ADIS_Projects/ADIS_tinyK22_SplitFlap/source/application.c

/*
 * application.c
 *
 *  Created on: 22.09.2022
 *      Author: jonas
 */

#include "platform.h"
#include "McuRTOS.h"
#include "application.h"
#include "McuWait.h"
#include "McuLED.h"
#include "McuGPIO.h"
#include "McuULN2003.h"
#include "splitflap_pins.h"
#include "splitflap.h"
#include "multi-splitflap.h"
#include "McuLog.h"

/* blue led pins */
#define LED_BLUE_GPIO GPIOC
#define LED_BLUE_PORT PORTC
#define LED_BLUE_PIN 2U

/* vars */
static McuLED_Handle_t LED_blue;
static SF_Handle_t splitflap0, splitflap1;
static uint32_t taskParameter1 = 5;
static TaskHandle_t appTaskHandle = NULL;

/* function declaration */
void configureSplitflaps(void);

/* Application initialization */
void App_Init(void){
	/* configure blue LED */
	McuLED_Config_t config;
	McuLED_GetDefaultConfig(&config);
	config.isLowActive = true;
	config.isOnInit = false;
	config.hw.gpio = LED_BLUE_GPIO;
	config.hw.port = LED_BLUE_PORT;
	config.hw.pin = LED_BLUE_PIN;
	LED_blue = McuLED_InitLed(&config);

	configureSplitflaps();
	MultiSplitFlap_Init(2);
	MultiSplitFlap_AddFlap(splitflap0);
	MultiSplitFlap_AddFlap(splitflap1);
}

/* App Task */
static void App_Task(void* pv){
	McuLog_info("Application Task starting");

	McuLog_info("Initializing split flap motors.");
	SF_MoveMotorToZeroPositionAsync(splitflap0);
	SF_MoveMotorToZeroPositionAsync(splitflap1);

	// timeout of 35sec
	bool initSuccess = false;
	for (int i = 0; i < 700; ++i) {
		vTaskDelay(pdMS_TO_TICKS(50));
		if(SF_IS_RDY_TO_MOVE((SF_t*)splitflap0) && SF_IS_RDY_TO_MOVE((SF_t*)splitflap1)){
			initSuccess = true;
			break; // end loop
		}
	}

	McuLog_info("Init of splitflaps done. success=%s\n\n", initSuccess ? "true" : "false");

#ifndef APP_DEBUG
	if(initSuccess == false)
	{
		// end here
		for(;;) {}
	}
#else
	// fake set to ready
	((SF_t*)splitflap0)->state = SF_STATE_READY;
	((SF_t*)splitflap1)->state = SF_STATE_READY;
#endif

	/* MULTI SPLIT FLAP TESTING */
	char sentence[] = "JONAS!";
	MultiSplitFlap_Display(sentence);

	// endless loop (no return! this would produce an bkpt0)
	for(;;) {}


	/* SINGLE SPLIT FLAP TESTING */
	// go through the following letters
	char* letters[] = {"J", "O", "N", "A", "S", "!"};
	//char* 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",
	//		"!", "?", ":"};
	McuLog_info("Amount of letters %i", sizeof(letters)/sizeof(letters[0]));

	while(1){
		for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
			McuWait_Waitms(1000);
			McuLog_info("Moving to letter '%s', position is %i", letters[i], (int)SF_GetMotorPosition(splitflap0));
			SF_MoveToFlap(splitflap0, letters[i]);
			McuLog_info("Position after move is is %i", (int)SF_GetMotorPosition(splitflap0));
		}
	}
}

/* Application run */
void App_Run(void){
	BaseType_t res;

	res = xTaskCreate(		App_Task,
							"appTask",
							900/sizeof(StackType_t),
							&taskParameter1,
							tskIDLE_PRIORITY,
							&appTaskHandle);

	if(res != pdPASS) // task creation not successful?
	{
		McuLog_info("Task creation of app task failed");
		for(;;) {} // Endless loop
	}

