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143 lines
4.1 KiB
143 lines
4.1 KiB
/*
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#include <splitflap_flaps.h>
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* splitflap.c
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*
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* Created on: 29.09.2022
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* Author: jonas
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*/
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#include "splitflap.h"
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#include "McuULN2003.h"
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#include <stdbool.h>
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#include "McuWait.h"
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#include "lib/dict.h"
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#include "splitflap_flaps.h"
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dict_t **splitFlapDict;
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void SF_InitConfig(void){
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splitFlapDict = dictAlloc();
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((dict_t*)splitFlapDict)->key=NULL;
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((dict_t*)splitFlapDict)->value=NULL;
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((dict_t*)splitFlapDict)->next=NULL;
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addItem(splitFlapDict, SF_A, 0);
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addItem(splitFlapDict, SF_B, 0);
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addItem(splitFlapDict, SF_C, 0);
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addItem(splitFlapDict, SF_D, 0);
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addItem(splitFlapDict, SF_E, 0);
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addItem(splitFlapDict, SF_F, 0);
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addItem(splitFlapDict, SF_G, 0);
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addItem(splitFlapDict, SF_H, 0);
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addItem(splitFlapDict, SF_J, 0);
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addItem(splitFlapDict, SF_K, 0);
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addItem(splitFlapDict, SF_L, 0);
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addItem(splitFlapDict, SF_M, 0);
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addItem(splitFlapDict, SF_N, 0);
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addItem(splitFlapDict, SF_O, 0);
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addItem(splitFlapDict, SF_P, 0);
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addItem(splitFlapDict, SF_Q, 0);
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addItem(splitFlapDict, SF_R, 0);
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addItem(splitFlapDict, SF_S, 0);
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addItem(splitFlapDict, SF_T, 0);
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addItem(splitFlapDict, SF_U, 0);
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addItem(splitFlapDict, SF_V, 0);
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addItem(splitFlapDict, SF_W, 0);
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addItem(splitFlapDict, SF_X, 0);
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addItem(splitFlapDict, SF_Y, 0);
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addItem(splitFlapDict, SF_Z, 0);
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addItem(splitFlapDict, SF_0, 0);
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addItem(splitFlapDict, SF_1, 0);
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addItem(splitFlapDict, SF_2, 0);
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addItem(splitFlapDict, SF_3, 0);
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addItem(splitFlapDict, SF_4, 0);
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addItem(splitFlapDict, SF_5, 0);
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addItem(splitFlapDict, SF_6, 0);
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addItem(splitFlapDict, SF_7, 0);
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addItem(splitFlapDict, SF_8, 0);
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addItem(splitFlapDict, SF_9, 0);
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addItem(splitFlapDict, SF_EXCLAMATION, 0);
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addItem(splitFlapDict, SF_QUESTION, 0);
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addItem(splitFlapDict, SF_COLON, 0);
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addItem(splitFlapDict, SF_SPACE, 0);
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}
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void SF_DeInitConfig(void){
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dictDealoc(splitFlapDict);
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}
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SF_Handle_t SF_Init(SF_Config_t* instance, int id){
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SF_t* splitflap;
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#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
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splitflap = (SF_t*)pvPortMalloc(sizeof(SF_t)); /* get a new device descriptor */
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#else
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splitflap = (SF_t*)malloc(sizeof(SF_t)); /* get a new device descriptor */
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#endif
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splitflap->magSensor = McuGPIO_InitGPIO(&instance->magSensorConfig);
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splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
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splitflap->id = id;
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/* TODO IMPLEMENT ACTUAL INITIALIZATION of Motor */
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return splitflap;
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}
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bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
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int numStepsMoved = 0;
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while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
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McuULN2003_IncStep(((SF_t*)instance)->motor);
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McuWait_Waitms(20);
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numStepsMoved++;
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}
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McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
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McuULN2003_PowerOff(((SF_t*)instance)->motor);
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// success if less than one rotation
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return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
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}
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void SF_MoveSteps(SF_Handle_t instance, int32_t steps){
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// run move with acceleration & deceleration
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McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
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while(steps>0){
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if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true) == true){
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steps--;
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}
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McuWait_Waitms(1);
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}
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McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
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// Power off disables all outputs of the ULN,
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// required since it is possible that one is still active, which would result in the motor getting hot
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// no re-init is required
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McuULN2003_PowerOff(((SF_t*)instance)->motor);
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}
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bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
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return McuGPIO_GetValue(((SF_t*)instance)->magSensor);
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}
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void SF_MoveToFlap(SF_Handle_t instance, char* flap){
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// get flap pos from dictonary
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int32_t flapPos = (int32_t)getItem(*splitFlapDict, flap);
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// get current motor pos
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int32_t currentPos = McuULN2003_GetPos(((SF_t*)instance)->motor);
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// calc steps to move
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int32_t stepsToReachFlap = 0;
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if(flapPos == currentPos){
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if(flapPos < currentPos){
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stepsToReachFlap = SPLITFLAP_STEPS_ONE_ROUND-currentPos+flapPos;
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}else if(flapPos > currentPos){
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stepsToReachFlap = flapPos - currentPos;
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}
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SF_MoveSteps(((SF_t*)instance)->motor, stepsToReachFlap);
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}
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}
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void SF_Deinit(SF_Handle_t instance){
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McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
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McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
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}
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