moved logging to McuLog,

fixed multi split flap issues,
creating task for every split flap per default,
creating queue for every split flap to sent letter to

ADIS_tinyK22_SplitFlap/source/application.c

@@ -5,8 +5,8 @@
  *      Author: jonas
  */
 
-#include "fsl_debug_console.h"
 #include "platform.h"
+#include "McuRTOS.h"
 #include "application.h"
 #include "McuWait.h"
 #include "McuLED.h"
@@ -17,8 +17,6 @@
 #include "multi-splitflap.h"
 #include "McuLog.h"
 
-#define APP_DEBUG
-
 /* blue led pins */
 #define LED_BLUE_GPIO GPIOC
 #define LED_BLUE_PORT PORTC
@@ -55,9 +53,9 @@ void App_Init(void){
 static void App_Task(void* pv){
 	McuLog_info("Application Task starting");
 
-	PRINTF("Initializing split flap motors.\n");
+	McuLog_info("Initializing split flap motors.\n");
 	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 20);
-	PRINTF("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
+	McuLog_info("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
 
 #ifndef APP_DEBUG
 	// if init failed => stop
@@ -67,7 +65,7 @@ static void App_Task(void* pv){
 #endif
 
 	bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1, 25);
-	PRINTF("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
+	McuLog_info("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
 
 #ifndef APP_DEBUG
 	// if init failed => stop
@@ -80,7 +78,9 @@ static void App_Task(void* pv){
 	char sentence[] = "JONAS!";
 	MultiSplitFlap_Display(sentence);
 
-	return;
+	for(;;)
+	{}
+
 
 	/* SINGLE SPLIT FLAP TESTING */
 	// go through the following letters
@@ -89,14 +89,14 @@ static void App_Task(void* pv){
 	//		"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]));
+	McuLog_info("Amount of letters %i\n", sizeof(letters)/sizeof(letters[0]));
 
 	while(1){
 		for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
 			McuWait_Waitms(1000);
-			PRINTF("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0));
+			McuLog_info("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0));
 			SF_MoveToFlap(splitflap0, letters[i]);
-			PRINTF("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0));
+			McuLog_info("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0));
 		}
 	}
 }
@@ -114,7 +114,7 @@ void App_Run(void){
 
 	if(res != pdPASS) // task creation not successful?
 	{
-		PRINTF("Task creation of app task failed");
+		McuLog_info("Task creation of app task failed");
 		for(;;) {} // Endless loop
 	}
 

ADIS_tinyK22_SplitFlap/source/main.c

@@ -38,7 +38,8 @@
 #include "pin_mux.h"
 #include "clock_config.h"
 #include "MK22F51212.h"
-#include "fsl_debug_console.h"
+#include "McuRTOS.h"
+#include "McuLog.h"
 /* TODO: insert other include files here. */
 #include "application.h"
 #include "platform.h"
@@ -59,22 +60,22 @@ int main(void) {
 #endif
 
     /* init platform */
-    PRINTF("Initializing Platform...\n");
+    McuLog_info("Initializing Platform...\n");
     PL_Init();
     /* init app */
-    PRINTF("Initializing App...\n");
+    McuLog_info("Initializing App...\n");
     App_Init();
 
     /* run app */
-    PRINTF("Running App...\n");
+    McuLog_info("Running App...\n");
     App_Run();
 
     /* deinit app */
-    PRINTF("De-Initializing App...\n");
+    McuLog_info("De-Initializing App...\n");
     App_Deinit();
 
     /* deinit platform */
-    PRINTF("De-Initializing Platform...\n");
+    McuLog_info("De-Initializing Platform...\n");
     PL_Deinit();
 
     return 0 ;

ADIS_tinyK22_SplitFlap/source/multi-splitflap.c

@@ -8,7 +8,8 @@
 #include <stdio.h>
 #include <stdbool.h>
 #include "multi-splitflap.h"
-#include "fsl_debug_console.h"
+#include "McuRTOS.h"
+#include "McuLog.h"
 #include "splitflap.h"
 
 /* vars */
@@ -41,9 +42,9 @@ void MultiSplitFlap_Deinit(void){
 /* PUBLIC FUNCTIONS   */
 /**********************/
 void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
-	PRINTF("Adding split flap to multi splitflap combination...\n");
+	McuLog_info("Adding split flap to multi splitflap combination...\n");
 	addItem(flapDict, flapKeys[addedFlaps], (SF_Handle_t*)splitflap);
-	PRINTF("Added flap nr. %i/%i.\n", addedFlaps+1, NUM_FLAPS);
+	McuLog_info("Added flap nr. %i/%i.\n", addedFlaps+1, NUM_FLAPS);
 	addedFlaps++;
 }
 
