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replated initialized flag with state enum,

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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
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  1. 37
      ADIS_tinyK22_SplitFlap/source/application.c
  2. 119
      ADIS_tinyK22_SplitFlap/source/splitflap.c
  3. 19
      ADIS_tinyK22_SplitFlap/source/splitflap.h

37
ADIS_tinyK22_SplitFlap/source/application.c
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@ -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 */

119
ADIS_tinyK22_SplitFlap/source/splitflap.c
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@ -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);
@ -253,42 +273,61 @@ 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 if anything is in queue once (poll once, don't get item)
if(xQueuePeek(splitflap->flapQueue, &nextFlap, 0) != pdPASS){
/* failed to receive => queue empty */
continue;
}
McuLog_info("Splitflap <%i> recognized new flap '%c' in queue to move to.", splitflap->id, nextFlap[0]);
// new flap to move to is available
// check if ongoing move
if(OngoingMoveMutex_Lock(instance)){
// now get the queue item
if(xQueueReceive(splitflap->flapQueue, &nextFlap, 0) != pdPASS){
/* failed to receive => queue empty but previously an item was there? error */
McuLog_error("Failed to receive Queue item of Splitflap <%i>.", splitflap->id);
OngoingMoveMutex_Unlock(instance);
continue; // ignore & proceed
}
//=> execute move
McuLog_info("Splitflap <%i> moving to flap '%c'.", splitflap->id, nextFlap[0]);
SF_MoveToFlap(instance, nextFlap);
McuLog_info("Splitflap <%i> move done to flap '%c'.", splitflap->id, nextFlap[0]);
vTaskDelay(pdMS_TO_TICKS(100)); // wait for logger to finish
// 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 */
continue;
}
McuLog_info("Splitflap <%i> recognized new flap '%c' in queue to move to.", splitflap->id, nextFlap[0]);
// new flap to move to is available
// check if ongoing move
if(OngoingMoveMutex_Lock(instance)){
// now get the queue item
if(xQueueReceive(splitflap->flapQueue, &nextFlap, 0) != pdPASS){
/* failed to receive => queue empty but previously an item was there? error */
McuLog_error("Failed to receive Queue item of Splitflap <%i>.", splitflap->id);
OngoingMoveMutex_Unlock(instance);
continue; // ignore & proceed
}
//=> execute move
McuLog_info("Splitflap <%i> moving to flap '%c'.", splitflap->id, nextFlap[0]);
SF_MoveToFlap(instance, nextFlap);
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);
}
break;
OngoingMoveMutex_Unlock(instance);
// wrong state
default:
McuLog_warn("Not implemented state in SF_Task!");
break; // = restart for loop
}
}
}

19
ADIS_tinyK22_SplitFlap/source/splitflap.h
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@ -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);

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