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worked in multi splitflap

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issue persisting: splitflap multi instance does not work
main
Jonas Arnold 4 years ago
parent 2d304cdf0c
commit e55f93ea79
5 changed files with 144 additions and 51 deletions
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  1. 10
      ADIS_tinyK22_SplitFlap/source/application.c
  2. 6
      ADIS_tinyK22_SplitFlap/source/multi-splitflap.c
  3. 2
      ADIS_tinyK22_SplitFlap/source/multi-splitflap.h
  4. 174
      ADIS_tinyK22_SplitFlap/source/splitflap.c
  5. 3
      ADIS_tinyK22_SplitFlap/source/splitflap.h

10
ADIS_tinyK22_SplitFlap/source/application.c
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@ -51,8 +51,8 @@ void App_Init(void){
/* App Task */
static void App_Task(void* pv){
PRINTF("Initializing split flap motors.\n");
bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 12);
PRINTF("Initializing split flap motors.\n");
bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 20);
PRINTF("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");
#ifndef APP_DEBUG
@ -62,7 +62,7 @@ PRINTF("Initializing split flap motors.\n");
}
#endif
bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1, 12);
bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1, 25);
PRINTF("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");
#ifndef APP_DEBUG
@ -73,7 +73,7 @@ PRINTF("Initializing split flap motors.\n");
#endif
/* MULTI SPLIT FLAP TESTING */
char* sentence[] = {"JONAS!"};
char sentence[] = "JONAS!";
MultiSplitFlap_Display(sentence);
return;
@ -109,7 +109,7 @@ void App_Run(void){
&appTaskHandle);
if(res != pdPASS) // task creation not successful?
{ // TODO error handling
{
PRINTF("Task creation of app task failed");
for(;;) {} // Endless loop
}

6
ADIS_tinyK22_SplitFlap/source/multi-splitflap.c
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@ -56,11 +56,11 @@ void MultiSplitFlap_AddFlap(SF_Handle_t splitflap){
addedFlaps++;
}
void MultiSplitFlap_Display(char* sentence[]){
void MultiSplitFlap_Display(char sentence[]){
for (uint8_t num = 0; num < NUM_FLAPS; ++num) {
SF_Handle_t sfHandle = (SF_Handle_t)(getItem(*flapDict, flapKeys[num]));
SF_MoveToFlap(sfHandle, sentence[num]);
PRINTF("Moved multisplitflap: Flap nr. %i to letter '%c'.\n", num+1, (*sentence)[num]);
SF_MoveToFlapAsync(sfHandle, (char*)(sentence[num]));
PRINTF("Moved multisplitflap: Flap nr. %i to letter '%c'.\n", num+1, sentence[num]);
}
// for testing purposes only
//SF_t* sf0 = (SF_t*)(SF_Handle_t)(getItem(*flapDict, flapKeys[0]));

2
ADIS_tinyK22_SplitFlap/source/multi-splitflap.h
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@ -24,7 +24,7 @@ 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[]);
void MultiSplitFlap_Display(char sentence[]);
/* returns the amount of registered split flap displays in the combination */
uint8_t MultiSplitFlap_GetAmountOfAddedSplitFlaps(void);

