jonas
/
ADIS_Projects
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

introduced HardwareIdentifier_t and SetupIdentifier_t,

Browse Source 
cleaned up,
added splitflap_positions.h file for positions (future)
main
Jonas Arnold 4 years ago
parent 1aa39368cf
commit 082e31e9f1
4 changed files with 104 additions and 39 deletions
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Show Stats Download Patch File Download Diff File
  1. 24
      ADIS_tinyK22_SplitFlap/source/application.c
  2. 63
      ADIS_tinyK22_SplitFlap/source/splitflap.c
  3. 32
      ADIS_tinyK22_SplitFlap/source/splitflap.h
  4. 24
      ADIS_tinyK22_SplitFlap/source/splitflap_positions.h

24
ADIS_tinyK22_SplitFlap/source/application.c
Unescape View File

@ -53,8 +53,8 @@ void App_Init(void){
static void App_Task(void* pv){ static void App_Task(void* pv){
McuLog_info("Application Task starting"); McuLog_info("Application Task starting");
McuLog_info("Initializing split flap motors.\n"); McuLog_info("Initializing split flap motors.");
bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 20); bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0);
McuLog_info("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false"); McuLog_info("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
#ifndef APP_DEBUG #ifndef APP_DEBUG
@ -64,7 +64,7 @@ static void App_Task(void* pv){
} }
#endif #endif
bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1, 25); bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1);
McuLog_info("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false"); McuLog_info("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
#ifndef APP_DEBUG #ifndef APP_DEBUG
@ -89,14 +89,14 @@ static void App_Task(void* pv){
// "L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z", // "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", // "0", "1", "2", "3", "4", "5", "6", "7", "8", "9",
// "!", "?", ":"}; // "!", "?", ":"};
McuLog_info("Amount of letters %i\n", sizeof(letters)/sizeof(letters[0])); McuLog_info("Amount of letters %i", sizeof(letters)/sizeof(letters[0]));
while(1){ while(1){
for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){ for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
McuWait_Waitms(1000); McuWait_Waitms(1000);
McuLog_info("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0)); McuLog_info("Moving to letter '%s', position is %i", letters[i], (int)SF_GetMotorPosition(splitflap0));
SF_MoveToFlap(splitflap0, letters[i]); SF_MoveToFlap(splitflap0, letters[i]);
McuLog_info("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0)); McuLog_info("Position after move is is %i", (int)SF_GetMotorPosition(splitflap0));
} }
} }
} }
@ -158,11 +158,13 @@ void configureSplitflaps(void){
/* create config instance for splitflap 0 */ /* create config instance for splitflap 0 */
SF_Config_t sf0Config; SF_Config_t sf0Config;
sf0Config.setupIdentifier = 0;
sf0Config.hardwareIdentifier = 34;
sf0Config.magSensorConfig = magSensor0Config; sf0Config.magSensorConfig = magSensor0Config;
sf0Config.motorConfig = motor0Config; sf0Config.motorConfig = motor0Config;
/* initialize splitflap 0 */ /* instanciate splitflap 0 */
splitflap0 = SF_Init(&sf0Config, 0); splitflap0 = SF_Init(&sf0Config);
/* SPLITFLAP 1 */ /* SPLITFLAP 1 */
/* configure the motor */ /* configure the motor */
@ -193,9 +195,11 @@ void configureSplitflaps(void){
/* create config instance for splitflap 0 */ /* create config instance for splitflap 0 */
SF_Config_t sf1Config; SF_Config_t sf1Config;
sf1Config.setupIdentifier = 1;
sf1Config.hardwareIdentifier = 35;
sf1Config.magSensorConfig = magSensor1Config; sf1Config.magSensorConfig = magSensor1Config;
sf1Config.motorConfig = motor1Config; sf1Config.motorConfig = motor1Config;
/* initialize splitflap 1 */ /* instanciate splitflap 1 */
splitflap1 = SF_Init(&sf1Config, 1); splitflap1 = SF_Init(&sf1Config);
} }

