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66 lines
1.6 KiB
66 lines
1.6 KiB
/*
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* splitflap.h
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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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#ifndef SPLITFLAP_H_
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#define SPLITFLAP_H_
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#include <stdbool.h>
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#include "McuULN2003.h"
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#include "McuGPIO.h"
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/****** SETTINGS ******/
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#define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 0
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#define SPLITFLAP_STEPS_ONE_ROUND 200
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/****** TYPES ******/
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/* define splitflap handle type. SF_Handle_t points to SF_t */
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typedef void* SF_Handle_t;
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typedef struct {
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McuULN2003_Handle_t motor;
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McuGPIO_Handle_t magSensor;
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int id;
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} SF_t;
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typedef struct {
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McuULN2003_Config_t motorConfig;
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McuGPIO_Config_t magSensorConfig;
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} SF_Config_t;
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/****** FUNCTIONS ******/
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/* initializes dictonary with splitflap flaps position */
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void SF_InitConfig(void);
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/* free splitflap flaps dictionary */
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void SF_DeInitConfig(void);
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/* split flap initialization
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* only pass configured types, they do not need to be initialized.
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* Initialization will be made inside the SF_Init method */
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SF_Handle_t SF_Init(SF_Config_t* instance, int id);
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/* Moves split flap slowly to zero position.
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* returns true if the move was successful, false if not
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* (depending on if the sensor was hit before one round) */
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bool SF_MoveMotorToZeroPosition(SF_Handle_t instance);
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/* split flap moves number of steps maybe uint16_t? */
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void SF_MoveSteps(SF_Handle_t instance, int32_t steps);
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/* get mag sensor state. returns true if sensor is at zero position, otherwise false */
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bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance);
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/* move to specific flap */
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void SF_MoveToFlap(SF_Handle_t instance, char* flap);
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/* split flap deinitialization */
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void SF_Deinit(SF_Handle_t instance);
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#endif /* SPLITFLAP_H_ */
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