automatic position calculation for dictionary initialization,

added offset correction parameter for init,
improved test function

ADIS_tinyK22_SplitFlap/source/application.c

@@ -72,19 +72,23 @@ void App_Init(void){
 /* Application run */
 void App_Run(void){
 
-	PRINTF("Initializing split flap motors.");
+	PRINTF("Initializing split flap motors.\n");
-	SF_MoveMotorToZeroPosition(splitflap0);
+	SF_MoveMotorToZeroPosition(splitflap0, 2);
-	PRINTF("Init of motors done.");
+	PRINTF("Init of motors done.\n\n");
 
-	// go through the whole dictionary
+	// go through the following letters
-	char* letters[] = {"A", "B", "C", "A"};
+	char* letters[] = {"J", "O", "N", "A", "S", "!"};
+	PRINTF("Amount of letters %i\n", sizeof(letters)/sizeof(letters[0]));
 
-	for(int i = 0; i < 4; i++){
+	while(1){
+		for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
 			McuWait_Waitms(1000);
-		PRINTF("Moving to letter '%s', position is %i", letters[i], (int)SF_GetMotorPosition(splitflap0));
+			PRINTF("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0));
 			SF_MoveToFlap(splitflap0, letters[i]);
-		PRINTF("Position is %i", (int)SF_GetMotorPosition(splitflap0));
+			PRINTF("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0));
 		}
+	}
+
 
