implemented first version of multi-splitflap, does not work yet

added initialized flag in splitflap.c
prepared RTOS (disabled temporarily)

ADIS_tinyK22_SplitFlap/source/application.c

@@ -13,14 +13,19 @@
 #include "McuULN2003.h"
 #include "splitflap_pins.h"
 #include "splitflap.h"
+#include "multi-splitflap.h"
 
 /* blue led pins */
 #define LED_BLUE_GPIO GPIOC
 #define LED_BLUE_PORT PORTC
 #define LED_BLUE_PIN 2U
 
+/* vars */
 static McuLED_Handle_t LED_blue;
-static SF_Handle_t splitflap0;
+static SF_Handle_t splitflap0, splitflap1;
+
+/* function declaration */
+void configureSplitflaps(void);
 
 /* Application initialization */
 void App_Init(void){
@@ -34,50 +39,31 @@ void App_Init(void){
 	config.hw.pin = LED_BLUE_PIN;
 	LED_blue = McuLED_InitLed(&config);
 
-	/* configure the motor */
+	configureSplitflaps();
-	McuULN2003_Config_t motor0Config;
+	MultiSplitFlap_Init();
-	McuULN2003_GetDefaultConfig(&motor0Config);
+	MultiSplitFlap_AddFlap(splitflap0);
-	motor0Config.hw[0].gpio = STEPPER_MOTOR0_IN1_GPIO;
+	MultiSplitFlap_AddFlap(splitflap1);
-	motor0Config.hw[0].port = STEPPER_MOTOR0_IN1_PORT;
-	motor0Config.hw[0].pin 	= STEPPER_MOTOR0_IN1_PIN;
-	motor0Config.hw[1].gpio = STEPPER_MOTOR0_IN2_GPIO;
-	motor0Config.hw[1].port = STEPPER_MOTOR0_IN2_PORT;
-	motor0Config.hw[1].pin 	= STEPPER_MOTOR0_IN2_PIN;
-	motor0Config.hw[2].gpio = STEPPER_MOTOR0_IN3_GPIO;
-	motor0Config.hw[2].port = STEPPER_MOTOR0_IN3_PORT;
-	motor0Config.hw[2].pin	= STEPPER_MOTOR0_IN3_PIN;
-	motor0Config.hw[3].gpio = STEPPER_MOTOR0_IN4_GPIO;
-	motor0Config.hw[3].port = STEPPER_MOTOR0_IN4_PORT;
-	motor0Config.hw[3].pin 	= STEPPER_MOTOR0_IN4_PIN;
-	motor0Config.inverted 	= true;
-
-	/* configure magnetic sensor for motor 0 */
-	McuGPIO_Config_t magSensor0Config;
-	McuGPIO_GetDefaultConfig(&magSensor0Config);
-	magSensor0Config.hw.gpio 	= MAG_MOTOR0_GPIO;
-	magSensor0Config.hw.port 	= MAG_MOTOR0_PORT;
-	magSensor0Config.hw.pin 	= MAG_MOTOR0_PIN;
-	magSensor0Config.isInput = true;
-	magSensor0Config.hw.pull = McuGPIO_PULL_UP;
-
-	/* create config instance for splitflap 0 */
-	SF_Config_t sfConfig;
-	sfConfig.magSensorConfig = magSensor0Config;
-	sfConfig.motorConfig = motor0Config;
-
-	/* initialize splitflap 0 */
-	splitflap0 = SF_Init(&sfConfig, 0);
 }
 
 /* Application run */
 void App_Run(void){
 
+	char* sentence[] = {"JONAS!"};
+	MultiSplitFlap_Display(sentence);
+
 	PRINTF("Initializing split flap motors.\n");
-	bool successfulInit = SF_MoveMotorToZeroPosition(splitflap0, 12);
+	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 12);
-	PRINTF("Init of motors done. Success = %s\n\n", successfulInit ? "true" : "false");
+	PRINTF("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
 
 	// if init failed => stop
-	if(successfulInit == false){
+	if(successfulInit0 == false){
+		return;
+	}
+	bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1, 12);
+	PRINTF("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
+
+	// if init failed => stop
+	if(successfulInit1 == false){
 		return;
 	}
 