174
ADIS_tinyK22_SplitFlap/source/splitflap.c
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@ -6,12 +6,15 @@
* Author: jonas
*/
#include <stdbool.h>
#include "splitflap.h"
#include "fsl_debug_console.h"
#include "McuULN2003.h"
#include <stdbool.h>
#include "McuWait.h"
#include "McuRTOS.h"
#include "lib/dict.h"
#include "McuUtility.h"
/* dynamic dictionary for the letters of the dictionary */
static dict_t **splitFlapDict;
@ -22,6 +25,12 @@ static char* SF_Letters[] = { " ", "A", "B", "C", "D", "E", "F", "G", "H", "I",
"!", "?", ":"};
/* flag if this module is initialized (physically) */
static bool initialized = false;
/* mutex for if the module is currently being moved */
static SemaphoreHandle_t ongoingMoveMutex = NULL;
/* function declarations */
static bool OngoingMoveMutex_Lock(void);
static void OngoingMoveMutex_Unlock(void);
void SF_InitConfig(void){
splitFlapDict = dictAlloc();
@ -58,34 +67,44 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
splitflap->id = id;
// create mutex for ongoing move
ongoingMoveMutex = xSemaphoreCreateRecursiveMutex();
char text[50] = "Ongoing move SplitFlap ";
McuUtility_strcatNum16s((uint8_t*)text, sizeof(text)+20, id);
vQueueAddToRegistry(ongoingMoveMutex, text);
return splitflap;
}
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
int numStepsMoved = 0;
// move out of sensor
while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
McuULN2003_IncStep(((SF_t*)instance)->motor);
McuWait_Waitms(20);
}
// turn until sensor is on and not reached one full rotation already (timeout)
while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
McuULN2003_IncStep(((SF_t*)instance)->motor);
McuWait_Waitms(20);
numStepsMoved++;
}
if(OngoingMoveMutex_Lock()){
// move out of sensor
while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
McuULN2003_IncStep(((SF_t*)instance)->motor);
McuWait_Waitms(20);
}
// offset after init
if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
for(int i=0; i < offsetSteps; i++){
// turn until sensor is on and not reached one full rotation already (timeout)
while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
McuULN2003_IncStep(((SF_t*)instance)->motor);
McuWait_Waitms(20);
numStepsMoved++;
}
// offset after init
if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
for(int i=0; i < offsetSteps; i++){
McuULN2003_IncStep(((SF_t*)instance)->motor);
McuWait_Waitms(20);
}
}
McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
McuULN2003_PowerOff(((SF_t*)instance)->motor);
OngoingMoveMutex_Unlock();
}
McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
McuULN2003_PowerOff(((SF_t*)instance)->motor);
// success if less than one rotation
initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
@ -95,20 +114,25 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
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){
if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
steps--;
if(OngoingMoveMutex_Lock()){
// run move with acceleration & deceleration
McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
while(steps>0){
if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
steps--;
}
McuWait_Waitms(1);
}
McuWait_Waitms(1);
}
McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
// Power off disables all outputs of the ULN,
// 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);
// Power off disables all outputs of the ULN,
// 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);
OngoingMoveMutex_Unlock();
}
}
}
@ -117,20 +141,66 @@ bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
}
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) % SPLITFLAP_STEPS_ONE_ROUND;
// calc steps to move
int32_t stepsToReachFlap = 0;
// not already there
if(flapPos != currentPos){
if(flapPos < currentPos){
stepsToReachFlap = SPLITFLAP_STEPS_ONE_ROUND-currentPos+flapPos;
}else if(flapPos > currentPos){
stepsToReachFlap = flapPos - currentPos;
if(OngoingMoveMutex_Lock()){
// get flap pos from dictonary
int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
// get current motor pos
int32_t currentPos = SF_GetMotorPosition(instance) % SPLITFLAP_STEPS_ONE_ROUND;
// calc steps to move
int32_t stepsToReachFlap = 0;
// not already there
if(flapPos != currentPos){
if(flapPos < currentPos){
stepsToReachFlap = SPLITFLAP_STEPS_ONE_ROUND-currentPos+flapPos;
}else if(flapPos > currentPos){
stepsToReachFlap = flapPos - currentPos;
}
SF_MoveSteps(instance, stepsToReachFlap);
}
OngoingMoveMutex_Unlock();
}
}
typedef struct{
SF_Handle_t instance;
char* flap;
} MoveToFlap_Param_t;
/* pointer to MoveToFlap_Param_t */
static void SF_MoveToFlapWithParameter(void *pv){
MoveToFlap_Param_t param = *(MoveToFlap_Param_t*)pv;
SF_MoveToFlap(param.instance, param.flap);
}
MoveToFlap_Param_t taskParameters;
void SF_MoveToFlapAsync(SF_Handle_t instance, char* flap){
if(OngoingMoveMutex_Lock()){
BaseType_t res;
char taskName[50] = "SF Mv ";
McuUtility_strcatNum16s((uint8_t*)taskName, sizeof(taskName)+20, ((SF_t*)instance)->id);
taskParameters.instance = instance;
taskParameters.flap = flap;
res = xTaskCreate( SF_MoveToFlapWithParameter,
taskName,
500/sizeof(StackType_t),
&taskParameters,
tskIDLE_PRIORITY,
NULL);
if(res != pdPASS) // task creation not successful?
{
PRINTF("Creation of %s failed", taskName);
for(;;) {} // Endless loop
}
SF_MoveSteps(instance, stepsToReachFlap);
OngoingMoveMutex_Unlock();
}
}
@ -139,7 +209,27 @@ int32_t SF_GetMotorPosition(SF_Handle_t instance){
}
void SF_Deinit(SF_Handle_t instance){
vSemaphoreDelete(ongoingMoveMutex);
McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
initialized = false;
}
/* HELPERS */
static bool OngoingMoveMutex_Lock(void){
/* aquire mutex */
if(xSemaphoreTakeRecursive(ongoingMoveMutex, pdMS_TO_TICKS(20)) != pdTRUE){
return false; /* timeout? */
}
return true;
}
static void OngoingMoveMutex_Unlock(void){
/* give back mutex */
if(xSemaphoreGiveRecursive(ongoingMoveMutex) != pdTRUE){
/* issue */
PRINTF("Could not give back ongoing move mutex for splitflap");
for(;;);
}
}

3
ADIS_tinyK22_SplitFlap/source/splitflap.h
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@ -65,6 +65,9 @@ bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance);
/* move to specific flap */
void SF_MoveToFlap(SF_Handle_t instance, char* flap);
/* move to specific flap asynchronously (RTOS task) */
void SF_MoveToFlapAsync(SF_Handle_t instance, char* flap);
/* get current position of motor */
int32_t SF_GetMotorPosition(SF_Handle_t instance);

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