fixed multisplitflap not waiting for finishing move,

changed to RTOS delay instead of McuWait

ADIS_tinyK22_SplitFlap/source/application.c

@@ -82,8 +82,15 @@ static void App_Task(void* pv){
 #endif
 
 	/* MULTI SPLIT FLAP TESTING */
-	char sentence[] = "JONAS!";
-	MultiSplitFlap_Display(sentence);
+	char sentences[][2] = {"HI", "IT", "IS", "ME", "!!" }; // "COLLIN!";
+	while(1){
+		for(int i = 0; i < sizeof(sentences)/sizeof(sentences[0]); i++){
+			MultiSplitFlap_Display(sentences[i]);
+			vTaskDelay(pdMS_TO_TICKS(2000));
+		}
+	}
+
+
 
 	// endless loop (no return! this would produce an bkpt0)
 	for(;;) {}
@@ -166,7 +173,7 @@ void configureSplitflaps(void){
 	/* create config instance for splitflap 0 */
 	SF_Config_t sf0Config;
 	sf0Config.setupIdentifier = 0;
-	sf0Config.hardwareIdentifier = 34;
+	sf0Config.hardwareIdentifier = 4;
 	sf0Config.magSensorConfig = magSensor0Config;
 	sf0Config.motorConfig = motor0Config;
 
@@ -203,7 +210,7 @@ void configureSplitflaps(void){
     /* create config instance for splitflap 0 */
     SF_Config_t sf1Config;
     sf1Config.setupIdentifier = 1;
-	sf1Config.hardwareIdentifier = 35;
+	sf1Config.hardwareIdentifier = 22;
     sf1Config.magSensorConfig = magSensor1Config;
     sf1Config.motorConfig = motor1Config;
 

ADIS_tinyK22_SplitFlap/source/multi-splitflap.c

@@ -48,7 +48,8 @@ void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
 	addedFlaps++;
 }
 
-void MultiSplitFlap_Display(char sentence[]){
+bool MultiSplitFlap_Display(char sentence[]){
+	// Start movements
 	for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
 		SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
 		char letter = sentence[num];
@@ -58,6 +59,21 @@ void MultiSplitFlap_Display(char sentence[]){
 		McuLog_info("Multi splitflap: Commanded Flap nr. %i to letter '%c'.\n", num+1, letter);
 		vTaskDelay(pdMS_TO_TICKS(100));
 	}
+
+	// wait until finished
+	bool done = false;
+	while(done == false){
+		done = true;
+		for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
+			SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
+			if(SF_GetCurrentState(sfHandle) == SF_STATE_MOVING){
+				done = false;
+			}
+		}
+	}
+
+	return done;
+
 	// for testing purposes only
 	//SF_t* sf0 = (SF_t*)(SF_Handle_t)(getItem(*flapDict, flapKeys[0]));
 	//SF_t* sf1 = (SF_t*)(SF_Handle_t)(getItem(*flapDict, flapKeys[1]));

ADIS_tinyK22_SplitFlap/source/multi-splitflap.h

@@ -23,8 +23,9 @@ void MultiSplitFlap_Deinit(void);
 void MultiSplitFlap_AddFlap(SF_Handle_t splitflap);
 
 /* display a sentence on the splitflap combination
- * splitflaps must be initialized to be able to display something!*/
-void MultiSplitFlap_Display(char sentence[]);
+ * splitflaps must be initialized to be able to display something!
+ * returns true when all movements finished */
+bool MultiSplitFlap_Display(char sentence[]);
 
 /* returns the amount of registered split flap displays in the combination */
 uint8_t MultiSplitFlap_GetAmountOfAddedSplitFlaps(void);

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -46,7 +46,7 @@ void SF_InitConfig(void){
 		// + 0.5 so the rounding is done correctly
 		int32_t position = (stepsPerSegment * (float)i + 0.5);
 		addItem(splitFlapDict, SF_Letters[i], (int32_t*)position);
-		McuLog_info("Letter '%s': Position %i", SF_Letters[i], (int)position);
+		//McuLog_info("Letter '%s': Position %i", SF_Letters[i], (int)position);
 	}
 }
 
@@ -154,13 +154,15 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 		// move out of sensor
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
-			McuWait_Waitms(20);
+			vTaskDelay(pdMS_TO_TICKS(20));
+			//McuWait_Waitms(20);
 		}
 
 		// turn until sensor is on and not reached one full rotation already (timeout)
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
-			McuWait_Waitms(20);
+			vTaskDelay(pdMS_TO_TICKS(20));
+			//McuWait_Waitms(20);
 			numStepsMoved++;
 		}
 
@@ -168,7 +170,8 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 		if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
 			for(int i=0; i < offsetSteps; i++){
 				McuULN2003_IncStep(((SF_t*)instance)->motor);
-				McuWait_Waitms(20);
+				vTaskDelay(pdMS_TO_TICKS(20));
+				//McuWait_Waitms(20);
 			}
 		}
 		McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
@@ -206,7 +209,8 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 				if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
 					steps--;
 				}
-				McuWait_Waitms(1);
+				vTaskDelay(pdMS_TO_TICKS(1));
+				//McuWait_Waitms(1);
 			}
 			McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
 
@@ -264,6 +268,10 @@ int32_t SF_GetMotorPosition(SF_Handle_t instance){
 	return McuULN2003_GetPos(((SF_t*)instance)->motor);
 }
 
+SF_State SF_GetCurrentState(SF_Handle_t instance){
+	return ((SF_t*)instance)->state;
+}
+
 /**********************/
 /* INTERNAL FUNCTIONS */
 /**********************/

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -112,6 +112,9 @@ void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap);
 /* get current position of motor */
 int32_t SF_GetMotorPosition(SF_Handle_t instance);
 
+/* get current state of the split flap */
+SF_State SF_GetCurrentState(SF_Handle_t instance);
+
 
 
 #endif /* SPLITFLAP_H_ */

ADIS_tinyK22_SplitFlap/source/splitflap_positions.h

@@ -18,7 +18,7 @@ Flap_t SF_Letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "
 								"!", "?", ":"};
 
 /* registers offset steps for initialization per hwId. [0] = hwId. [1] = offsetSteps */
-HardwareIdentifier_t offsetStepsPerHw[][2] = { {33, 12}, {35, 20}};
+HardwareIdentifier_t offsetStepsPerHw[][2] = { {6, 0}, {22, 13}};
 
 
 #endif /* SPLITFLAP_POSITIONS_H_ */