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228 lines
6.4 KiB
228 lines
6.4 KiB
/*
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* application.c
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*
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* Created on: 22.09.2022
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* Author: jonas
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*/
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#include "platform.h"
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#include "McuRTOS.h"
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#include "application.h"
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#include "McuWait.h"
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#include "McuLED.h"
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#include "McuGPIO.h"
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#include "McuULN2003.h"
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#include "splitflap_pins.h"
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#include "splitflap.h"
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#include "multi-splitflap.h"
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#include "McuLog.h"
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#include "shell.h"
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/* blue led pins */
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#define LED_BLUE_GPIO GPIOC
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#define LED_BLUE_PORT PORTC
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#define LED_BLUE_PIN 2U
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/* vars */
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static McuLED_Handle_t LED_blue;
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static SF_Handle_t splitflap0, splitflap1;
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static uint32_t taskParameter1 = 5;
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static TaskHandle_t appTaskHandle = NULL;
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/* function declaration */
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void configureSplitflaps(void);
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/* Application initialization */
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void App_Init(void){
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/* configure blue LED */
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McuLED_Config_t config;
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McuLED_GetDefaultConfig(&config);
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config.isLowActive = true;
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config.isOnInit = false;
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config.hw.gpio = LED_BLUE_GPIO;
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config.hw.port = LED_BLUE_PORT;
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config.hw.pin = LED_BLUE_PIN;
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LED_blue = McuLED_InitLed(&config);
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configureSplitflaps();
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MultiSplitFlap_Init(2);
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MultiSplitFlap_AddFlap(splitflap0);
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MultiSplitFlap_AddFlap(splitflap1);
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}
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/* App Task */
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static void App_Task(void* pv){
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McuLog_info("Application Task starting");
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bool initSuccess = MultiSplitFlap_MoveAllToZeroPosition();
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#ifndef APP_DEBUG
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if(initSuccess == false)
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{
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// end here
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for(;;) {}
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}
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#else
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// fake set to ready
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((SF_t*)splitflap0)->state = SF_STATE_READY;
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((SF_t*)splitflap1)->state = SF_STATE_READY;
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#endif
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QueueHandle_t cmdQueueHandle = SHELL_GetShellCmdQueueHandle();;
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Shell_cmd_s cmd;
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while(1){
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// if queue recieved something
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if(xQueueReceive(cmdQueueHandle, &cmd, pdMS_TO_TICKS(20)) == pdPASS){
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switch (cmd.shellCmd) {
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case Shell_Identify_SF:
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case Shell_Powerof_rpi:
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default:
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McuLog_error("Not implemented command recieved in App_Task. Command Id was <%i>", (int)cmd.shellCmd);
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break;
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}
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}
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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// wait before moving
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vTaskDelay(pdMS_TO_TICKS(2000));
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/* MULTI SPLIT FLAP TESTING */
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char sentences[][2] = {"HI", "IT", "IS", "ME", "!!" }; // "COLLIN!";
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while(1){
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for(int i = 0; i < sizeof(sentences)/sizeof(sentences[0]); i++){
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MultiSplitFlap_Display(sentences[i]);
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vTaskDelay(pdMS_TO_TICKS(2000));
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}
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}
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// endless loop (no return! this would produce an bkpt0)
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for(;;) {}
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/* SINGLE SPLIT FLAP TESTING */
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// go through the following letters
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char* letters[] = {"J", "O", "N", "A", "S", "!"};
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//char* letters[] = { " ", "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K",
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// "L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z",
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// "0", "1", "2", "3", "4", "5", "6", "7", "8", "9",
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// "!", "?", ":"};
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McuLog_info("Amount of letters %i", sizeof(letters)/sizeof(letters[0]));
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while(1){
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for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
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McuWait_Waitms(1000);
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McuLog_info("Moving to letter '%s', position is %i", letters[i], (int)SF_GetMotorPosition(splitflap0));
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SF_MoveToFlap(splitflap0, letters[i]);
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McuLog_info("Position after move is is %i", (int)SF_GetMotorPosition(splitflap0));
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}
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}
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}
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/* Application run */
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void App_Run(void){
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BaseType_t res;
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res = xTaskCreate( App_Task,
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"appTask",
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900/sizeof(StackType_t),
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&taskParameter1,
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tskIDLE_PRIORITY,
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&appTaskHandle);
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if(res != pdPASS) // task creation not successful?
