fixed slow movement of splitflaps,

integrated Move all Splitflaps to zero position into multi-splitflap.c,
added SetHardwareIdentifier methods

ADIS_tinyK22_SplitFlap/source/application.c

@@ -53,21 +53,7 @@ void App_Init(void){
 static void App_Task(void* pv){
 	McuLog_info("Application Task starting");
 
-	McuLog_info("Initializing split flap motors.");
-	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
-		}
-	}
-
-	McuLog_info("Init of splitflaps done. success=%s\n\n", initSuccess ? "true" : "false");
+	bool initSuccess = MultiSplitFlap_MoveAllToZeroPosition();
 
 #ifndef APP_DEBUG
 	if(initSuccess == false)
@@ -81,6 +67,9 @@ static void App_Task(void* pv){
 	((SF_t*)splitflap1)->state = SF_STATE_READY;
 #endif
 
+	// wait before moving
+	vTaskDelay(pdMS_TO_TICKS(2000));
+
 	/* MULTI SPLIT FLAP TESTING */
 	char sentences[][2] = {"HI", "IT", "IS", "ME", "!!" }; // "COLLIN!";
 	while(1){

ADIS_tinyK22_SplitFlap/source/multi-splitflap.c

@@ -48,22 +48,61 @@ void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
 	addedFlaps++;
 }
 
+bool MultiSplitFlap_MoveAllToZeroPosition(void){
+	McuLog_info("MultiSplitFlap_MoveAllToZeroPosition: Initializing split flap motors.");
+
+	// start all inits
+	for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
+			// get handle
+			SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
+			// start init
+			SF_MoveMotorToZeroPositionAsync(sfHandle);
+	}
+
+	// timeout of 35sec
+	bool initSuccess = false;
+	for (int i = 0; i < 700; ++i) {
+		initSuccess = true;
+		vTaskDelay(pdMS_TO_TICKS(50));
+		// check each splitflap if it is finished with init
+		for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
+			// get handle
+			SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
+			// check if init done
+			if(SF_IS_RDY_TO_MOVE(sfHandle) == false){
+				initSuccess = false;
+				break;   // end loop when one is not yet initialized
+			}
+		}
+		if(initSuccess == true){
+			break;  // end loop when all split flaps are initialized
+		}
+	}
+
+	McuLog_info("MultiSplitFlap_MoveAllToZeroPosition: Init of splitflaps done. success=%s\n\n", initSuccess ? "true" : "false");
+	return initSuccess;
+}
+
 bool MultiSplitFlap_Display(char sentence[]){
 	// Start movements
 	for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
+		// get handle
 		SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
 		char letter = sentence[num];
 		char letter_move[] = " ";
 		letter_move[0] = letter;
 		SF_MoveToFlapAsync(sfHandle, letter_move);
 		McuLog_info("Multi splitflap: Commanded Flap nr. %i to letter '%c'.\n", num+1, letter);
-		vTaskDelay(pdMS_TO_TICKS(100));
+		vTaskDelay(pdMS_TO_TICKS(100)); // delay loop
 	}
 
 	// wait until finished
 	bool done = false;
 	while(done == false){
-		done = true;
+		vTaskDelay(pdMS_TO_TICKS(100)); // delay loop
+
+		done = true;  // default is successful
+		// go through all splitflaps
 		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){
@@ -73,11 +112,28 @@ bool MultiSplitFlap_Display(char sentence[]){
 	}
 
 	return done;
+}
+
+bool MultiSplitFlap_SetHardwareIdentifier(SetupIdentifier_t id, HardwareIdentifier_t hwId){
+	// number too high (not that many split flaps can be added to the combination)
+	if(id >= NUM_FLAPS){
+		return false;
+	}
+	// number too high (not that many split flaps were added added to the combination)
+	if(id >= MultiSplitFlap_GetAmountOfAddedSplitFlaps()){
+		return false;
+	}
+	// number negative
+	if(id < 0){
+		return false;
+	}
+
+	// get handle
+	SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[id]));
+	// set hardware identifier
+	SF_SetHardwareIdentifier(sfHandle, hwId);
 
-	// 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]));
-	//int32_t test = McuULN2003_GetPos(sf1->motor);
+	return true;
 }
 
 uint8_t MultiSplitFlap_GetAmountOfAddedSplitFlaps(void){

ADIS_tinyK22_SplitFlap/source/multi-splitflap.h

@@ -22,11 +22,20 @@ void MultiSplitFlap_Deinit(void);
 /* add a splitflap to the combination */
 void MultiSplitFlap_AddFlap(SF_Handle_t splitflap);
 
+/* moves all split flaps to the zero position
+ * After a timeout of 35sec the initializtion is cancelled and the return value is false
+ * If all splitflaps report to be initialized before the timeout, the return value is true */
+bool MultiSplitFlap_MoveAllToZeroPosition(void);
+
 /* display a sentence on the splitflap combination
  * splitflaps must be initialized to be able to display something!
  * returns true when all movements finished */
 bool MultiSplitFlap_Display(char sentence[]);
 
+/* sets the hardware identifier <hwId> of a splitflap with <id> in the combination
+ * returns true when successful, false when not (e.g. split flap with given id not available) */
+bool MultiSplitFlap_SetHardwareIdentifier(SetupIdentifier_t id, HardwareIdentifier_t hwId);
+
 /* returns the amount of registered split flap displays in the combination */
 uint8_t MultiSplitFlap_GetAmountOfAddedSplitFlaps(void);
 

ADIS_tinyK22_SplitFlap/source/platform.h

@@ -9,7 +9,7 @@
 #define PLATFORM_H_
 
 /* SETTINGS */
-#define APP_DEBUG
+//#define APP_DEBUG
 
 /* Platform initialization */
 void PL_Init(void);

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -219,9 +219,9 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 					steps--;
 				}
 #ifdef McuLib_CONFIG_SDK_USE_FREERTOS
-				vTaskDelay(pdMS_TO_TICKS(20));
+				vTaskDelay(pdMS_TO_TICKS(1));
 #else
-				McuWait_Waitms(20);
+				McuWait_Waitms(1);
 #endif
 			}
 			McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
@@ -276,6 +276,10 @@ void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap){
 	}
 }
 
+void SF_SetHardwareIdentifier(SF_Handle_t instance, HardwareIdentifier_t identifier){
+	((SF_t*)instance)->hwId = identifier;
+}
+
 int32_t SF_GetMotorPosition(SF_Handle_t instance){
 	return McuULN2003_GetPos(((SF_t*)instance)->motor);
 }

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -65,9 +65,9 @@ typedef struct {
 } 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)
+#define SF_IS_RDY_TO_MOVE(sf)	(((SF_t*)sf)->state == SF_STATE_READY)
+#define SF_IS_MOVING(sf)		(((SF_t*)sf)->state == SF_STATE_MOVING)
+#define SF_IS_INITIALIZING(sf)	(((SF_t*)sf)->state == SF_STATE_INITIALIZATION)
 
 /****** FUNCTIONS ******/
 /* initializes dictonary with splitflap flaps position */
@@ -109,6 +109,10 @@ void SF_MoveToFlap(SF_Handle_t instance, Flap_t flap);
 /* move to specific flap asynchronously (RTOS task) */
 void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap);
 
+/* sets the hardware identifier of the split flap.
+ * on re-init the new hardware identifier is used to determine offset steps */
+void SF_SetHardwareIdentifier(SF_Handle_t instance, HardwareIdentifier_t identifier);
+
 /* get current position of motor */
 int32_t SF_GetMotorPosition(SF_Handle_t instance);