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

replated initialized flag with state enum,

Browse Source 
task can now also initialize asynchronously
main
Jonas Arnold 4 years ago
parent 082e31e9f1
commit a7603f172e
3 changed files with 119 additions and 56 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. 37
      ADIS_tinyK22_SplitFlap/source/application.c
  2. 69
      ADIS_tinyK22_SplitFlap/source/splitflap.c
  3. 19
      ADIS_tinyK22_SplitFlap/source/splitflap.h

37
ADIS_tinyK22_SplitFlap/source/application.c
Unescape View File

@ -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);
McuLog_info("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
#ifndef APP_DEBUG
// if init failed => stop
if(successfulInit0 == false){
return;
SF_MoveMotorToZeroPositionAsync(splitflap0);
SF_MoveMotorToZeroPositionAsync(splitflap1);
// timeout of 35sec
bool initSuccess = false;
for (int i = 0; i < 700; ++i) {
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 motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
McuLog_info("Init of splitflaps done. success=%s\n\n", initSuccess ? "true" : "false");
#ifndef APP_DEBUG
// if init failed => stop
if(successfulInit1 == false){
return;
if(initSuccess == false)
{
// 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 */

69
ADIS_tinyK22_SplitFlap/source/splitflap.c
Unescape View File

@ -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);
McuLog_info("SF_MoveMotorToZeroPosition finished for Splitflap <%i>, success=%s", ((SF_t*)instance)->id, ((SF_t*)instance)->initialized ? "true" : "false");
((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_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
if(splitflap->initialized == false){
continue;
}
// check state
switch (splitflap->state) {
// 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
}
}
}

19
ADIS_tinyK22_SplitFlap/source/splitflap.h
Unescape View File

@ -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);

Write Preview
Loading…
Cancel
Save