implemented saving hwId and restoring to and from NVMC,

removed APP_DEBUG,
removed auto init on reboot

ADIS_tinyK22_SplitFlap/source/application.c

@@ -55,20 +55,6 @@ void App_Init(void){
 static void App_Task(void* pv){
 	McuLog_info("Application Task starting");
 
-	bool initSuccess = MultiSplitFlap_MoveAllToZeroPosition();
-
-#ifndef APP_DEBUG
-	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
-
 	QueueHandle_t cmdQueueHandle = SHELL_GetShellCmdQueueHandle();;
 	Shell_cmd_s cmd;
 	char* sentence;
@@ -94,7 +80,6 @@ static void App_Task(void* pv){
 						McuLog_error("Invalid String to Display");
 					}
 					break;
-				case Shell_Powerof_rpi:
 				default:
 					McuLog_error("Not implemented command recieved in App_Task. Command Id was <%i>", (int)cmd.shellCmd);
 					break;
@@ -125,7 +110,7 @@ static void App_Task(void* pv){
 
 	/* SINGLE SPLIT FLAP TESTING */
 	// go through the following letters
-	char* letters[] = {"J", "O", "N", "A", "S", "!"};
+	Flap_t letters[] = {'J', 'O', 'N', 'A', 'S', '!'};
 	//char* letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K",
 	//		"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",
@@ -200,7 +185,7 @@ void configureSplitflaps(void){
 	/* create config instance for splitflap 0 */
 	SF_Config_t sf0Config;
 	sf0Config.setupIdentifier = 0;
-	sf0Config.hardwareIdentifier = 4;
+	sf0Config.hardwareIdentifier = 10;  // default value
 	sf0Config.magSensorConfig = magSensor0Config;
 	sf0Config.motorConfig = motor0Config;
 
@@ -237,7 +222,7 @@ void configureSplitflaps(void){
     /* create config instance for splitflap 0 */
     SF_Config_t sf1Config;
     sf1Config.setupIdentifier = 1;
-	sf1Config.hardwareIdentifier = 22;
+	sf1Config.hardwareIdentifier = 20;  // default value
     sf1Config.magSensorConfig = magSensor1Config;
     sf1Config.motorConfig = motor1Config;
 

ADIS_tinyK22_SplitFlap/source/platform.h

@@ -9,7 +9,6 @@
 #define PLATFORM_H_
 
 /* SETTINGS */
-//#define APP_DEBUG
 #define PL_CONFIG_USE_NVMC        (1)
 #define PL_CONFIG_USE_MININI      (1 && PL_CONFIG_USE_NVMC)
 

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -20,6 +20,7 @@
 #include "McuUtility.h"
 #include "McuLib.h"
 #include "MotOffsetTable.h"
+#include "nvmc.h"
 
 #define FLAP_QUEUE_LENGTH (5)						/* number of elements in queue */
 #define FLAP_QUEUE_SELEM_SIZE (sizeof(Flap_t))      /* size of element */
@@ -48,12 +49,20 @@ SF_Handle_t SF_Init(SF_Config_t* config){
 										FLAP_QUEUE_SELEM_SIZE);
 	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->state = SF_STATE_NOT_READY;
-#else    																// when debugging => set to "initialized"
-	splitflap->state = SF_STATE_READY;
+	splitflap->state = SF_STATE_NOT_READY;								// set to "not initialized"
+#if PL_CONFIG_USE_NVMC
+	int16_t hwIdFromNvmc = -1;
+	// if there exists a hw id in the NVMC and it is valid
+	if(NVMC_GetStepperID(config->setupIdentifier, &hwIdFromNvmc) == ERR_OK && hwIdFromNvmc >= 0){
+		splitflap->hwId = hwIdFromNvmc; // use this
+	} else{
+		McuLog_warn("SF_Init: No or invalid HwId found in NVMC for SplitFlap <%i>, storing default ID.", splitflap->id);
+		// save default stepper id from code to NVMC
+		if(NVMC_SetStepperID(config->setupIdentifier, config->hardwareIdentifier) != ERR_OK){
+			McuLog_error("SF_Init: Failed to save hardware ID in NVMC for SplitFlap ID <%i>", config->setupIdentifier);
+		}
+	}
 #endif
-
 	// check if queue was created
 	if(splitflap->flapQueue == NULL){
 		McuLog_error("Flap queue creation failed for Splitflap <%i>", splitflap->id);
@@ -111,6 +120,7 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 	if(MotOffset_Get(((SF_t*)instance)->hwId, &offsetSteps) == ERR_OK){
 		McuLog_info("SF_MoveMotorToZeroPosition found offsetSteps=%i for Splitflap <%i> with hwId=%i", offsetSteps, ((SF_t*)instance)->id, ((SF_t*)instance)->hwId);
 	}
+
 	// check if positive offset!
 	if(offsetSteps < 0){
 		McuLog_info("SF_MoveMotorToZeroPosition found negative offset for Splitflap with hwId=%i. Offset set to zero.", ((SF_t*)instance)->hwId);
@@ -262,6 +272,11 @@ 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;
+#if PL_CONFIG_USE_NVMC	// update hardwareid in NVMC if used
+	if(NVMC_SetStepperID(((SF_t*)instance)->id, identifier) != ERR_OK){
+		McuLog_error("SF_SetHardwareIdentifier: Failed to update hardware ID in NVMC for SplitFlap ID <%i>", ((SF_t*)instance)->id);
+	}
+#endif
 }
 
 int32_t SF_GetMotorPosition(SF_Handle_t instance){