replated initialized flag with state enum,

task can now also initialize asynchronously

ADIS_tinyK22_SplitFlap/source/application.c

@@ -54,32 +54,39 @@ static void App_Task(void* pv){
 	McuLog_info("Application Task starting");
 
 	McuLog_info("Initializing split flap motors.");
-	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0);
+	SF_MoveMotorToZeroPositionAsync(splitflap0);
-	McuLog_info("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
+	SF_MoveMotorToZeroPositionAsync(splitflap1);
-
+
-#ifndef APP_DEBUG
+	// timeout of 35sec
-	// if init failed => stop
+	bool initSuccess = false;
-	if(successfulInit0 == false){
+	for (int i = 0; i < 700; ++i) {
-		return;
+		vTaskDelay(pdMS_TO_TICKS(50));
+		if(SF_IS_RDY_TO_MOVE((SF_t*)splitflap0) && SF_IS_RDY_TO_MOVE((SF_t*)splitflap1)){
+			initSuccess = true;
+			break; // end loop
+		}
 	}
-#endif
 
-	bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1);
+	McuLog_info("Init of splitflaps done. success=%s\n\n", initSuccess ? "true" : "false");
-	McuLog_info("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
 
 #ifndef APP_DEBUG
-	// if init failed => stop
+	if(initSuccess == false)
-	if(successfulInit1 == false){
+	{
-		return;
+		// end here
+		for(;;) {}
 	}
+#else
+	// fake set to ready
+	((SF_t*)splitflap0)->state = SF_STATE_READY;
+	((SF_t*)splitflap1)->state = SF_STATE_READY;
 #endif
 
 	/* MULTI SPLIT FLAP TESTING */
 	char sentence[] = "JONAS!";
 	MultiSplitFlap_Display(sentence);
 
-	for(;;)
+	// endless loop (no return! this would produce an bkpt0)
-	{}
+	for(;;) {}
 
 
 	/* SINGLE SPLIT FLAP TESTING */

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);
+		// TODO FIX LOGGING McuLog_info("Letter '%s': Position %i", SF_Letters[i], (int)position);
 	}
 }
 
@@ -71,9 +71,9 @@ SF_Handle_t SF_Init(SF_Config_t* config){
 	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->state = SF_STATE_NOT_READY;
 #else    																// when debugging => set to "initialized"
-	splitflap->initialized = true;
+	splitflap->state = SF_STATE_READY;
 #endif
 
 	// check if queue was created
@@ -112,7 +112,7 @@ void SF_Deinit(SF_Handle_t instance){
 	McuLog_warn("Deinitializing Splitflap <%i>", ((SF_t*)instance)->id);
 	vSemaphoreDelete(((SF_t*)instance)->ongoingMoveMutex);
 	vQueueDelete(((SF_t*)instance)->flapQueue);
-	((SF_t*)instance)->initialized = false;
+	((SF_t*)instance)->state = SF_STATE_NOT_READY;
 	McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
 	McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
 #if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
@@ -138,12 +138,19 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 		}
 	}
 
-	if(((SF_t*)instance)->initialized){
+	if(SF_IS_RDY_TO_MOVE((SF_t*)instance)){
 		McuLog_warn("Tried to initialize motor of Splitflap <%i>, but already initialized => skipping", ((SF_t*)instance)->id);
 		return true;
 	}
+	else if(SF_IS_MOVING((SF_t*)instance)){
+		McuLog_warn("Tried to initialize motor of Splitflap <%i>, but it is currently moving => skipping", ((SF_t*)instance)->id);
+		return false;
+	}
 
 	if(OngoingMoveMutex_Lock(instance)){
+		// set state
+		((SF_t*)instance)->state = SF_STATE_INITIALIZATION;
+
 		// move out of sensor
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
@@ -168,23 +175,31 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 		McuULN2003_PowerOff(((SF_t*)instance)->motor);
 
 		OngoingMoveMutex_Unlock(instance);
+	} else{
+		// set state
+		((SF_t*)instance)->state = SF_STATE_NOT_READY;
+		McuLog_error("SF_MoveMotorToZeroPosition failed for Splitflap <%i>, could not aquire ongoing move mutex.", ((SF_t*)instance)->id);
+		return false;
 	}
 
 	// success if less than one rotation
-	((SF_t*)instance)->initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
+	((SF_t*)instance)->state = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND) ? SF_STATE_READY : SF_STATE_NOT_READY;
-	McuLog_info("SF_MoveMotorToZeroPosition finished for Splitflap <%i>, success=%s", ((SF_t*)instance)->id, ((SF_t*)instance)->initialized ? "true" : "false");
+	McuLog_info("SF_MoveMotorToZeroPosition finished for Splitflap <%i>, success=%s", ((SF_t*)instance)->id, SF_IS_RDY_TO_MOVE(((SF_t*)instance)) ? "true" : "false");
 