@@ -54,7 +55,8 @@ void MultiSplitFlap_Display(char sentence[]){
 		char letter_move[] = " ";
 		letter_move[0] = letter;
 		SF_MoveToFlapAsync(sfHandle, letter_move);
-		PRINTF("Multi splitflap: Commanded Flap nr. %i to letter '%c'.\n", num+1, letter);
+		McuLog_info("Multi splitflap: Commanded Flap nr. %i to letter '%c'.\n", num+1, letter);
+		vTaskDelay(pdMS_TO_TICKS(100));
 	}
 	// for testing purposes only
 	//SF_t* sf0 = (SF_t*)(SF_Handle_t)(getItem(*flapDict, flapKeys[0]));
@@ -76,7 +78,7 @@ void initFlapKeys(uint8_t numberOfFlaps){
 		flapKeys[i] = pvPortMalloc(sizeof(BYTES_PER_KEY));
 #else
 		if((flapKeys[i] = malloc(BYTES_PER_KEY)) == NULL){
-			PRINTF("Reserving memory for flap num. %i failed!:\n", i);
+			McuLog_error("Reserving memory for flap num. %i failed!:\n", i);
 		}
 		sprintf(flapKeys[i], "%i", i);
 #endif

ADIS_tinyK22_SplitFlap/source/platform.h

@@ -8,6 +8,9 @@
 #ifndef PLATFORM_H_
 #define PLATFORM_H_
 
+/* SETTINGS */
+#define APP_DEBUG
+
 /* Platform initialization */
 void PL_Init(void);
 

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -6,16 +6,20 @@
  *      Author: jonas
  */
 
+#include "platform.h"
 #include <stdbool.h>
 #include "splitflap.h"
-#include "fsl_debug_console.h"
+#include "McuRTOS.h"
 #include "McuULN2003.h"
 #include <stdbool.h>
 #include "McuWait.h"
-#include "McuRTOS.h"
+#include "McuLog.h"
 #include "lib/dict.h"
 #include "McuUtility.h"
 
+#define FLAP_QUEUE_LENGTH (5)						/* number of elements in queue */
+#define FLAP_QUEUE_SELEM_SIZE (sizeof(Flap_t))      /* size of element */
+
 /* dynamic dictionary for the letters of the dictionary */
 static dict_t **splitFlapDict;
 /* all letters of the splitflap in the correct order */
@@ -27,7 +31,7 @@ static Flap_t SF_Letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I",
 /* function declarations */
 static bool OngoingMoveMutex_Lock(SF_Handle_t instance);
 static void OngoingMoveMutex_Unlock(SF_Handle_t instance);
-static void SF_MoveToNextFlap(void *pv);
+static void SF_Task(void *pv);
 
 /**********************/
 /* INIT / DEINIT      */
@@ -41,12 +45,12 @@ void SF_InitConfig(void){
 
 	// add all splitflap flaps to the dictionary, calculating the position automatically
 	// print out for debugging
-	PRINTF("Splitflap positioning data is automatically calculated:\n");
+	McuLog_info("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);
+		McuLog_info("Letter '%s': Position %i\n", SF_Letters[i], (int)position);
 	}
 }
 
@@ -65,15 +69,43 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
 
 	splitflap->magSensor = McuGPIO_InitGPIO(&instance->magSensorConfig);
 	splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
-	splitflap->id = id;
 	splitflap->ongoingMoveMutex = xSemaphoreCreateRecursiveMutex(); 	// create mutex for ongoing move
+	splitflap->flapQueue = xQueueCreate(FLAP_QUEUE_LENGTH, FLAP_QUEUE_SELEM_SIZE);  // create queue
+	splitflap->id = id;
+	#ifndef APP_DEBUG    // when not debugging => set to false
 	splitflap->initialized = false;
-	splitflap->nextFlap = SF_Letters[0];
+#else    // when debugging => set to true
+	splitflap->initialized = true;
+#endif
 
-	// add mutex to registry
-	char text[50] = "Ongoing move SplitFlap ";
-	McuUtility_strcatNum16s((uint8_t*)text, sizeof(text)+20, id);
-	vQueueAddToRegistry(splitflap->ongoingMoveMutex, text);
+	// check if queue was created
+	if(splitflap->flapQueue == NULL){
+		McuLog_error("Flap queue creation failed for Splitflap <%i>", id);
+		for(;;){}
+	}
+	// if yes: add queue to registry
+	vQueueAddToRegistry(splitflap->flapQueue, "FlapQueue");
+
+	// check if queue was created
+	if(splitflap->ongoingMoveMutex == NULL){
+		McuLog_error("Ongoing Move mutex creation failed for Splitflap <%i>", id);
+		for(;;){}
+	}
+	// if yes: add ongoing move mutex to registry
+	vQueueAddToRegistry(splitflap->ongoingMoveMutex, "OngoingMoveMutex");
+
+	// create Task for splitflap
+	BaseType_t res = xTaskCreate(	SF_Task,
+									"SF",
+									800/sizeof(StackType_t),
+									splitflap,  // no &, since otherwise pointing on parameter address! we want handle address!
+									tskIDLE_PRIORITY,
+									NULL);
+	if(res != pdPASS) // task creation not successful?
+	{
+		McuLog_error("Creation of task for Splitflap <%i> failed", id);
+		for(;;) {} // Endless loop
+	}
 
