From 0332771fe9f92190ebd314e971b0c0f05ba1a567 Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Fri, 14 Oct 2022 23:22:48 +0200
Subject: [PATCH] worked on multi splitflap

---
 ADIS_tinyK22_SplitFlap/.cproject              |  16 +--
 ADIS_tinyK22_SplitFlap/source/application.c   |   6 +-
 .../source/multi-splitflap.c                  |  53 +++++---
 ADIS_tinyK22_SplitFlap/source/splitflap.c     | 118 +++++++++---------
 ADIS_tinyK22_SplitFlap/source/splitflap.h     |  13 +-
 5 files changed, 114 insertions(+), 92 deletions(-)

diff --git a/ADIS_tinyK22_SplitFlap/.cproject b/ADIS_tinyK22_SplitFlap/.cproject
index b595bbd..c60089f 100644
--- a/ADIS_tinyK22_SplitFlap/.cproject
+++ b/ADIS_tinyK22_SplitFlap/.cproject
@@ -202,7 +202,7 @@
 								<option id="com.crt.advproject.gas.thumb.24888127" name="Thumb mode" superClass="com.crt.advproject.gas.thumb" value="true" valueType="boolean"/>
 								<option id="com.crt.advproject.gas.arch.59322756" name="Architecture" superClass="com.crt.advproject.gas.arch" value="com.crt.advproject.gas.target.cm4" valueType="enumerated"/>
 								<option id="gnu.both.asm.option.flags.crt.538274977" name="Assembler flags" superClass="gnu.both.asm.option.flags.crt" value="-c -x assembler-with-cpp -D__NEWLIB__" valueType="string"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.1038992328" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.1038992328" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/drivers}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/device}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/CMSIS}&quot;"/>
@@ -211,8 +211,6 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/component/uart}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/component/lists}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/board}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/freertos/freertos_kernel/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/freertos/freertos_kernel/portable/GCC/ARM_CM4F}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/source}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${MCULIB}/&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${MCULIB}/config&quot;"/>
@@ -295,10 +293,10 @@
 								<option id="com.crt.advproject.link.gcc.hdrlib.1729811092" name="Library" superClass="com.crt.advproject.link.gcc.hdrlib" value="com.crt.advproject.gcc.link.hdrlib.newlibnano.semihost" valueType="enumerated"/>
 								<option id="com.crt.advproject.link.fpu.965634186" name="Floating point" superClass="com.crt.advproject.link.fpu" value="com.crt.advproject.link.fpu.fpv4.hard" valueType="enumerated"/>
 								<option id="com.crt.advproject.link.thumb.939936813" name="Thumb mode" superClass="com.crt.advproject.link.thumb" value="true" valueType="boolean"/>
-								<option id="com.crt.advproject.link.memory.load.image.1141884635" name="Plain load image" superClass="com.crt.advproject.link.memory.load.image" useByScannerDiscovery="false" value="" valueType="string"/>
+								<option id="com.crt.advproject.link.memory.load.image.1141884635" name="Plain load image" superClass="com.crt.advproject.link.memory.load.image" useByScannerDiscovery="false" value="false;" valueType="string"/>
 								<option defaultValue="com.crt.advproject.heapAndStack.mcuXpressoStyle" id="com.crt.advproject.link.memory.heapAndStack.style.214008281" name="Heap and Stack placement" superClass="com.crt.advproject.link.memory.heapAndStack.style" useByScannerDiscovery="false" valueType="enumerated"/>
 								<option id="com.crt.advproject.link.memory.heapAndStack.581254503" name="Heap and Stack options" superClass="com.crt.advproject.link.memory.heapAndStack" value="&amp;Heap:Default;Post Data;Default&amp;Stack:Default;End;Default" valueType="string"/>
-								<option id="com.crt.advproject.link.memory.data.1422954448" name="Global data placement" superClass="com.crt.advproject.link.memory.data" useByScannerDiscovery="false" value="" valueType="string"/>
+								<option id="com.crt.advproject.link.memory.data.1422954448" name="Global data placement" superClass="com.crt.advproject.link.memory.data" useByScannerDiscovery="false" value="Default" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.crt.advproject.link.memory.sections.3963713" name="Extra linker script input sections" superClass="com.crt.advproject.link.memory.sections" useByScannerDiscovery="false" valueType="stringList"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.crt.advproject.link.gcc.multicore.master.userobjs.2124723269" name="Slave Objects (not visible)" superClass="com.crt.advproject.link.gcc.multicore.master.userobjs" useByScannerDiscovery="false" valueType="userObjs"/>
 								<option id="com.crt.advproject.link.gcc.multicore.slave.1241419045" name="Multicore configuration" superClass="com.crt.advproject.link.gcc.multicore.slave"/>
@@ -329,8 +327,8 @@
 								<option id="com.crt.advproject.link.gcc.lto.2006844944" name="Enable Link-time optimization (-flto)" superClass="com.crt.advproject.link.gcc.lto"/>
 								<option id="com.crt.advproject.link.gcc.lto.optmization.level.1416309801" name="Link-time optimization level" superClass="com.crt.advproject.link.gcc.lto.optmization.level"/>
 								<option id="com.crt.advproject.link.manage.2050229701" name="Manage linker script" superClass="com.crt.advproject.link.manage" value="true" valueType="boolean"/>
-								<option id="com.crt.advproject.link.script.788371422" name="Linker script" superClass="com.crt.advproject.link.script" value="ADIS_tinyK22_Blinky_Debug.ld" valueType="string"/>
-								<option id="com.crt.advproject.link.scriptdir.973298735" name="Script path" superClass="com.crt.advproject.link.scriptdir"/>
+								<option id="com.crt.advproject.link.script.788371422" name="Linker script" superClass="com.crt.advproject.link.script" useByScannerDiscovery="false" value="ADIS_tinyK22_SplitFlap_Debug.ld" valueType="string"/>
+								<option id="com.crt.advproject.link.scriptdir.973298735" name="Script path" superClass="com.crt.advproject.link.scriptdir" useByScannerDiscovery="false" value="" valueType="string"/>
 								<option id="com.crt.advproject.link.crpenable.827328657" name="Enable automatic placement of Code Read Protection field in image" superClass="com.crt.advproject.link.crpenable"/>
 								<option id="com.crt.advproject.link.flashconfigenable.1185095849" name="Enable automatic placement of Flash Configuration field in image" superClass="com.crt.advproject.link.flashconfigenable" value="true" valueType="boolean"/>
 								<option id="com.crt.advproject.link.ecrp.335964278" name="Enhanced CRP" superClass="com.crt.advproject.link.ecrp"/>
@@ -798,7 +796,9 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
 	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="Debug"/>
+		<configuration configurationName="Debug">
+			<resource resourceType="PROJECT" workspacePath="/ADIS_tinyK22_SplitFlap"/>
+		</configuration>
 		<configuration configurationName="Release">
 			<resource resourceType="PROJECT" workspacePath="/ADIS_tinyK22_Blinky"/>
 		</configuration>
diff --git a/ADIS_tinyK22_SplitFlap/source/application.c b/ADIS_tinyK22_SplitFlap/source/application.c
index 61854ac..cdda649 100644
--- a/ADIS_tinyK22_SplitFlap/source/application.c
+++ b/ADIS_tinyK22_SplitFlap/source/application.c
@@ -55,10 +55,6 @@ void App_Init(void){
 static void App_Task(void* pv){
 	McuLog_info("Application Task starting");
 