@@ -104,3 +90,76 @@ void App_Run(void){
 void App_Deinit(void){
 
 }
+
+
+void configureSplitflaps(void){
+	/* SPLITFLAP 0 */
+	/* configure the motor */
+	McuULN2003_Config_t motor0Config;
+	McuULN2003_GetDefaultConfig(&motor0Config);
+	motor0Config.hw[0].gpio = STEPPER_MOTOR0_IN1_GPIO;
+	motor0Config.hw[0].port = STEPPER_MOTOR0_IN1_PORT;
+	motor0Config.hw[0].pin 	= STEPPER_MOTOR0_IN1_PIN;
+	motor0Config.hw[1].gpio = STEPPER_MOTOR0_IN2_GPIO;
+	motor0Config.hw[1].port = STEPPER_MOTOR0_IN2_PORT;
+	motor0Config.hw[1].pin 	= STEPPER_MOTOR0_IN2_PIN;
+	motor0Config.hw[2].gpio = STEPPER_MOTOR0_IN3_GPIO;
+	motor0Config.hw[2].port = STEPPER_MOTOR0_IN3_PORT;
+	motor0Config.hw[2].pin	= STEPPER_MOTOR0_IN3_PIN;
+	motor0Config.hw[3].gpio = STEPPER_MOTOR0_IN4_GPIO;
+	motor0Config.hw[3].port = STEPPER_MOTOR0_IN4_PORT;
+	motor0Config.hw[3].pin 	= STEPPER_MOTOR0_IN4_PIN;
+	motor0Config.inverted 	= true;
+
+	/* configure magnetic sensor for motor 0 */
+	McuGPIO_Config_t magSensor0Config;
+	McuGPIO_GetDefaultConfig(&magSensor0Config);
+	magSensor0Config.hw.gpio 	= MAG_MOTOR0_GPIO;
+	magSensor0Config.hw.port 	= MAG_MOTOR0_PORT;
+	magSensor0Config.hw.pin 	= MAG_MOTOR0_PIN;
+	magSensor0Config.isInput = true;
+	magSensor0Config.hw.pull = McuGPIO_PULL_UP;
+
+	/* create config instance for splitflap 0 */
+	SF_Config_t sf0Config;
+	sf0Config.magSensorConfig = magSensor0Config;
+	sf0Config.motorConfig = motor0Config;
+
+	/* initialize splitflap 0 */
+	splitflap0 = SF_Init(&sf0Config, 0);
+
+	/* SPLITFLAP 1 */
+	/* configure the motor */
+	McuULN2003_Config_t motor1Config;
+	McuULN2003_GetDefaultConfig(&motor1Config);
+	motor1Config.hw[0].gpio = STEPPER_MOTOR1_IN1_GPIO;
+	motor1Config.hw[0].port = STEPPER_MOTOR1_IN1_PORT;
+	motor1Config.hw[0].pin 	= STEPPER_MOTOR1_IN1_PIN;
+	motor1Config.hw[1].gpio = STEPPER_MOTOR1_IN2_GPIO;
+	motor1Config.hw[1].port = STEPPER_MOTOR1_IN2_PORT;
+	motor1Config.hw[1].pin 	= STEPPER_MOTOR1_IN2_PIN;
+	motor1Config.hw[2].gpio = STEPPER_MOTOR1_IN3_GPIO;
+	motor1Config.hw[2].port = STEPPER_MOTOR1_IN3_PORT;
+	motor1Config.hw[2].pin	= STEPPER_MOTOR1_IN3_PIN;
+	motor1Config.hw[3].gpio = STEPPER_MOTOR1_IN4_GPIO;
+	motor1Config.hw[3].port = STEPPER_MOTOR1_IN4_PORT;
+	motor1Config.hw[3].pin 	= STEPPER_MOTOR1_IN4_PIN;
+	motor1Config.inverted 	= true;
+
+	/* configure magnetic sensor for motor 0 */
+	McuGPIO_Config_t magSensor1Config;
+	McuGPIO_GetDefaultConfig(&magSensor1Config);
+	magSensor1Config.hw.gpio 	= MAG_MOTOR1_GPIO;
+	magSensor1Config.hw.port 	= MAG_MOTOR1_PORT;
+	magSensor1Config.hw.pin 	= MAG_MOTOR1_PIN;
+	magSensor1Config.isInput = true;
+	magSensor1Config.hw.pull = McuGPIO_PULL_UP;
+
+	/* create config instance for splitflap 0 */
+	SF_Config_t sf1Config;
+	sf1Config.magSensorConfig = magSensor1Config;
+	sf1Config.motorConfig = motor1Config;
+
+	/* initialize splitflap 1 */
+	splitflap1 = SF_Init(&sf1Config, 1);
+}