63
ADIS_tinyK22_SplitFlap/source/splitflap.c
Unescape View File

@ -9,6 +9,7 @@
#include "platform.h" #include "platform.h"
#include <stdbool.h> #include <stdbool.h>
#include "splitflap.h" #include "splitflap.h"
#include "splitflap_positions.h"
#include "McuRTOS.h" #include "McuRTOS.h"
#include "McuULN2003.h" #include "McuULN2003.h"
#include <stdbool.h> #include <stdbool.h>
@ -22,11 +23,6 @@
/* dynamic dictionary for the letters of the dictionary */ /* dynamic dictionary for the letters of the dictionary */
static dict_t **splitFlapDict; static dict_t **splitFlapDict;
/* all letters of the splitflap in the correct order */
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",
"!", "?", ":"};
/* function declarations */ /* function declarations */
static bool OngoingMoveMutex_Lock(SF_Handle_t instance); static bool OngoingMoveMutex_Lock(SF_Handle_t instance);
@ -50,7 +46,7 @@ void SF_InitConfig(void){
// + 0.5 so the rounding is done correctly // + 0.5 so the rounding is done correctly
int32_t position = (stepsPerSegment * (float)i + 0.5); int32_t position = (stepsPerSegment * (float)i + 0.5);
addItem(splitFlapDict, SF_Letters[i], (int32_t*)position); addItem(splitFlapDict, SF_Letters[i], (int32_t*)position);
McuLog_info("Letter '%s': Position %i\n", SF_Letters[i], (int)position); McuLog_info("Letter '%s': Position %i", SF_Letters[i], (int)position);
} }
} }
@ -58,29 +54,31 @@ void SF_DeInitConfig(void){
dictDealoc(splitFlapDict); dictDealoc(splitFlapDict);
} }
SF_Handle_t SF_Init(SF_Config_t* instance, int id){ SF_Handle_t SF_Init(SF_Config_t* config){
SF_t* splitflap; SF_t* splitflap;
#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP #if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
splitflap = (SF_t*)pvPortMalloc(sizeof(SF_t)); /* get a new device descriptor */ splitflap = (SF_t*)pvPortMalloc(sizeof(SF_t)); // get memory for device from FreeRtos heap
#else #else
splitflap = (SF_t*)malloc(sizeof(SF_t)); /* get a new device descriptor */ splitflap = (SF_t*)malloc(sizeof(SF_t)); // get memory for device from MCU heap
#endif #endif
splitflap->magSensor = McuGPIO_InitGPIO(&instance->magSensorConfig); splitflap->magSensor = McuGPIO_InitGPIO(&config->magSensorConfig); // initialize magnet sensor GPIO
splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig); splitflap->motor = McuULN2003_InitMotor(&config->motorConfig); // initialize ULN driver for stepper motor
splitflap->ongoingMoveMutex = xSemaphoreCreateRecursiveMutex(); // create mutex for ongoing move splitflap->ongoingMoveMutex = xSemaphoreCreateRecursiveMutex(); // create mutex for ongoing move
splitflap->flapQueue = xQueueCreate(FLAP_QUEUE_LENGTH, FLAP_QUEUE_SELEM_SIZE); // create queue splitflap->flapQueue = xQueueCreate(FLAP_QUEUE_LENGTH, // create queue
splitflap->id = id; FLAP_QUEUE_SELEM_SIZE);
#ifndef APP_DEBUG // when not debugging => set to false splitflap->id = config->setupIdentifier; // copy setup identifier
splitflap->hwId = config->hardwareIdentifier; // copy hardware identifier
#ifndef APP_DEBUG // when not debugging => set to "not initialized"
splitflap->initialized = false; splitflap->initialized = false;
#else // when debugging => set to true #else // when debugging => set to "initialized"
splitflap->initialized = true; splitflap->initialized = true;
#endif #endif
// check if queue was created // check if queue was created
if(splitflap->flapQueue == NULL){ if(splitflap->flapQueue == NULL){
McuLog_error("Flap queue creation failed for Splitflap <%i>", id); McuLog_error("Flap queue creation failed for Splitflap <%i>", splitflap->id);
for(;;){} for(;;){}
} }
// if yes: add queue to registry // if yes: add queue to registry
@ -88,7 +86,7 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
// check if queue was created // check if queue was created
if(splitflap->ongoingMoveMutex == NULL){ if(splitflap->ongoingMoveMutex == NULL){
McuLog_error("Ongoing Move mutex creation failed for Splitflap <%i>", id); McuLog_error("Ongoing Move mutex creation failed for Splitflap <%i>", splitflap->id);
for(;;){} for(;;){}
} }
// if yes: add ongoing move mutex to registry // if yes: add ongoing move mutex to registry
@ -103,7 +101,7 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
NULL); NULL);
if(res != pdPASS) // task creation not successful? if(res != pdPASS) // task creation not successful?
{ {
McuLog_error("Creation of task for Splitflap <%i> failed", id); McuLog_error("Creation of task for Splitflap <%i> failed", splitflap->id);