-	return ((SF_t*)instance)->initialized;
+	return SF_IS_RDY_TO_MOVE(((SF_t*)instance));
 }
 
 void SF_MoveMotorToZeroPositionAsync(SF_Handle_t instance){
-	// TODO TO IMPLEMENT
+	// set to state INITIALIZATION => is trigger for the task to start init
-
+	((SF_t*)instance)->state = SF_STATE_INITIALIZATION;
 }
 
 void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
-	if(((SF_t*)instance)->initialized){
+	if(SF_IS_RDY_TO_MOVE((SF_t*)instance)){
 		if(OngoingMoveMutex_Lock(instance)){
+			// set state
+			((SF_t*)instance)->state = SF_STATE_MOVING;
+
 			// run move with acceleration & deceleration
 			McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 			while(steps>0){
@@ -200,7 +215,12 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 			// no re-init is required
 			McuULN2003_PowerOff(((SF_t*)instance)->motor);
 
+			// set new state
+			((SF_t*)instance)->state = SF_STATE_READY;
+
 			OngoingMoveMutex_Unlock(instance);
+		} else{
+			McuLog_error("SF_MoveSteps failed for Splitflap <%i>, could not aquire ongoing move mutex.", ((SF_t*)instance)->id);
 		}
 	} else{
 		McuLog_error("SF_MoveSteps could not be called for Splitflap <%i> because it is not initialized.", ((SF_t*)instance)->id);
@@ -253,17 +273,29 @@ static void SF_Task(void *pv){
 	SF_Handle_t instance = (SF_Handle_t)pv;
 	SF_t* splitflap = (SF_t*)instance;
 	Flap_t nextFlap = " ";
+	bool initSuccess = false;
 	McuLog_info("Splitflap: Task for Splitflap <%i> started.", splitflap->id);
 
 	for(;;){
 		// delay task
 		vTaskDelay(pdMS_TO_TICKS(50));
 
-		// if not initialized => Skip everything
+		// check state
-		if(splitflap->initialized == false){
+		switch (splitflap->state) {
-			continue;
+			// no action to be made
-		}
+			case SF_STATE_NOT_READY:
+				break;   // = restart for loop
+
+			// action: start initialization
+			case SF_STATE_INITIALIZATION:
+				McuLog_info("Splitflap <%i> recognized to be in state initialization => starting zero move.", splitflap->id);
+				initSuccess = SF_MoveMotorToZeroPosition(instance);
+				McuLog_info("Splitflap <%i> finished initialization. success=%s", splitflap->id, initSuccess ? "true" : "false");
+
+				break;  	// = go on in the current loop
 
+			// action: check if any moves need to be made
+			case SF_STATE_READY:
 				// check if anything is in queue once (poll once, don't get item)
 				if(xQueuePeek(splitflap->flapQueue, &nextFlap, 0) != pdPASS){
 					/* failed to receive => queue empty */
@@ -290,6 +322,13 @@ static void SF_Task(void *pv){
 
 					OngoingMoveMutex_Unlock(instance);
 				}
+				break;
+
+			// wrong state
+			default:
+				McuLog_warn("Not implemented state in SF_Task!");
+				break; 	// = restart for loop
+		}
 	}
 }
 

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -35,6 +35,18 @@ typedef uint8_t HardwareIdentifier_t;
 /* descriptor to identify the instance in the setup */
 typedef uint8_t SetupIdentifier_t;
 
+/* state of the splitflap instance */
+typedef enum{
+	/* splitflap is in initial state, after creation, not initialized */
+    SF_STATE_NOT_READY,
+	/* splitflap is waiting to be or currently being initialized */
+	SF_STATE_INITIALIZATION,
+	/* splitflap is ready to move to another flap */
+	SF_STATE_READY,
+	/* splitflap is currently moving to another flap */
+	SF_STATE_MOVING
+} SF_State;
+
 typedef struct {
   SetupIdentifier_t id;
   HardwareIdentifier_t hwId;
@@ -42,7 +54,7 @@ typedef struct {
   McuGPIO_Handle_t magSensor;
   SemaphoreHandle_t ongoingMoveMutex;
   QueueHandle_t flapQueue;
-  bool initialized;
+  SF_State state;
 } SF_t;
 
 typedef struct {
@@ -52,6 +64,11 @@ typedef struct {
   SetupIdentifier_t setupIdentifier;
 } SF_Config_t;
 
+/****** HELPER MACROS **/
+#define SF_IS_RDY_TO_MOVE(sf)	((sf)->state == SF_STATE_READY)
+#define SF_IS_MOVING(sf)		((sf)->state == SF_STATE_MOVING)
+#define SF_IS_INITIALIZING(sf)	((sf)->state == SF_STATE_INITIALIZATION)
+
 /****** FUNCTIONS ******/
 /* initializes dictonary with splitflap flaps position */
 void SF_InitConfig(void);