 	return splitflap;
 }
@@ -92,6 +124,11 @@ void SF_Deinit(SF_Handle_t instance){
 bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 	int numStepsMoved = 0;
 
+	if(((SF_t*)instance)->initialized){
+		McuLog_warn("Tried to initialize motor of Splitflap <%i>, but already initialized => skipping", ((SF_t*)instance)->id);
+		return true;
+	}
+
 	if(OngoingMoveMutex_Lock(instance)){
 		// move out of sensor
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
@@ -145,6 +182,8 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 
 			OngoingMoveMutex_Unlock(instance);
 		}
+	} else{
+		McuLog_error("SF_MoveSteps could not be called for Splitflap <%i> because it is not initialized.", ((SF_t*)instance)->id);
 	}
 }
 
@@ -176,28 +215,8 @@ void SF_MoveToFlap(SF_Handle_t instance, Flap_t flap){
 }
 
 void SF_MoveToFlapAsync(SF_Handle_t instance, Flap_t flap){
-	if(OngoingMoveMutex_Lock(instance)){
-		BaseType_t res;
-
-		char taskName[10] = "SF Mv ";
-		McuUtility_strcatNum16s((uint8_t*)taskName, sizeof(taskName), ((SF_t*)instance)->id);
-		// set next flap
-		((SF_t*)instance)->nextFlap = flap;
-
-		res = xTaskCreate(		SF_MoveToNextFlap,
-								taskName,
-								500/sizeof(StackType_t),
-								instance,  // no &, since otherwise pointing on parameter address! we want handle address!
-								tskIDLE_PRIORITY,
-								NULL);
-
-		if(res != pdPASS) // task creation not successful?
-		{
-			PRINTF("Creation of %s failed", taskName);
-			for(;;) {} // Endless loop
-		}
-
-		OngoingMoveMutex_Unlock(instance);
+	if(xQueueSendToBack(((SF_t*)instance)->flapQueue, &flap, pdMS_TO_TICKS(100)) != pdPASS){
+		McuLog_error("SF_MoveToFlapAsync: Failed to add flap to queue for Splitflap <%i>", ((SF_t*)instance)->id);
 	}
 }
 
@@ -209,14 +228,48 @@ int32_t SF_GetMotorPosition(SF_Handle_t instance){
 /* INTERNAL FUNCTIONS */
 /**********************/
 /* voidpointer to instance of splitflap (SF_Handle_t) */
-static void SF_MoveToNextFlap(void *pv){
+static void SF_Task(void *pv){
 	// parse parameter
 	SF_Handle_t instance = (SF_Handle_t)pv;
-	PRINTF("Splitflap: Moving Flap nr. %i to letter '%c'.\n", ((SF_t*)instance)->id, (((SF_t*)instance)->nextFlap)[0]);
-	// move to next flap
-	SF_MoveToFlap(instance, ((SF_t*)instance)->nextFlap);
-	// reset next flap
-	((SF_t*)instance)->nextFlap = SF_Letters[0];
+	SF_t* splitflap = (SF_t*)instance;
+	Flap_t nextFlap = " ";
+	McuLog_info("Splitflap: Task for Splitflap <%i> started.\n", 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 iteam 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]);
+
+			OngoingMoveMutex_Unlock(instance);
+		}
+	}
 }
 
 
@@ -235,7 +288,7 @@ static void OngoingMoveMutex_Unlock(SF_Handle_t instance){
 	/* give back mutex */
 	if(xSemaphoreGiveRecursive(((SF_t*)instance)->ongoingMoveMutex) != pdTRUE){
 		/* issue */
-		PRINTF("Could not give back ongoing move mutex for splitflap %i", ((SF_t*)instance)->id);
+		McuLog_error("Could not give back ongoing move mutex for splitflap %i", ((SF_t*)instance)->id);
 		for(;;);
 	}
 }

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -35,8 +35,8 @@ typedef struct {
   McuULN2003_Handle_t motor;
   McuGPIO_Handle_t magSensor;
   SemaphoreHandle_t ongoingMoveMutex;
+  QueueHandle_t flapQueue;
   bool initialized;
-  Flap_t nextFlap;
 } SF_t;
 
 typedef struct {