ADIS_Projects/ADIS_tinyK22_SplitFlap/source/splitflap.c

/*
#include <splitflap_flaps.h>
 * splitflap.c
 *
 *  Created on: 29.09.2022
 *      Author: jonas
 */

#include "splitflap.h"
#include "fsl_debug_console.h"
#include "McuULN2003.h"
#include <stdbool.h>
#include "McuWait.h"
#include "lib/dict.h"

/* dynamic dictionary for the letters of the dictionary */
static dict_t **splitFlapDict;
/* all letters of the splitflap in the correct order */
static char* SF_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",
								"!", "?", ":"};

void SF_InitConfig(void){
	splitFlapDict = dictAlloc();
	((dict_t*)splitFlapDict)->key=NULL;
	((dict_t*)splitFlapDict)->value=NULL;
	((dict_t*)splitFlapDict)->next=NULL;
	float stepsPerSegment = SPLITFLAP_STEPS_PER_SEGMENT; // do division once

	// add all splitflap flaps to the dictionary, calculating the position automatically
	// print out for debugging
	PRINTF("Splitflap positioning data is automatically calculated:\n");
	for(int i = 0; i < SPLITFLAP_AMOUNT_OF_SEGMENTS; i ++){
		// + 0.5 so the rounding is done correctly
		int32_t position = (stepsPerSegment * (float)i);
		addItem(splitFlapDict, SF_Letters[i], (int32_t*)position);
		PRINTF("Letter '%s': Position %i\n", SF_Letters[i], (int)position);
	}
}

void SF_DeInitConfig(void){
	dictDealoc(splitFlapDict);
}

SF_Handle_t SF_Init(SF_Config_t* instance, int id){
	SF_t* splitflap;

#if SPLITFLAP_CONFIG_USE_FREERTOS_HEAP
	splitflap = (SF_t*)pvPortMalloc(sizeof(SF_t)); /* get a new device descriptor */
#else
	splitflap = (SF_t*)malloc(sizeof(SF_t)); /* get a new device descriptor */
#endif

	splitflap->magSensor = McuGPIO_InitGPIO(&instance->magSensorConfig);
	splitflap->motor = McuULN2003_InitMotor(&instance->motorConfig);
	splitflap->id = id;

	return splitflap;
}

bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments){
	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
	while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
		McuULN2003_IncStep(((SF_t*)instance)->motor);
		McuWait_Waitms(20);
		numStepsMoved++;
	}

	// one more segment if not already one round
	if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
		// +0.5 so that the rounding is done correctly
		int8_t offsetSteps = offsetSegments * SPLITFLAP_STEPS_ONE_ROUND/SPLITFLAP_AMOUNT_OF_SEGMENTS; // (int8_t)((float)offsetSegments*SPLITFLAP_STEPS_PER_SEGMENT + 0.5);
		for(int i=0; i < offsetSteps; i++){
			McuULN2003_IncStep(((SF_t*)instance)->motor);
			McuWait_Waitms(20);
			numStepsMoved++;
		}
	}
	McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
	McuULN2003_PowerOff(((SF_t*)instance)->motor);
	// success if less than one rotation
	return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
}

void SF_MoveSteps(SF_Handle_t instance, int32_t steps){
	// 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);
	}
	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);
}

bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance){
	return McuGPIO_IsLow(((SF_t*)instance)->magSensor);
}

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;
		}
		SF_MoveSteps(instance, stepsToReachFlap);
	}
}

int32_t SF_GetMotorPosition(SF_Handle_t instance){
	return McuULN2003_GetPos(((SF_t*)instance)->motor);
}

void SF_Deinit(SF_Handle_t instance){
	McuULN2003_DeinitMotor(((SF_t*)instance)->motor);
	McuGPIO_DeinitGPIO(((SF_t*)instance)->magSensor);
}