-    while(1){
-    	vTaskDelay(pdMS_TO_TICKS(100));
-    }
-
 	PRINTF("Initializing split flap motors.\n");
 	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 20);
 	PRINTF("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
@@ -82,7 +78,7 @@ static void App_Task(void* pv){
 
 	/* MULTI SPLIT FLAP TESTING */
 	char sentence[] = "JONAS!";
-	//MultiSplitFlap_Display(sentence);
+	MultiSplitFlap_Display(sentence);
 
 	return;
 
diff --git a/ADIS_tinyK22_SplitFlap/source/multi-splitflap.c b/ADIS_tinyK22_SplitFlap/source/multi-splitflap.c
index 7e29a65..35be562 100644
--- a/ADIS_tinyK22_SplitFlap/source/multi-splitflap.c
+++ b/ADIS_tinyK22_SplitFlap/source/multi-splitflap.c
@@ -9,14 +9,20 @@
 #include <stdbool.h>
 #include "multi-splitflap.h"
 #include "fsl_debug_console.h"
+#include "splitflap.h"
 
+/* vars */
 static dict_t **flapDict;
 static uint8_t addedFlaps = 0;
 static const uint8_t BYTES_PER_KEY = 3;
 static char* flapKeys[NUM_FLAPS];  // reserve memory
 
+/* function declarations */
 void initFlapKeys(uint8_t numberOfFlaps);
 
