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102 lines
2.9 KiB
102 lines
2.9 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 "fsl_debug_console.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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/* 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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static McuLED_Handle_t LED_blue;
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static SF_Handle_t splitflap0;
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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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/* 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 sfConfig;
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sfConfig.magSensorConfig = magSensor0Config;
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sfConfig.motorConfig = motor0Config;
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/* initialize splitflap 0 */
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splitflap0 = SF_Init(&sfConfig, 0);
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}
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/* Application run */
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void App_Run(void){
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PRINTF("Initializing split flap motors.\n");
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bool successfulInit = SF_MoveMotorToZeroPosition(splitflap0, 20);
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PRINTF("Init of motors done. Success = %s\n\n", successfulInit ? "true" : "false");
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// if init failed => stop
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if(successfulInit == false){
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return;
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}
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// go through the following letters
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char* letters[] = {"J", "O", "N", "A", "S", "!"};
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PRINTF("Amount of letters %i\n", 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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PRINTF("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0));
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SF_MoveToFlap(splitflap0, letters[i]);
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PRINTF("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0));
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}
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}
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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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