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

Merge branch 'main' of gitlab.enterpriselab.ch:adis_team_gueti_roaster/adis_projects into main

Browse Source
main
Simon Frei 4 years ago
parent 855b3a97ea 929240dd9f
commit 633ead6e9e
5 changed files with 62 additions and 140 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. 2
      ADIS_tinyK22_SplitFlap/.cproject
  2. 38
      ADIS_tinyK22_SplitFlap/source/application.c
  3. 82
      ADIS_tinyK22_SplitFlap/source/splitflap.c
  4. 17
      ADIS_tinyK22_SplitFlap/source/splitflap.h
  5. 55
      ADIS_tinyK22_SplitFlap/source/splitflap_flaps.h

2
ADIS_tinyK22_SplitFlap/.cproject
Unescape View File

@ -343,7 +343,7 @@
</folderInfo>
<sourceEntries>
<entry flags="LOCAL|VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="CMSIS"/>
<entry excluding="TraceRecorder|minIni|HD44780|FreeRTOS/Source/portable/GCC/RISC-V|FreeRTOS/Source/portable/GCC/ARM_CM33|FatFS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="McuLib"/>
<entry excluding="littleFS|LittlevGL|fonts|TraceRecorder|minIni|HD44780|FreeRTOS/Source/portable/GCC/RISC-V|FreeRTOS/Source/portable/GCC/ARM_CM33|FatFS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="McuLib"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="board"/>
<entry flags="LOCAL|VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="component"/>
<entry flags="LOCAL|VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="device"/>

38
ADIS_tinyK22_SplitFlap/source/application.c
Unescape View File

@ -72,31 +72,31 @@ void App_Init(void){
/* Application run */
void App_Run(void){
PRINTF("Initializing split flap motors.");
SF_MoveMotorToZeroPosition(splitflap0);
PRINTF("Init of motors done.");
PRINTF("Initializing split flap motors.\n");
bool successfulInit = SF_MoveMotorToZeroPosition(splitflap0, 12);
PRINTF("Init of motors done. Success = %s\n\n", successfulInit ? "true" : "false");
// go through the whole dictionary
char* letters[] = {"A", "B", "C", "A"};
// if init failed => stop
if(successfulInit == false){
return;
}
// go through the following letters
char* letters[] = {"J", "O", "N", "A", "S", "!"};
//char* 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",
// "!", "?", ":"};
PRINTF("Amount of letters %i\n", sizeof(letters)/sizeof(letters[0]));
for(int i = 0; i < 4; i++){
while(1){
for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
McuWait_Waitms(1000);
PRINTF("Moving to letter '%s', position is %i", letters[i], (int)SF_GetMotorPosition(splitflap0));
PRINTF("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0));
SF_MoveToFlap(splitflap0, letters[i]);
PRINTF("Position is %i", (int)SF_GetMotorPosition(splitflap0));
PRINTF("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0));
}
/* TEST PATTERN */
/*while(1) {
if(SF_GetMagSensorAtZeroPosition(splitflap0)){
McuLED_On(LED_blue);
} else {
McuLED_Off(LED_blue);
}
McuWait_Waitms(10); // wait for 10 ms
}*/
}