 
 	/* TEST PATTERN */

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -20,46 +20,47 @@ void SF_InitConfig(void){
 	((dict_t*)splitFlapDict)->key=NULL;
 	((dict_t*)splitFlapDict)->value=NULL;
 	((dict_t*)splitFlapDict)->next=NULL;
-	addItem(splitFlapDict, SF_A, (int32_t*)13);
+	float stepsPerSegment = SPLITFLAP_STEPS_PER_SEGMENT; // do division once
-	addItem(splitFlapDict, SF_B, (int32_t*)26);
-	addItem(splitFlapDict, SF_C, (int32_t*)39);
-	addItem(splitFlapDict, SF_D, (int32_t*)52);
-	addItem(splitFlapDict, SF_E, (int32_t*)65);
-	addItem(splitFlapDict, SF_F, (int32_t*)78);
-	addItem(splitFlapDict, SF_G, (int32_t*)91);
-	addItem(splitFlapDict, SF_H, (int32_t*)104);
-	addItem(splitFlapDict, SF_I, (int32_t*)117);
-	addItem(splitFlapDict, SF_J, (int32_t*)130);
-	addItem(splitFlapDict, SF_K, (int32_t*)143);
-	addItem(splitFlapDict, SF_L, (int32_t*)156);
-	addItem(splitFlapDict, SF_M, (int32_t*)169);
-	addItem(splitFlapDict, SF_N, (int32_t*)182);
-	addItem(splitFlapDict, SF_O, (int32_t*)195);
-	addItem(splitFlapDict, SF_P, (int32_t*)208);
-	addItem(splitFlapDict, SF_Q, (int32_t*)221);
-	addItem(splitFlapDict, SF_R, (int32_t*)234);
-	addItem(splitFlapDict, SF_S, (int32_t*)247);
-	addItem(splitFlapDict, SF_T, (int32_t*)260);
-	addItem(splitFlapDict, SF_U, (int32_t*)273);
-	addItem(splitFlapDict, SF_V, (int32_t*)286);
-	addItem(splitFlapDict, SF_W, (int32_t*)299);
-	addItem(splitFlapDict, SF_X, (int32_t*)312);
-	addItem(splitFlapDict, SF_Y, (int32_t*)325);
-	addItem(splitFlapDict, SF_Z, (int32_t*)338);
-	addItem(splitFlapDict, SF_0, (int32_t*)351);
-	addItem(splitFlapDict, SF_1, (int32_t*)364);
-	addItem(splitFlapDict, SF_2, (int32_t*)377);
-	addItem(splitFlapDict, SF_3, (int32_t*)390);
-	addItem(splitFlapDict, SF_4, (int32_t*)403);
-	addItem(splitFlapDict, SF_5, (int32_t*)416);
-	addItem(splitFlapDict, SF_6, (int32_t*)429);
-	addItem(splitFlapDict, SF_7, (int32_t*)442);
-	addItem(splitFlapDict, SF_8, (int32_t*)455);
-	addItem(splitFlapDict, SF_9, (int32_t*)468);
-	addItem(splitFlapDict, SF_EXCLAMATION, (int32_t*)481);
-	addItem(splitFlapDict, SF_QUESTION, (int32_t*)494);
-	addItem(splitFlapDict, SF_COLON, (int32_t*)507);
 	addItem(splitFlapDict, SF_SPACE, 		(int32_t*)0);
+	addItem(splitFlapDict, SF_A, 			(int32_t*)(int32_t)(stepsPerSegment * 1.0 + 0.5));  // +0.5 so that the rounding is
+	addItem(splitFlapDict, SF_B, 			(int32_t*)(int32_t)(stepsPerSegment * 2.0 + 0.5));  // done correctly
+	addItem(splitFlapDict, SF_C, 			(int32_t*)(int32_t)(stepsPerSegment * 3.0 + 0.5));
+	addItem(splitFlapDict, SF_D, 			(int32_t*)(int32_t)(stepsPerSegment * 4.0 + 0.5));
+	addItem(splitFlapDict, SF_E, 			(int32_t*)(int32_t)(stepsPerSegment * 5.0 + 0.5));
+	addItem(splitFlapDict, SF_F, 			(int32_t*)(int32_t)(stepsPerSegment * 6.0 + 0.5));
+	addItem(splitFlapDict, SF_G, 			(int32_t*)(int32_t)(stepsPerSegment * 7.0 + 0.5));
+	addItem(splitFlapDict, SF_H, 			(int32_t*)(int32_t)(stepsPerSegment * 8.0 + 0.5));
+	addItem(splitFlapDict, SF_I, 			(int32_t*)(int32_t)(stepsPerSegment * 9.0 + 0.5));
+	addItem(splitFlapDict, SF_J, 			(int32_t*)(int32_t)(stepsPerSegment * 10.0 + 0.5));
+	addItem(splitFlapDict, SF_K, 			(int32_t*)(int32_t)(stepsPerSegment * 11.0 + 0.5));
+	addItem(splitFlapDict, SF_L, 			(int32_t*)(int32_t)(stepsPerSegment * 12.0 + 0.5));
+	addItem(splitFlapDict, SF_M, 			(int32_t*)(int32_t)(stepsPerSegment * 13.0 + 0.5));
+	addItem(splitFlapDict, SF_N, 			(int32_t*)(int32_t)(stepsPerSegment * 14.0 + 0.5));
+	addItem(splitFlapDict, SF_O, 			(int32_t*)(int32_t)(stepsPerSegment * 15.0 + 0.5));
+	addItem(splitFlapDict, SF_P, 			(int32_t*)(int32_t)(stepsPerSegment * 16.0 + 0.5));
+	addItem(splitFlapDict, SF_Q, 			(int32_t*)(int32_t)(stepsPerSegment * 17.0 + 0.5));
+	addItem(splitFlapDict, SF_R, 			(int32_t*)(int32_t)(stepsPerSegment * 18.0 + 0.5));
+	addItem(splitFlapDict, SF_S, 			(int32_t*)(int32_t)(stepsPerSegment * 19.0 + 0.5));
+	addItem(splitFlapDict, SF_T, 			(int32_t*)(int32_t)(stepsPerSegment * 20.0 + 0.5));
+	addItem(splitFlapDict, SF_U, 			(int32_t*)(int32_t)(stepsPerSegment * 21.0 + 0.5));
+	addItem(splitFlapDict, SF_V, 			(int32_t*)(int32_t)(stepsPerSegment * 22.0 + 0.5));
+	addItem(splitFlapDict, SF_W, 			(int32_t*)(int32_t)(stepsPerSegment * 23.0 + 0.5));
+	addItem(splitFlapDict, SF_X, 			(int32_t*)(int32_t)(stepsPerSegment * 24.0 + 0.5));
+	addItem(splitFlapDict, SF_Y, 			(int32_t*)(int32_t)(stepsPerSegment * 25.0 + 0.5));
+	addItem(splitFlapDict, SF_Z, 			(int32_t*)(int32_t)(stepsPerSegment * 26.0 + 0.5));
+	addItem(splitFlapDict, SF_0, 			(int32_t*)(int32_t)(stepsPerSegment * 27.0 + 0.5));
+	addItem(splitFlapDict, SF_1, 			(int32_t*)(int32_t)(stepsPerSegment * 28.0 + 0.5));
+	addItem(splitFlapDict, SF_2, 			(int32_t*)(int32_t)(stepsPerSegment * 29.0 + 0.5));
+	addItem(splitFlapDict, SF_3, 			(int32_t*)(int32_t)(stepsPerSegment * 30.0 + 0.5));
+	addItem(splitFlapDict, SF_4, 			(int32_t*)(int32_t)(stepsPerSegment * 31.0 + 0.5));
+	addItem(splitFlapDict, SF_5, 			(int32_t*)(int32_t)(stepsPerSegment * 32.0 + 0.5));
+	addItem(splitFlapDict, SF_6, 			(int32_t*)(int32_t)(stepsPerSegment * 33.0 + 0.5));
+	addItem(splitFlapDict, SF_7, 			(int32_t*)(int32_t)(stepsPerSegment * 34.0 + 0.5));
+	addItem(splitFlapDict, SF_8, 			(int32_t*)(int32_t)(stepsPerSegment * 35.0 + 0.5));
+	addItem(splitFlapDict, SF_9, 			(int32_t*)(int32_t)(stepsPerSegment * 36.0 + 0.5));
+	addItem(splitFlapDict, SF_EXCLAMATION, 	(int32_t*)(int32_t)(stepsPerSegment * 37.0 + 0.5));
+	addItem(splitFlapDict, SF_QUESTION, 	(int32_t*)(int32_t)(stepsPerSegment * 38.0 + 0.5));
+	addItem(splitFlapDict, SF_COLON, 		(int32_t*)(int32_t)(stepsPerSegment * 39.0 + 0.5));
 }
 