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{
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McuLog_info("Task creation of app task failed");
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for(;;) {} // Endless loop
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}
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vTaskStartScheduler();
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}
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/* Application de-initialization */
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void App_Deinit(void){
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}
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void configureSplitflaps(void){
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/* SPLITFLAP 0 */
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/* configure the motor */
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McuULN2003_Config_t motor0Config;
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McuULN2003_GetDefaultConfig(&motor0Config);
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motor0Config.hw[0].gpio = STEPPER_MOTOR0_IN1_GPIO;
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motor0Config.hw[0].port = STEPPER_MOTOR0_IN1_PORT;
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motor0Config.hw[0].pin = STEPPER_MOTOR0_IN1_PIN;
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motor0Config.hw[1].gpio = STEPPER_MOTOR0_IN2_GPIO;
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motor0Config.hw[1].port = STEPPER_MOTOR0_IN2_PORT;
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motor0Config.hw[1].pin = STEPPER_MOTOR0_IN2_PIN;
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motor0Config.hw[2].gpio = STEPPER_MOTOR0_IN3_GPIO;
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motor0Config.hw[2].port = STEPPER_MOTOR0_IN3_PORT;
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motor0Config.hw[2].pin = STEPPER_MOTOR0_IN3_PIN;
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motor0Config.hw[3].gpio = STEPPER_MOTOR0_IN4_GPIO;
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motor0Config.hw[3].port = STEPPER_MOTOR0_IN4_PORT;
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motor0Config.hw[3].pin = STEPPER_MOTOR0_IN4_PIN;
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motor0Config.inverted = true;
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/* configure magnetic sensor for motor 0 */
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McuGPIO_Config_t magSensor0Config;
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McuGPIO_GetDefaultConfig(&magSensor0Config);
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magSensor0Config.hw.gpio = MAG_MOTOR0_GPIO;
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magSensor0Config.hw.port = MAG_MOTOR0_PORT;
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magSensor0Config.hw.pin = MAG_MOTOR0_PIN;
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magSensor0Config.isInput = true;
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magSensor0Config.hw.pull = McuGPIO_PULL_UP;
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/* create config instance for splitflap 0 */
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SF_Config_t sf0Config;
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sf0Config.setupIdentifier = 0;
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sf0Config.hardwareIdentifier = 4;
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sf0Config.magSensorConfig = magSensor0Config;
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sf0Config.motorConfig = motor0Config;
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/* instanciate splitflap 0 */
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splitflap0 = SF_Init(&sf0Config);
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/* SPLITFLAP 1 */
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/* configure the motor */
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McuULN2003_Config_t motor1Config;
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McuULN2003_GetDefaultConfig(&motor1Config);
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motor1Config.hw[0].gpio = STEPPER_MOTOR1_IN1_GPIO;
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motor1Config.hw[0].port = STEPPER_MOTOR1_IN1_PORT;
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motor1Config.hw[0].pin = STEPPER_MOTOR1_IN1_PIN;
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motor1Config.hw[1].gpio = STEPPER_MOTOR1_IN2_GPIO;
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motor1Config.hw[1].port = STEPPER_MOTOR1_IN2_PORT;
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motor1Config.hw[1].pin = STEPPER_MOTOR1_IN2_PIN;
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motor1Config.hw[2].gpio = STEPPER_MOTOR1_IN3_GPIO;
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motor1Config.hw[2].port = STEPPER_MOTOR1_IN3_PORT;
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motor1Config.hw[2].pin = STEPPER_MOTOR1_IN3_PIN;
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motor1Config.hw[3].gpio = STEPPER_MOTOR1_IN4_GPIO;
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motor1Config.hw[3].port = STEPPER_MOTOR1_IN4_PORT;
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motor1Config.hw[3].pin = STEPPER_MOTOR1_IN4_PIN;
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motor1Config.inverted = true;
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/* configure magnetic sensor for motor 0 */
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McuGPIO_Config_t magSensor1Config;
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McuGPIO_GetDefaultConfig(&magSensor1Config);
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magSensor1Config.hw.gpio = MAG_MOTOR1_GPIO;
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magSensor1Config.hw.port = MAG_MOTOR1_PORT;
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magSensor1Config.hw.pin = MAG_MOTOR1_PIN;
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magSensor1Config.isInput = true;
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magSensor1Config.hw.pull = McuGPIO_PULL_UP;
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/* create config instance for splitflap 0 */
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SF_Config_t sf1Config;
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sf1Config.setupIdentifier = 1;
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sf1Config.hardwareIdentifier = 22;
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sf1Config.magSensorConfig = magSensor1Config;
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sf1Config.motorConfig = motor1Config;
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/* instanciate splitflap 1 */
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splitflap1 = SF_Init(&sf1Config);
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}
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