82
ADIS_tinyK22_SplitFlap/source/splitflap.c
Unescape View File

@ -7,59 +7,36 @@
*/
#include "splitflap.h"
#include "fsl_debug_console.h"
#include "McuULN2003.h"
#include <stdbool.h>
#include "McuWait.h"
#include "lib/dict.h"
#include "splitflap_flaps.h"
/* 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",
"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",
"!", "?", ":"};
void SF_InitConfig(void){
splitFlapDict = dictAlloc();
((dict_t*)splitFlapDict)->key=NULL;
((dict_t*)splitFlapDict)->value=NULL;
((dict_t*)splitFlapDict)->next=NULL;
addItem(splitFlapDict, SF_A, (int32_t*)13);
addItem(splitFlapDict, SF_B, (int32_t*)26);
addItem(splitFlapDict, SF_C, (int32_t*)39);
addItem(splitFlapDict, SF_D, (int32_t*)52);
addItem(splitFlapDict, SF_E, (int32_t*)65);
addItem(splitFlapDict, SF_F, (int32_t*)78);
addItem(splitFlapDict, SF_G, (int32_t*)91);
addItem(splitFlapDict, SF_H, (int32_t*)104);
addItem(splitFlapDict, SF_I, (int32_t*)117);
addItem(splitFlapDict, SF_J, (int32_t*)130);
addItem(splitFlapDict, SF_K, (int32_t*)143);
addItem(splitFlapDict, SF_L, (int32_t*)156);
addItem(splitFlapDict, SF_M, (int32_t*)169);
addItem(splitFlapDict, SF_N, (int32_t*)182);
addItem(splitFlapDict, SF_O, (int32_t*)195);
addItem(splitFlapDict, SF_P, (int32_t*)208);
addItem(splitFlapDict, SF_Q, (int32_t*)221);
addItem(splitFlapDict, SF_R, (int32_t*)234);
addItem(splitFlapDict, SF_S, (int32_t*)247);
addItem(splitFlapDict, SF_T, (int32_t*)260);
addItem(splitFlapDict, SF_U, (int32_t*)273);
addItem(splitFlapDict, SF_V, (int32_t*)286);
addItem(splitFlapDict, SF_W, (int32_t*)299);
addItem(splitFlapDict, SF_X, (int32_t*)312);
addItem(splitFlapDict, SF_Y, (int32_t*)325);
addItem(splitFlapDict, SF_Z, (int32_t*)338);
addItem(splitFlapDict, SF_0, (int32_t*)351);
addItem(splitFlapDict, SF_1, (int32_t*)364);
addItem(splitFlapDict, SF_2, (int32_t*)377);
addItem(splitFlapDict, SF_3, (int32_t*)390);
addItem(splitFlapDict, SF_4, (int32_t*)403);
addItem(splitFlapDict, SF_5, (int32_t*)416);
addItem(splitFlapDict, SF_6, (int32_t*)429);
addItem(splitFlapDict, SF_7, (int32_t*)442);
addItem(splitFlapDict, SF_8, (int32_t*)455);
addItem(splitFlapDict, SF_9, (int32_t*)468);
addItem(splitFlapDict, SF_EXCLAMATION, (int32_t*)481);
addItem(splitFlapDict, SF_QUESTION, (int32_t*)494);
addItem(splitFlapDict, SF_COLON, (int32_t*)507);
addItem(splitFlapDict, SF_SPACE, (int32_t*)0);
float stepsPerSegment = SPLITFLAP_STEPS_PER_SEGMENT; // do division once
// add all splitflap flaps to the dictionary, calculating the position automatically
// print out for debugging
PRINTF("Splitflap positioning data is automatically calculated:\n");
for(int i = 0; i < SPLITFLAP_AMOUNT_OF_SEGMENTS; i ++){
// + 0.5 so the rounding is done correctly
int32_t position = (stepsPerSegment * (float)i + 0.5);
addItem(splitFlapDict, SF_Letters[i], (int32_t*)position);
PRINTF("Letter '%s': Position %i\n", SF_Letters[i], (int)position);
}
}
void SF_DeInitConfig(void){
@ -79,12 +56,10 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
splitflap->id = id;
/* TODO IMPLEMENT ACTUAL INITIALIZATION of Motor */
return splitflap;
}
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
int numStepsMoved = 0;
// move out of sensor
@ -93,33 +68,32 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
McuWait_Waitms(20);
}
// turn until sensor is on
// 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);
numStepsMoved++;
}
// one more segment if not already one round
// offset after init
if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
for(int i=0; i<SPLITFLAP_STEPS_PER_SEGMENT; i++){
for(int i=0; i < offsetSteps; i++){
McuULN2003_IncStep(((SF_t*)instance)->motor);
McuWait_Waitms(20);
numStepsMoved++;
}
}
McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
McuULN2003_PowerOff(((SF_t*)instance)->motor);
// success if less than one rotation
return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
}
void SF_MoveSteps(SF_Handle_t instance, int32_t steps){
void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
// run move with acceleration & deceleration
McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
while(steps>0){
if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true) == true){
if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
steps--;
}
McuWait_Waitms(1);
@ -140,7 +114,7 @@ void SF_MoveToFlap(SF_Handle_t instance, char* flap){
// get flap pos from dictonary
int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
// get current motor pos
int32_t currentPos = SF_GetMotorPosition(instance);
int32_t currentPos = SF_GetMotorPosition(instance) % SPLITFLAP_STEPS_ONE_ROUND;
// calc steps to move
int32_t stepsToReachFlap = 0;
// not already there
@ -150,12 +124,12 @@ void SF_MoveToFlap(SF_Handle_t instance, char* flap){
}else if(flapPos > currentPos){
stepsToReachFlap = flapPos - currentPos;
}
SF_MoveSteps(((SF_t*)instance)->motor, stepsToReachFlap);
SF_MoveSteps(instance, stepsToReachFlap);
}
}
int32_t SF_GetMotorPosition(SF_Handle_t instance){
return McuULN2003_GetPos(((SF_t*)instance)->motor) % SPLITFLAP_STEPS_ONE_ROUND;
return McuULN2003_GetPos(((SF_t*)instance)->motor);
}
void SF_Deinit(SF_Handle_t instance){