ADIS_tinyK22_SplitFlap/source/multi-splitflap.c

@@ -0,0 +1,46 @@
+/*
+ * multi-splitflap.c
+ *
+ *  Created on: 07.10.2022
+ *      Author: jonas
+ */
+
+#include "multi-splitflap.h"
+#include "fsl_debug_console.h"
+
+static dict_t **flapDict;
+static uint8_t amountOfFlaps = 0;
+
+void MultiSplitFlap_Init(void){
+	amountOfFlaps = 0;
+	flapDict = dictAlloc();
+	((dict_t*)flapDict)->key=NULL;
+	((dict_t*)flapDict)->value=NULL;
+	((dict_t*)flapDict)->next=NULL;
+}
+
+void MultiSplitFlap_Deinit(void){
+	dictDealoc(flapDict);
+	amountOfFlaps = 0;
+}
+
+uint8_t MultiSplitFlap_GetAmountOfSplitFlaps(void){
+	return amountOfFlaps;
+}
+
+void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
+	PRINTF("Adding split flap to multi splitflap combination:\n");
+	addItem(flapDict, (char*)&amountOfFlaps, (SF_Handle_t*)splitflap);
+	//TODO  probably starting with 0 does not work since its a pointer to the number 0
+	PRINTF("Added flap nr. %i. There are now %i flaps.\n", amountOfFlaps, ++amountOfFlaps);
+}
+
+void MultiSplitFlap_Display(char* sentence[]){
+	SF_Handle_t* sfHandle0 = (SF_Handle_t*)(getItem(*flapDict, (char*)0));
+	SF_Handle_t* sfHandle1 = (SF_Handle_t*)(getItem(*flapDict, (char*)1));
+	SF_t* sf0 = (SF_t*)sfHandle0;
+	SF_t* sf1 = (SF_t*)sfHandle1;
+	int32_t test = McuULN2003_GetPos(sf1->motor);
+}
+
+

ADIS_tinyK22_SplitFlap/source/multi-splitflap.h

@@ -0,0 +1,30 @@
+/*
+ * multi-splitflap.h
+ *
+ *  Created on: 07.10.2022
+ *      Author: jonas
+ */
+
+#ifndef MULTI_SPLITFLAP_H_
+#define MULTI_SPLITFLAP_H_
+
+#include "splitflap.h"
+
+/* initialize dictionary */
+void MultiSplitFlap_Init(void);
+
+/* de-initialize: deallocate memory etc. */
+void MultiSplitFlap_Deinit(void);
+
+
+/* add a splitflap to the combination */
+void MultiSplitFlap_AddFlap(SF_Handle_t splitflap);
+
+/* display a sentence on the splitflap combination
+ * splitflaps must be initialized to be able to display something!*/
+void MultiSplitFlap_Display(char* sentence[]);
+
+/* returns the amount of registered split flap displays in the combination */
+uint8_t MultiSplitFlap_GetAmountOfSplitFlaps(void);
+
+#endif /* MULTI_SPLITFLAP_H_ */

ADIS_tinyK22_SplitFlap/source/platform.c

@@ -12,6 +12,7 @@
 #include "McuGPIO.h"
 #include "McuULN2003.h"
 #include "splitflap.h"
+#include "McuRTOS.h"
 
 void PL_Init(void){
 
@@ -26,10 +27,12 @@ void PL_Init(void){
 	McuLED_Init();
 	McuULN2003_Init();
 	SF_InitConfig();
+	//McuRTOS_Init();
 }
 
 
 void PL_Deinit(void){
+	//McuRTOS_Deinit();
 	SF_DeInitConfig();
 	McuULN2003_Deinit();
 	McuLED_Deinit();

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -20,6 +20,8 @@ static char* SF_Letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I",
 								"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",
 								"!", "?", ":"};
+/* flag if this module is initialized (physically) */
+static bool initialized = false;
 
 void SF_InitConfig(void){
 	splitFlapDict = dictAlloc();
@@ -86,10 +88,13 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 	McuULN2003_PowerOff(((SF_t*)instance)->motor);
 
 	// success if less than one rotation
-	return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
+	initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
+
+	return initialized;
 }
 
 void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
+	if(initialized){
 		// run move with acceleration & deceleration
 		McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 		while(steps>0){
@@ -104,6 +109,7 @@ void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 		// required since it is possible that one is still active, which would result in the motor getting hot
 		// no re-init is required
 		McuULN2003_PowerOff(((SF_t*)instance)->motor);
+	}
 }
 
 bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
@@ -135,4 +141,5 @@ int32_t SF_GetMotorPosition(SF_Handle_t instance){
 void SF_Deinit(SF_Handle_t instance){
 	McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
 	McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
+	initialized = false;
 }