+/**********************/
+/* INIT / DEINIT      */
+/**********************/
 void MultiSplitFlap_Init(){
 	addedFlaps = 0;
 	flapDict = dictAlloc();
@@ -26,29 +32,14 @@ void MultiSplitFlap_Init(){
 	initFlapKeys(NUM_FLAPS);
 }
 
-void initFlapKeys(uint8_t numberOfFlaps){
-	for (uint8_t i = 0; i < numberOfFlaps; ++i) {
-		/* get a memory place for the key */
-#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
-		flapKeys[i] = pvPortMalloc(sizeof(BYTES_PER_KEY));
-#else
-		if((flapKeys[i] = malloc(BYTES_PER_KEY)) == NULL){
-			PRINTF("Reserving memory for flap num. %i failed!:\n", i);
-		}
-		sprintf(flapKeys[i], "%i", i);
-#endif
-	}
-}
-
 void MultiSplitFlap_Deinit(void){
 	dictDealoc(flapDict);
 	addedFlaps = 0;
 }
 
-uint8_t MultiSplitFlap_GetAmountOfAddedSplitFlaps(void){
-	return addedFlaps;
-}
-
+/**********************/
+/* PUBLIC FUNCTIONS   */
+/**********************/
 void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
 	PRINTF("Adding split flap to multi splitflap combination...\n");
 	addItem(flapDict, flapKeys[addedFlaps], (SF_Handle_t*)splitflap);
@@ -59,8 +50,11 @@ void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
 void MultiSplitFlap_Display(char sentence[]){
 	for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
 		SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
-		SF_MoveToFlapAsync(sfHandle, (char*)(sentence[num]));
-		PRINTF("Moved multisplitflap: Flap nr. %i to letter '%c'.\n", num+1, sentence[num]);
+		char letter = sentence[num];
+		char letter_move[] = " ";
+		letter_move[0] = letter;
+		SF_MoveToFlapAsync(sfHandle, letter_move);
+		PRINTF("Multi splitflap: Commanded Flap nr. %i to letter '%c'.\n", num+1, letter);
 	}
 	// for testing purposes only
 	//SF_t* sf0 = (SF_t*)(SF_Handle_t)(getItem(*flapDict, flapKeys[0]));
@@ -68,4 +62,23 @@ void MultiSplitFlap_Display(char sentence[]){
 	//int32_t test = McuULN2003_GetPos(sf1->motor);
 }
 
+uint8_t MultiSplitFlap_GetAmountOfAddedSplitFlaps(void){
+	return addedFlaps;
+}
 
+/**********************/
+/* INTERNAL FUNCTIONS */
+/**********************/
+void initFlapKeys(uint8_t numberOfFlaps){
+	for (uint8_t i = 0; i < numberOfFlaps; ++i) {
+		/* get a memory place for the key */
+#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
+		flapKeys[i] = pvPortMalloc(sizeof(BYTES_PER_KEY));
+#else
+		if((flapKeys[i] = malloc(BYTES_PER_KEY)) == NULL){
+			PRINTF("Reserving memory for flap num. %i failed!:\n", i);
+		}
+		sprintf(flapKeys[i], "%i", i);
+#endif
+	}
+}
diff --git a/ADIS_tinyK22_SplitFlap/source/splitflap.c b/ADIS_tinyK22_SplitFlap/source/splitflap.c
index 23fdbee..d1c6852 100644
--- a/ADIS_tinyK22_SplitFlap/source/splitflap.c
+++ b/ADIS_tinyK22_SplitFlap/source/splitflap.c
@@ -19,19 +19,19 @@
 /* dynamic dictionary for the letters of the dictionary */
 static dict_t **splitFlapDict;
 /* all letters of the splitflap in the correct order */
-static char* SF_Letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K",
+static Flap_t SF_Letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K",
 								"L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z",
 								"0", "1", "2", "3", "4", "5", "6", "7", "8", "9",
 								"!", "?", ":"};
-/* flag if this module is initialized (physically) */
-static bool initialized = false;
-/* mutex for if the module is currently being moved */
-static SemaphoreHandle_t ongoingMoveMutex = NULL;
 
 /* function declarations */
-static bool OngoingMoveMutex_Lock(void);
-static void OngoingMoveMutex_Unlock(void);
+static bool OngoingMoveMutex_Lock(SF_Handle_t instance);
+static void OngoingMoveMutex_Unlock(SF_Handle_t instance);
+static void SF_MoveToNextFlap(void *pv);
 
