worked in multi splitflap

issue persisting: splitflap multi instance does not work

ADIS_tinyK22_SplitFlap/source/application.c

@@ -52,7 +52,7 @@ void App_Init(void){
 /* App Task */
 static void App_Task(void* pv){
 	PRINTF("Initializing split flap motors.\n");
-	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 12);
+	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
 	}

ADIS_tinyK22_SplitFlap/source/multi-splitflap.c

@@ -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]);
+		SF_MoveToFlapAsync(sfHandle, (char*)(sentence[num]));
-		PRINTF("Moved multisplitflap: Flap nr. %i to letter '%c'.\n", num+1, (*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]));

ADIS_tinyK22_SplitFlap/source/multi-splitflap.h

@@ -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);

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -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();
@@ -58,12 +67,19 @@ 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;
 
+	if(OngoingMoveMutex_Lock()){
 		// move out of sensor
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
@@ -87,6 +103,9 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 		McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
 		McuULN2003_PowerOff(((SF_t*)instance)->motor);
 
+		OngoingMoveMutex_Unlock();
+	}
+
 	// success if less than one rotation
 	initialized = (numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND);
 
@@ -95,6 +114,8 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 
 void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 	if(initialized){
+
+		if(OngoingMoveMutex_Lock()){
 			// run move with acceleration & deceleration
 			McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 			while(steps>0){
@@ -109,6 +130,9 @@ 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);
+
+			OngoingMoveMutex_Unlock();
+		}
 	}
 }
 
@@ -117,6 +141,8 @@ bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
 }
 
 void SF_MoveToFlap(SF_Handle_t instance, char* flap){
+	if(OngoingMoveMutex_Lock()){
+
 		// get flap pos from dictonary
 		int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
 		// get current motor pos
@@ -132,6 +158,50 @@ void SF_MoveToFlap(SF_Handle_t instance, char* flap){
 			}
 			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
+		}
+
+		OngoingMoveMutex_Unlock();
+	}
 }
 
 int32_t SF_GetMotorPosition(SF_Handle_t instance){
@@ -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(;;);
+	}
+}

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -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);