17
ADIS_tinyK22_SplitFlap/source/splitflap.h
Unescape View File

@ -12,12 +12,14 @@
#include "McuULN2003.h"
#include "McuGPIO.h"
#include "lib/dict.h"
#include <string.h>
/****** SETTINGS ******/
#define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 0
#define SPLITFLAP_STEPS_ONE_ROUND 520 // 40 segments a 13 steps
#define SPLITFLAP_STEPS_PER_SEGMENT 13
#define SPLITFLAP_STEPS_ONE_ROUND 512
#define SPLITFLAP_AMOUNT_OF_SEGMENTS (sizeof(SF_Letters)/sizeof(SF_Letters[0]))
#define SPLITFLAP_STEPS_PER_SEGMENT ((float)SPLITFLAP_STEPS_ONE_ROUND/(float)SPLITFLAP_AMOUNT_OF_SEGMENTS)
/****** TYPES ******/
@ -35,7 +37,6 @@ typedef struct {
McuGPIO_Config_t magSensorConfig;
} SF_Config_t;
/****** FUNCTIONS ******/
/* initializes dictonary with splitflap flaps position */
void SF_InitConfig(void);
@ -50,11 +51,13 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id);
/* 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) */
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance);
* (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 */
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps);
/* split flap moves number of steps maybe uint16_t? */
void SF_MoveSteps(SF_Handle_t instance, int32_t steps);
/* split flap moves number of steps (uint, since only forward moves are allowed) */
void SF_MoveSteps(SF_Handle_t instance, uint32_t steps);
/* get mag sensor state. returns true if sensor is at zero position, otherwise false */
bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance);

55
ADIS_tinyK22_SplitFlap/source/splitflap_flaps.h
Unescape View File

@ -1,55 +0,0 @@
/*
* splitflap_display.h
*
* Created on: 30 Sep 2022
* Author: simon
*/
#ifndef SPLITFLAP_FLAPS_H_
#define SPLITFLAP_FLAPS_H_
#include <string.h>
#define SF_A "A"
#define SF_B "B"
#define SF_C "C"
#define SF_D "D"
#define SF_E "E"
#define SF_F "F"
#define SF_G "G"
#define SF_H "H"
#define SF_I "I"
#define SF_J "J"
#define SF_K "K"
#define SF_L "L"
#define SF_M "M"
#define SF_N "N"
#define SF_O "O"
#define SF_P "P"
#define SF_Q "Q"
#define SF_R "R"
#define SF_S "S"
#define SF_T "T"
#define SF_U "U"
#define SF_V "V"
#define SF_W "W"
#define SF_X "X"
#define SF_Y "Y"
#define SF_Z "Z"
#define SF_0 "0"
#define SF_1 "1"
#define SF_2 "2"
#define SF_3 "3"
#define SF_4 "4"
#define SF_5 "5"
#define SF_6 "6"
#define SF_7 "7"
#define SF_8 "8"
#define SF_9 "9"
#define SF_EXCLAMATION "!"
#define SF_QUESTION "?"
#define SF_COLON ":"
#define SF_SPACE " "
#endif /* SPLITFLAP_FLAPS_H_ */
Write Preview
Loading…
Cancel
Save