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164 lines
6.9 KiB
164 lines
6.9 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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static 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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float stepsPerSegment = SPLITFLAP_STEPS_PER_SEGMENT; // do division once
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addItem(splitFlapDict, SF_SPACE, (int32_t*)0);
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addItem(splitFlapDict, SF_A, (int32_t*)(int32_t)(stepsPerSegment * 1.0 + 0.5)); // +0.5 so that the rounding is
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addItem(splitFlapDict, SF_B, (int32_t*)(int32_t)(stepsPerSegment * 2.0 + 0.5)); // done correctly
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addItem(splitFlapDict, SF_C, (int32_t*)(int32_t)(stepsPerSegment * 3.0 + 0.5));
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addItem(splitFlapDict, SF_D, (int32_t*)(int32_t)(stepsPerSegment * 4.0 + 0.5));
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addItem(splitFlapDict, SF_E, (int32_t*)(int32_t)(stepsPerSegment * 5.0 + 0.5));
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addItem(splitFlapDict, SF_F, (int32_t*)(int32_t)(stepsPerSegment * 6.0 + 0.5));
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addItem(splitFlapDict, SF_G, (int32_t*)(int32_t)(stepsPerSegment * 7.0 + 0.5));
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addItem(splitFlapDict, SF_H, (int32_t*)(int32_t)(stepsPerSegment * 8.0 + 0.5));
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addItem(splitFlapDict, SF_I, (int32_t*)(int32_t)(stepsPerSegment * 9.0 + 0.5));
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addItem(splitFlapDict, SF_J, (int32_t*)(int32_t)(stepsPerSegment * 10.0 + 0.5));
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addItem(splitFlapDict, SF_K, (int32_t*)(int32_t)(stepsPerSegment * 11.0 + 0.5));
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addItem(splitFlapDict, SF_L, (int32_t*)(int32_t)(stepsPerSegment * 12.0 + 0.5));
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addItem(splitFlapDict, SF_M, (int32_t*)(int32_t)(stepsPerSegment * 13.0 + 0.5));
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addItem(splitFlapDict, SF_N, (int32_t*)(int32_t)(stepsPerSegment * 14.0 + 0.5));
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addItem(splitFlapDict, SF_O, (int32_t*)(int32_t)(stepsPerSegment * 15.0 + 0.5));
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addItem(splitFlapDict, SF_P, (int32_t*)(int32_t)(stepsPerSegment * 16.0 + 0.5));
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addItem(splitFlapDict, SF_Q, (int32_t*)(int32_t)(stepsPerSegment * 17.0 + 0.5));
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addItem(splitFlapDict, SF_R, (int32_t*)(int32_t)(stepsPerSegment * 18.0 + 0.5));
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addItem(splitFlapDict, SF_S, (int32_t*)(int32_t)(stepsPerSegment * 19.0 + 0.5));
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addItem(splitFlapDict, SF_T, (int32_t*)(int32_t)(stepsPerSegment * 20.0 + 0.5));
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addItem(splitFlapDict, SF_U, (int32_t*)(int32_t)(stepsPerSegment * 21.0 + 0.5));
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addItem(splitFlapDict, SF_V, (int32_t*)(int32_t)(stepsPerSegment * 22.0 + 0.5));
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addItem(splitFlapDict, SF_W, (int32_t*)(int32_t)(stepsPerSegment * 23.0 + 0.5));
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addItem(splitFlapDict, SF_X, (int32_t*)(int32_t)(stepsPerSegment * 24.0 + 0.5));
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addItem(splitFlapDict, SF_Y, (int32_t*)(int32_t)(stepsPerSegment * 25.0 + 0.5));
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addItem(splitFlapDict, SF_Z, (int32_t*)(int32_t)(stepsPerSegment * 26.0 + 0.5));
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addItem(splitFlapDict, SF_0, (int32_t*)(int32_t)(stepsPerSegment * 27.0 + 0.5));
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addItem(splitFlapDict, SF_1, (int32_t*)(int32_t)(stepsPerSegment * 28.0 + 0.5));
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addItem(splitFlapDict, SF_2, (int32_t*)(int32_t)(stepsPerSegment * 29.0 + 0.5));
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addItem(splitFlapDict, SF_3, (int32_t*)(int32_t)(stepsPerSegment * 30.0 + 0.5));
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addItem(splitFlapDict, SF_4, (int32_t*)(int32_t)(stepsPerSegment * 31.0 + 0.5));
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addItem(splitFlapDict, SF_5, (int32_t*)(int32_t)(stepsPerSegment * 32.0 + 0.5));
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addItem(splitFlapDict, SF_6, (int32_t*)(int32_t)(stepsPerSegment * 33.0 + 0.5));
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addItem(splitFlapDict, SF_7, (int32_t*)(int32_t)(stepsPerSegment * 34.0 + 0.5));
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addItem(splitFlapDict, SF_8, (int32_t*)(int32_t)(stepsPerSegment * 35.0 + 0.5));
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addItem(splitFlapDict, SF_9, (int32_t*)(int32_t)(stepsPerSegment * 36.0 + 0.5));
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addItem(splitFlapDict, SF_EXCLAMATION, (int32_t*)(int32_t)(stepsPerSegment * 37.0 + 0.5));
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addItem(splitFlapDict, SF_QUESTION, (int32_t*)(int32_t)(stepsPerSegment * 38.0 + 0.5));
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addItem(splitFlapDict, SF_COLON, (int32_t*)(int32_t)(stepsPerSegment * 39.0 + 0.5));
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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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return splitflap;
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}
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bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments){
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int numStepsMoved = 0;
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// move out of sensor
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while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == true){
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McuULN2003_IncStep(((SF_t*)instance)->motor);
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McuWait_Waitms(20);
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}
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// turn until sensor is on
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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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// one more segment if not already one round
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if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
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// +0.5 so that the rounding is done correctly
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int8_t offsetSteps = (int8_t)((float)offsetSegments*SPLITFLAP_STEPS_PER_SEGMENT + 0.5);
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for(int i=0; i < offsetSteps; i++){
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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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}
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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)){
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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_IsLow(((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 = SF_GetMotorPosition(instance) % SPLITFLAP_STEPS_ONE_ROUND;
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// calc steps to move
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int32_t stepsToReachFlap = 0;
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// not already there
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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(instance, stepsToReachFlap);
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}
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}
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int32_t SF_GetMotorPosition(SF_Handle_t instance){
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return McuULN2003_GetPos(((SF_t*)instance)->motor);
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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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