    vTaskStartScheduler();
}


/* Application de-initialization */
void App_Deinit(void){

}


void configureSplitflaps(void){
	/* SPLITFLAP 0 */
	/* configure the motor */
	McuULN2003_Config_t motor0Config;
	McuULN2003_GetDefaultConfig(&motor0Config);
	motor0Config.hw[0].gpio = STEPPER_MOTOR0_IN1_GPIO;
	motor0Config.hw[0].port = STEPPER_MOTOR0_IN1_PORT;
	motor0Config.hw[0].pin 	= STEPPER_MOTOR0_IN1_PIN;
	motor0Config.hw[1].gpio = STEPPER_MOTOR0_IN2_GPIO;
	motor0Config.hw[1].port = STEPPER_MOTOR0_IN2_PORT;
	motor0Config.hw[1].pin 	= STEPPER_MOTOR0_IN2_PIN;
	motor0Config.hw[2].gpio = STEPPER_MOTOR0_IN3_GPIO;
	motor0Config.hw[2].port = STEPPER_MOTOR0_IN3_PORT;
	motor0Config.hw[2].pin	= STEPPER_MOTOR0_IN3_PIN;
	motor0Config.hw[3].gpio = STEPPER_MOTOR0_IN4_GPIO;
	motor0Config.hw[3].port = STEPPER_MOTOR0_IN4_PORT;
	motor0Config.hw[3].pin 	= STEPPER_MOTOR0_IN4_PIN;
	motor0Config.inverted 	= true;

	/* configure magnetic sensor for motor 0 */
	McuGPIO_Config_t magSensor0Config;
	McuGPIO_GetDefaultConfig(&magSensor0Config);
	magSensor0Config.hw.gpio 	= MAG_MOTOR0_GPIO;
	magSensor0Config.hw.port 	= MAG_MOTOR0_PORT;
	magSensor0Config.hw.pin 	= MAG_MOTOR0_PIN;
	magSensor0Config.isInput = true;
	magSensor0Config.hw.pull = McuGPIO_PULL_UP;

	/* create config instance for splitflap 0 */
	SF_Config_t sf0Config;
	sf0Config.setupIdentifier = 0;
	sf0Config.hardwareIdentifier = 34;
	sf0Config.magSensorConfig = magSensor0Config;
	sf0Config.motorConfig = motor0Config;

	/* instanciate splitflap 0 */
	splitflap0 = SF_Init(&sf0Config);

    /* SPLITFLAP 1 */
    /* configure the motor */
    McuULN2003_Config_t motor1Config;
    McuULN2003_GetDefaultConfig(&motor1Config);
    motor1Config.hw[0].gpio = STEPPER_MOTOR1_IN1_GPIO;
    motor1Config.hw[0].port = STEPPER_MOTOR1_IN1_PORT;
    motor1Config.hw[0].pin  = STEPPER_MOTOR1_IN1_PIN;
    motor1Config.hw[1].gpio = STEPPER_MOTOR1_IN2_GPIO;
    motor1Config.hw[1].port = STEPPER_MOTOR1_IN2_PORT;
    motor1Config.hw[1].pin  = STEPPER_MOTOR1_IN2_PIN;
    motor1Config.hw[2].gpio = STEPPER_MOTOR1_IN3_GPIO;
    motor1Config.hw[2].port = STEPPER_MOTOR1_IN3_PORT;
    motor1Config.hw[2].pin  = STEPPER_MOTOR1_IN3_PIN;
    motor1Config.hw[3].gpio = STEPPER_MOTOR1_IN4_GPIO;
    motor1Config.hw[3].port = STEPPER_MOTOR1_IN4_PORT;
    motor1Config.hw[3].pin  = STEPPER_MOTOR1_IN4_PIN;
    motor1Config.inverted   = true;

    /* configure magnetic sensor for motor 0 */
    McuGPIO_Config_t magSensor1Config;
    McuGPIO_GetDefaultConfig(&magSensor1Config);
    magSensor1Config.hw.gpio     = MAG_MOTOR1_GPIO;
    magSensor1Config.hw.port     = MAG_MOTOR1_PORT;
    magSensor1Config.hw.pin     = MAG_MOTOR1_PIN;
    magSensor1Config.isInput = true;
    magSensor1Config.hw.pull = McuGPIO_PULL_UP;

    /* create config instance for splitflap 0 */
    SF_Config_t sf1Config;
    sf1Config.setupIdentifier = 1;
	sf1Config.hardwareIdentifier = 35;
    sf1Config.magSensorConfig = magSensor1Config;
    sf1Config.motorConfig = motor1Config;

    /* instanciate splitflap 1 */
    splitflap1 = SF_Init(&sf1Config);
}