt = MsgMail.get(0);
+        if (evt.status == osEventMail) {
+            MsgType *mail = (MsgType*)evt.value.p;
+            switch ( mail->cmd ){
+                case Cmd_cT:{
+                    float _f = mail->pars.f[0]; 
+//                    sprintf((char*)TempR_Rect.s, "T= 3.1fC");
+                    sprintf((char*)TempR_Rect.s, "Tcr=%3.0fC", mail->pars.f[0]);
+//                    if( _f >= 100) sprintf((char*)TempR_Rect.s, "T=%3.1fC", cT);
+//                    else sprintf((char*)TempR_Rect.s, "T= %2.1fC", cT);
+                    R_T(&TempR_Rect);
+                    break;}
+                case cT_Selected:{
+                    float _f = mail->pars.f[0];
+                    sprintf((char*)TempR_Rect.s, "Tcr=%3.0fC", mail->pars.f[0]);
+//                    if( _f >= 100) sprintf((char*)TempR_Rect.s, "T=%3.1fC", _f);
+//                    else sprintf((char*)TempR_Rect.s, "T= %2.1fC", _f);
+                    TempR_Rect.cr = DefaultRectColor;
+                    TempR_Rect.ct = DefaultTextColor;
+                    R_T(&TempR_Rect);
+                    break;}//cT_Selected
+                case dT_Selected:{
+                    float _f = mail->pars.f[0]; 
+                    if(_f < 0) _f = -_f; 
+                    if(_f>=100) sprintf((char*)TempR_Rect.s, "dT=%+3.f", mail->pars.f[0]);
+                    else if(_f>=10) sprintf((char*)TempR_Rect.s, "dT=%+2.1f", mail->pars.f[0]);
+                    else sprintf((char*)TempR_Rect.s, "dT=%+1.2f", mail->pars.f[0]);
+                    TempR_Rect.cr = LCD_COLOR_LIGHTBLUE;
+                    TempR_Rect.ct = ChangingTextColor;
+                    R_T(&TempR_Rect);
+                    break;}//dT_Selected
+                case CmdStart:{
+                    if(mail->pars.ui8[0])Start_Rect.cr = LCD_COLOR_RED;
+                    else Start_Rect.cr = LCD_COLOR_GREEN;
+                    R_T(&Start_Rect);
+                    break;}   
+                case CmdPWM:{
+                    sprintf((char*)dTdt_Rect.s, "P=%1.3f", mail->pars.f[0]);
+                    R_T(&dTdt_Rect);
+                    break;}
+                case KP_Changing:{
+                    sprintf((char*)Extra_Rect.s, "KP=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = ChangingRectColor;
+                    Extra_Rect.ct = ChangingTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case KP_Changing
+                case KI_Changing:{
+                    sprintf((char*)Extra_Rect.s, "KI=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = ChangingRectColor;
+                    Extra_Rect.ct = ChangingTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case KI_Changing
+                case KD_Changing:{
+                    sprintf((char*)Extra_Rect.s, "KD=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = ChangingRectColor;
+                    Extra_Rect.ct = ChangingTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case KD_Changing
+                case PWM_Changing:{
+                    sprintf((char*)Extra_Rect.s, "PL=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = ChangingRectColor;
+                    Extra_Rect.ct = ChangingTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case PWM_Changing
+                case KP_Selected:{
+                    sprintf((char*)Extra_Rect.s, "KP=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = DefaultRectColor;
+                    Extra_Rect.ct = DefaultTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case KP_Selected
+                case KI_Selected:{
+                    sprintf((char*)Extra_Rect.s, "KI=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = DefaultRectColor;
+                    Extra_Rect.ct = DefaultTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case KI_Selected
+                case KD_Selected:{
+                    sprintf((char*)Extra_Rect.s, "KD=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = DefaultRectColor;
+                    Extra_Rect.ct = DefaultTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case KD_Selected
+                case PWM_Selected:{
+                    sprintf((char*)Extra_Rect.s, "PL=%1.3f", mail->pars.f[0]);
+                    Extra_Rect.cr = DefaultRectColor;
+                    Extra_Rect.ct = DefaultTextColor;
+                    R_T(&Extra_Rect);                    
+                    break;}//case PWM_Selected
+                case TempS_Changing:{
+                    TempS_Rect.cr = ChangingRectColor;
+                    TempS_Rect.ct = ChangingTextColor;
+                    sprintf((char*)TempS_Rect.s, "Ttg=%3.0fC", mail->pars.f[0]);
+                    R_T(&TempS_Rect);                    
+                    break;}//case TempS_Changing
+                case TempS_Selected:{
+                    TempS_Rect.cr = DefaultRectColor;
+                    TempS_Rect.ct = DefaultTextColor;
+                    sprintf((char*)TempS_Rect.s, "Ttg=%3.0fC", mail->pars.f[0]);
+                    R_T(&TempS_Rect);                    
+                    break;}//case TempS_Selected
+                case dTdt_Changing:{
+                    dTdt_Rect.cr = ChangingRectColor;
+                    dTdt_Rect.ct = ChangingTextColor;
+                    sprintf((char*)dTdt_Rect.s, "dTdt%1.2f", dTdt);
+                    R_T(&dTdt_Rect);
+                    break;}//dTdt_Changing
+                case dTdt_Selected:{
+                    dTdt_Rect.cr = DefaultRectColor;
+                    dTdt_Rect.ct = DefaultTextColor;
+                    sprintf((char*)dTdt_Rect.s, "dTdt%1.2f", dTdt);
+                    R_T(&dTdt_Rect);
+                    break;}//dTdt_Selected
+                default: break;
+                }//switch
+            MsgMail.free(mail);
+            }//if (evt.status == osEventMail)
+            
+//        ThisThread::sleep_for(1);
+        }//while(1)
+}//main
+
+/*
+DigitalOut xx(PG_13);//зеленый светодиод LD3 DISCO
+        lcd.FillTriangle(45,45,80,142,177,157);
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Fri Aug 16 22:22:05 2019 +0000
@@ -0,0 +1,1 @@
+https://github.com/armmbed/mbed-os/#b81aeff1a3e171c6421984faa2cc18d0e35746c0