for(;;) {} // Endless loop for(;;) {} // Endless loop
} }
@ -111,18 +109,34 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
} }
void SF_Deinit(SF_Handle_t instance){ void SF_Deinit(SF_Handle_t instance){
McuLog_warn("Deinitializing Splitflap <%i>", ((SF_t*)instance)->id);
vSemaphoreDelete(((SF_t*)instance)->ongoingMoveMutex); vSemaphoreDelete(((SF_t*)instance)->ongoingMoveMutex);
vQueueDelete(((SF_t*)instance)->flapQueue);
((SF_t*)instance)->initialized = false; ((SF_t*)instance)->initialized = false;
McuULN2003_DeinitMotor(((SF_t*)instance)->motor); McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor); McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
vPortFree((SF_t*)instance); // free FreeRTOS heap
#else
free((SF_t*)instance); // free MCU heap
#endif
} }
/**********************/ /**********************/
/* PUBLIC FUNCTIONS */ /* PUBLIC FUNCTIONS */
/**********************/ /**********************/
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
int numStepsMoved = 0; int numStepsMoved = 0;
uint16_t offsetSteps = 0;
// check if the hwId needs an offset init position
for (int i = 0; i < sizeof(offsetStepsPerHw)/sizeof(offsetStepsPerHw[0]); ++i) {
if(offsetStepsPerHw[i][0] == ((SF_t*)instance)->hwId){
offsetSteps = offsetStepsPerHw[i][1];
McuLog_info("SF_MoveMotorToZeroPosition found offsetSteps=%i for Splitflap <%i> with hwId=%i", offsetSteps, ((SF_t*)instance)->id, ((SF_t*)instance)->hwId);
break;
}
}
if(((SF_t*)instance)->initialized){ if(((SF_t*)instance)->initialized){
McuLog_warn("Tried to initialize motor of Splitflap <%i>, but already initialized => skipping", ((SF_t*)instance)->id); McuLog_warn("Tried to initialize motor of Splitflap <%i>, but already initialized => skipping", ((SF_t*)instance)->id);
@ -158,10 +172,16 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
// success if less than one rotation // success if less than one rotation
((SF_t*)instance)->initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND); ((SF_t*)instance)->initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
McuLog_info("SF_MoveMotorToZeroPosition finished for Splitflap <%i>, success=%s", ((SF_t*)instance)->id, ((SF_t*)instance)->initialized ? "true" : "false");
return ((SF_t*)instance)->initialized; return ((SF_t*)instance)->initialized;
} }
void SF_MoveMotorToZeroPositionAsync(SF_Handle_t instance){
// TODO TO IMPLEMENT
}
void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
if(((SF_t*)instance)->initialized){ if(((SF_t*)instance)->initialized){
if(OngoingMoveMutex_Lock(instance)){ if(OngoingMoveMutex_Lock(instance)){
@ -233,7 +253,7 @@ static void SF_Task(void *pv){
SF_Handle_t instance = (SF_Handle_t)pv; SF_Handle_t instance = (SF_Handle_t)pv;
SF_t* splitflap = (SF_t*)instance; SF_t* splitflap = (SF_t*)instance;
Flap_t nextFlap = " "; Flap_t nextFlap = " ";
McuLog_info("Splitflap: Task for Splitflap <%i> started.\n", splitflap->id); McuLog_info("Splitflap: Task for Splitflap <%i> started.", splitflap->id);
for(;;){ for(;;){
// delay task // delay task
@ -256,7 +276,7 @@ static void SF_Task(void *pv){
if(OngoingMoveMutex_Lock(instance)){ if(OngoingMoveMutex_Lock(instance)){
// now get the queue item // now get the queue item
if(xQueueReceive(splitflap->flapQueue, &nextFlap, 0) != pdPASS){ if(xQueueReceive(splitflap->flapQueue, &nextFlap, 0) != pdPASS){
/* failed to receive => queue empty but previously an iteam was there? error */ /* failed to receive => queue empty but previously an item was there? error */
McuLog_error("Failed to receive Queue item of Splitflap <%i>.", splitflap->id); McuLog_error("Failed to receive Queue item of Splitflap <%i>.", splitflap->id);
OngoingMoveMutex_Unlock(instance); OngoingMoveMutex_Unlock(instance);
continue; // ignore & proceed continue; // ignore & proceed
@ -266,6 +286,7 @@ static void SF_Task(void *pv){
McuLog_info("Splitflap <%i> moving to flap '%c'.", splitflap->id, nextFlap[0]); McuLog_info("Splitflap <%i> moving to flap '%c'.", splitflap->id, nextFlap[0]);
SF_MoveToFlap(instance, nextFlap); SF_MoveToFlap(instance, nextFlap);
McuLog_info("Splitflap <%i> move done to flap '%c'.", splitflap->id, nextFlap[0]); McuLog_info("Splitflap <%i> move done to flap '%c'.", splitflap->id, nextFlap[0]);
vTaskDelay(pdMS_TO_TICKS(100)); // wait for logger to finish
OngoingMoveMutex_Unlock(instance); OngoingMoveMutex_Unlock(instance);
} }