 void SF_DeInitConfig(void){
@@ -79,12 +80,10 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
 	splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
 	splitflap->id = id;
 
-	/* TODO IMPLEMENT ACTUAL INITIALIZATION of Motor */
-
 	return splitflap;
 }
 
-bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
+bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments){
 	int numStepsMoved = 0;
 
 	// move out of sensor
@@ -102,7 +101,9 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 
 	// one more segment if not already one round
 	if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
-		for(int i=0; i<SPLITFLAP_STEPS_PER_SEGMENT; i++){
+		// +0.5 so that the rounding is done correctly
+		int8_t offsetSteps = (int8_t)((float)offsetSegments*SPLITFLAP_STEPS_PER_SEGMENT + 0.5);
+		for(int i=0; i < offsetSteps; i++){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
 			McuWait_Waitms(20);
 			numStepsMoved++;
@@ -115,11 +116,10 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 }
 
 void SF_MoveSteps(SF_Handle_t instance, int32_t steps){
-
 	// run move with acceleration & deceleration
 	McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 	while(steps>0){
-		if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true) == true){
+		if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
 			steps--;
 		}
 		McuWait_Waitms(1);
@@ -140,7 +140,7 @@ void SF_MoveToFlap(SF_Handle_t instance, char* flap){
 	// get flap pos from dictonary
 	int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
 	// get current motor pos
-	int32_t currentPos = SF_GetMotorPosition(instance);
+	int32_t currentPos = SF_GetMotorPosition(instance) % SPLITFLAP_STEPS_ONE_ROUND;
 	// calc steps to move
 	int32_t stepsToReachFlap = 0;
 	// not already there
@@ -150,12 +150,12 @@ void SF_MoveToFlap(SF_Handle_t instance, char* flap){
 		}else if(flapPos > currentPos){
 				stepsToReachFlap = flapPos - currentPos;
 		}
-		SF_MoveSteps(((SF_t*)instance)->motor, stepsToReachFlap);
+		SF_MoveSteps(instance, stepsToReachFlap);
 	}
 }
 
 int32_t SF_GetMotorPosition(SF_Handle_t instance){
-	return McuULN2003_GetPos(((SF_t*)instance)->motor) % SPLITFLAP_STEPS_ONE_ROUND;
+	return McuULN2003_GetPos(((SF_t*)instance)->motor);
 }
 
 void SF_Deinit(SF_Handle_t instance){

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -16,8 +16,9 @@
 
 /****** SETTINGS ******/
 #define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 	0
-#define SPLITFLAP_STEPS_ONE_ROUND 			520  // 40 segments a 13 steps
+#define SPLITFLAP_STEPS_ONE_ROUND 			512
-#define SPLITFLAP_STEPS_PER_SEGMENT			13
+#define SPLITFLAP_AMOUNT_OF_SEGMENTS		40
+#define SPLITFLAP_STEPS_PER_SEGMENT			(float)SPLITFLAP_STEPS_ONE_ROUND/(float)SPLITFLAP_AMOUNT_OF_SEGMENTS
 
 
 /****** TYPES ******/
@@ -50,8 +51,9 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id);
 
 /* Moves split flap slowly to zero position.
  * returns true if the move was successful, false if not
- * (depending on if the sensor was hit before one round) */
+ * (depending on if the sensor was hit before one round)
-bool SF_MoveMotorToZeroPosition(SF_Handle_t instance);
+ * with the offsetSegments parameter, the amount of segments to offset can be given */
+bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments);
 
 /* split flap moves number of steps maybe uint16_t? */
 void SF_MoveSteps(SF_Handle_t instance, int32_t steps);