+/**********************/
+/* INIT / DEINIT      */
+/**********************/
 void SF_InitConfig(void){
 	splitFlapDict = dictAlloc();
 	((dict_t*)splitFlapDict)->key=NULL;
@@ -66,20 +66,33 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
 	splitflap->magSensor = McuGPIO_InitGPIO(&instance->magSensorConfig);
 	splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
 	splitflap->id = id;
+	splitflap->ongoingMoveMutex = xSemaphoreCreateRecursiveMutex(); 	// create mutex for ongoing move
+	splitflap->initialized = false;
+	splitflap->nextFlap = SF_Letters[0];
 
-	// create mutex for ongoing move
-	ongoingMoveMutex = xSemaphoreCreateRecursiveMutex();
+	// add mutex to registry
 	char text[50] = "Ongoing move SplitFlap ";
 	McuUtility_strcatNum16s((uint8_t*)text, sizeof(text)+20, id);
-	vQueueAddToRegistry(ongoingMoveMutex, text);
+	vQueueAddToRegistry(splitflap->ongoingMoveMutex, text);
 
 	return splitflap;
 }
 
+void SF_Deinit(SF_Handle_t instance){
+	vSemaphoreDelete(((SF_t*)instance)->ongoingMoveMutex);
+	((SF_t*)instance)->initialized = false;
+	McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
+	McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
+}
+
+
+/**********************/
+/* PUBLIC FUNCTIONS   */
+/**********************/
 bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 	int numStepsMoved = 0;
 
-	if(OngoingMoveMutex_Lock()){
+	if(OngoingMoveMutex_Lock(instance)){
 		// move out of sensor
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
@@ -103,19 +116,18 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 		McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
 		McuULN2003_PowerOff(((SF_t*)instance)->motor);
 
-		OngoingMoveMutex_Unlock();
+		OngoingMoveMutex_Unlock(instance);
 	}
 
 	// success if less than one rotation
-	initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
+	((SF_t*)instance)->initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
 
-	return initialized;
+	return ((SF_t*)instance)->initialized;
 }
 
 void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
-	if(initialized){
-
-		if(OngoingMoveMutex_Lock()){
+	if(((SF_t*)instance)->initialized){
+		if(OngoingMoveMutex_Lock(instance)){
 			// run move with acceleration & deceleration
 			McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 			while(steps>0){
@@ -131,7 +143,7 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 			// no re-init is required
 			McuULN2003_PowerOff(((SF_t*)instance)->motor);
 
-			OngoingMoveMutex_Unlock();
+			OngoingMoveMutex_Unlock(instance);
 		}
 	}
 }
@@ -140,8 +152,8 @@ bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
 	return McuGPIO_IsLow(((SF_t*)instance)->magSensor);
 }
 
-void SF_MoveToFlap(SF_Handle_t instance, char* flap){
-	if(OngoingMoveMutex_Lock()){
+void SF_MoveToFlap(SF_Handle_t instance, Flap_t flap){
+	if(OngoingMoveMutex_Lock(instance)){
 
 		// get flap pos from dictonary
 		int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
@@ -159,38 +171,23 @@ void SF_MoveToFlap(SF_Handle_t instance, char* flap){
 			SF_MoveSteps(instance, stepsToReachFlap);
 		}
 
-		OngoingMoveMutex_Unlock();
+		OngoingMoveMutex_Unlock(instance);
 	}
 }
 
-typedef struct{
-	SF_Handle_t instance;
-    char* flap;
-} MoveToFlap_Param_t;
-
-
-/* pointer to MoveToFlap_Param_t */
-static void SF_MoveToFlapWithParameter(void *pv){
-
-	MoveToFlap_Param_t param = *(MoveToFlap_Param_t*)pv;
-	SF_MoveToFlap(param.instance, param.flap);
-}
-
-MoveToFlap_Param_t taskParameters;
-
-void SF_MoveToFlapAsync(SF_Handle_t instance, char* flap){
-	if(OngoingMoveMutex_Lock()){
+void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap){
+	if(OngoingMoveMutex_Lock(instance)){
 		BaseType_t res;
 
-		char taskName[50] = "SF Mv ";
-		McuUtility_strcatNum16s((uint8_t*)taskName, sizeof(taskName)+20, ((SF_t*)instance)->id);
-		taskParameters.instance = instance;
-		taskParameters.flap = flap;
+		char taskName[10] = "SF Mv ";
+		McuUtility_strcatNum16s((uint8_t*)taskName, sizeof(taskName), ((SF_t*)instance)->id);
+		// set next flap
+		((SF_t*)instance)->nextFlap = flap;
 