32
ADIS_tinyK22_SplitFlap/source/splitflap.h
Unescape View File

@ -15,7 +15,6 @@
#include "lib/dict.h" #include "lib/dict.h"
#include <string.h> #include <string.h>
/****** SETTINGS ******/ /****** SETTINGS ******/
#define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 0 #define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 0
#define SPLITFLAP_STEPS_ONE_ROUND 512 #define SPLITFLAP_STEPS_ONE_ROUND 512
@ -30,8 +29,15 @@ typedef void* SF_Handle_t;
/* descriptor to identify the flap */ /* descriptor to identify the flap */
typedef char* Flap_t; typedef char* Flap_t;
/* descriptor to identify the hardware */
typedef uint8_t HardwareIdentifier_t;
/* descriptor to identify the instance in the setup */
typedef uint8_t SetupIdentifier_t;
typedef struct { typedef struct {
int id; SetupIdentifier_t id;
HardwareIdentifier_t hwId;
McuULN2003_Handle_t motor; McuULN2003_Handle_t motor;
McuGPIO_Handle_t magSensor; McuGPIO_Handle_t magSensor;
SemaphoreHandle_t ongoingMoveMutex; SemaphoreHandle_t ongoingMoveMutex;
@ -42,6 +48,8 @@ typedef struct {
typedef struct { typedef struct {
McuULN2003_Config_t motorConfig; McuULN2003_Config_t motorConfig;
McuGPIO_Config_t magSensorConfig; McuGPIO_Config_t magSensorConfig;
HardwareIdentifier_t hardwareIdentifier;
SetupIdentifier_t setupIdentifier;
} SF_Config_t; } SF_Config_t;
/****** FUNCTIONS ******/ /****** FUNCTIONS ******/
@ -51,17 +59,26 @@ void SF_InitConfig(void);
/* free splitflap flaps dictionary */ /* free splitflap flaps dictionary */
void SF_DeInitConfig(void); void SF_DeInitConfig(void);
/* split flap initialization /* instantiate new split flap
* only pass configured types, they do not need to be initialized. * only pass configured types, they do not need to be initialized.
* Initialization will be made inside the SF_Init method */ * Initialization will be made inside the SF_Init method */
SF_Handle_t SF_Init(SF_Config_t* instance, int id); SF_Handle_t SF_Init(SF_Config_t* instance);
/* kill instance of splitflap,
* free memory etc. */
void SF_Deinit(SF_Handle_t instance);
/* Moves split flap slowly to zero position.
* returns true if the move was successful, false if not
* (depending on if the sensor was hit before one round)
* After moving to zero position, the current position of the motor is set to 0 */
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance);
/* Moves split flap slowly to zero position. /* Moves split flap slowly to zero position.
* returns true if the move was successful, false if not * returns true if the move was successful, false if not
* (depending on if the sensor was hit before one round) * (depending on if the sensor was hit before one round)
* offsetSteps: amount of steps to offset from magnet sensor positive flank position
* After moving to zero position, the current position of the motor is set to 0 */ * After moving to zero position, the current position of the motor is set to 0 */
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps); void SF_MoveMotorToZeroPositionAsync(SF_Handle_t instance);
/* split flap moves number of steps (uint, since only forward moves are allowed) */ /* split flap moves number of steps (uint, since only forward moves are allowed) */
void SF_MoveSteps(SF_Handle_t instance, uint32_t steps); void SF_MoveSteps(SF_Handle_t instance, uint32_t steps);
@ -78,7 +95,6 @@ void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap);
/* get current position of motor */ /* get current position of motor */
int32_t SF_GetMotorPosition(SF_Handle_t instance); int32_t SF_GetMotorPosition(SF_Handle_t instance);
/* split flap deinitialization */
void SF_Deinit(SF_Handle_t instance);
#endif /* SPLITFLAP_H_ */ #endif /* SPLITFLAP_H_ */

24
ADIS_tinyK22_SplitFlap/source/splitflap_positions.h
Unescape View File

@ -0,0 +1,24 @@
/*
* splitflap_positions.h
*
* Created on: 16.10.2022
* Author: jonas
*/
#ifndef SPLITFLAP_POSITIONS_H_
#define SPLITFLAP_POSITIONS_H_
#include "splitflap.h"
/* all letters of the splitflap in the correct order */
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",
"!", "?", ":"};
/* registers offset steps for initialization per hwId. [0] = hwId. [1] = offsetSteps */
HardwareIdentifier_t offsetStepsPerHw[][2] = { {33, 12}, {35, 20}};
#endif /* SPLITFLAP_POSITIONS_H_ */
Write Preview
Loading…
Cancel
Save