-		res = xTaskCreate(		SF_MoveToFlapWithParameter,
+		res = xTaskCreate(		SF_MoveToNextFlap,
 								taskName,
 								500/sizeof(StackType_t),
-								&taskParameters,
+								instance,  // no &, since otherwise pointing on parameter address! we want handle address!
 								tskIDLE_PRIORITY,
 								NULL);
 
@@ -200,7 +197,7 @@ void SF_MoveToFlapAsync(SF_Handle_t instance, char* flap){
 			for(;;) {} // Endless loop
 		}
 
-		OngoingMoveMutex_Unlock();
+		OngoingMoveMutex_Unlock(instance);
 	}
 }
 
@@ -208,28 +205,37 @@ int32_t SF_GetMotorPosition(SF_Handle_t instance){
 	return McuULN2003_GetPos(((SF_t*)instance)->motor);
 }
 
-void SF_Deinit(SF_Handle_t instance){
-	vSemaphoreDelete(ongoingMoveMutex);
-	McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
-	McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
-	initialized = false;
+/**********************/
+/* INTERNAL FUNCTIONS */
+/**********************/
+/* voidpointer to instance of splitflap (SF_Handle_t) */
+static void SF_MoveToNextFlap(void *pv){
+	// parse parameter
+	SF_Handle_t instance = (SF_Handle_t)pv;
+	PRINTF("Splitflap: Moving Flap nr. %i to letter '%c'.\n", ((SF_t*)instance)->id, (((SF_t*)instance)->nextFlap)[0]);
+	// move to next flap
+	SF_MoveToFlap(instance, ((SF_t*)instance)->nextFlap);
+	// reset next flap
+	((SF_t*)instance)->nextFlap = SF_Letters[0];
 }
 
 
-/* HELPERS */
-static bool OngoingMoveMutex_Lock(void){
+/**********************/
+/* HELPERS            */
+/**********************/
+static bool OngoingMoveMutex_Lock(SF_Handle_t instance){
 	/* aquire mutex */
-	if(xSemaphoreTakeRecursive(ongoingMoveMutex, pdMS_TO_TICKS(20)) != pdTRUE){
+	if(xSemaphoreTakeRecursive(((SF_t*)instance)->ongoingMoveMutex, pdMS_TO_TICKS(20)) != pdTRUE){
 		return false; /* timeout? */
 	}
 	return true;
 }
 
-static void OngoingMoveMutex_Unlock(void){
+static void OngoingMoveMutex_Unlock(SF_Handle_t instance){
 	/* give back mutex */
-	if(xSemaphoreGiveRecursive(ongoingMoveMutex) != pdTRUE){
+	if(xSemaphoreGiveRecursive(((SF_t*)instance)->ongoingMoveMutex) != pdTRUE){
 		/* issue */
-		PRINTF("Could not give back ongoing move mutex for splitflap");
+		PRINTF("Could not give back ongoing move mutex for splitflap %i", ((SF_t*)instance)->id);
 		for(;;);
 	}
 }
diff --git a/ADIS_tinyK22_SplitFlap/source/splitflap.h b/ADIS_tinyK22_SplitFlap/source/splitflap.h
index 5748b64..a10212b 100644
--- a/ADIS_tinyK22_SplitFlap/source/splitflap.h
+++ b/ADIS_tinyK22_SplitFlap/source/splitflap.h
@@ -11,6 +11,7 @@
 #include <stdbool.h>
 #include "McuULN2003.h"
 #include "McuGPIO.h"
+#include "McuRTOS.h"
 #include "lib/dict.h"
 #include <string.h>
 
@@ -26,10 +27,16 @@
 /* define splitflap handle type. SF_Handle_t points to SF_t */
 typedef void* SF_Handle_t;
 
+/* descriptor to identify the flap */
+typedef char* Flap_t;
+
 typedef struct {
+  int id;
   McuULN2003_Handle_t motor;
   McuGPIO_Handle_t magSensor;
-  int id;
+  SemaphoreHandle_t ongoingMoveMutex;
+  bool initialized;
+  Flap_t nextFlap;
 } SF_t;
 
 typedef struct {
@@ -63,10 +70,10 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps);
 bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance);
 
 /* move to specific flap */
-void SF_MoveToFlap(SF_Handle_t instance, char* flap);
+void SF_MoveToFlap(SF_Handle_t instance, Flap_t flap);
 
 /* move to specific flap asynchronously (RTOS task) */
-void SF_MoveToFlapAsync(SF_Handle_t instance, char* flap);
+void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap);
 
 /* get current position of motor */
 int32_t SF_GetMotorPosition(SF_Handle_t instance);