add non-blocking motor controller

This commit is contained in:
jlukanc 2021-01-15 22:11:53 -05:00
parent 50ae0ae5e0
commit fbb77baa3b
3 changed files with 99 additions and 0 deletions

View file

@ -36,10 +36,12 @@ set(SDK_SOURCE_FILES
# Base SDK
"${NRF5_SDK_PATH}/components/boards/boards.c"
"${NRF5_SDK_PATH}/integration/nrfx/legacy/nrf_drv_clock.c"
"${NRF5_SDK_PATH}/integration/nrfx/legacy/nrf_drv_clock.h"
"${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_clock.c"
"${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_gpiote.c"
"${NRF5_SDK_PATH}/modules/nrfx/soc/nrfx_atomic.c"
"${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_saadc.c"
"${NRF5_SDK_PATH}/components/libraries/timer/app_timer.h"
# FreeRTOS
${NRF5_SDK_PATH}/external/freertos/source/croutine.c

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@ -0,0 +1,40 @@
#include "MotorController.h"
#include <hal/nrf_gpio.h>
#include "systemtask/SystemTask.h"
#include "app_timer.h"
#include "nrf_drv_clock.h"
APP_TIMER_DEF(vibTimer);
using namespace Pinetime::Controllers;
static void lfclk_request(void) //get the low freq. clock
{
nrf_drv_clock_init();
nrf_drv_clock_lfclk_request(NULL);
}
void vibrateTimer(void * p_context)
{
nrf_gpio_pin_set(pinMotor);
}
static void create_timers()
{
//create timer, single shot, re-armable
app_timer_create(&vibTimer, APP_TIMER_MODE_SINGLE_SHOT, vibrateTimer);
}
void MotorController::Init() {
nrf_gpio_cfg_output(pinMotor); // set the motor pin as an output
nrf_gpio_pin_set(pinMotor);
lfclk_request(); //get lfclock ready
app_timer_init(); //start app timers to make calls
create_timers();
}
void MotorController::SetDuration(uint8_t motorDuration) {
nrf_gpio_pin_clear(pinMotor);
//start timer for motorDuration miliseconds
app_timer_start(vibTimer, APP_TIMER_TICKS(motorDuration), NULL); //timers trigger at end of duration?
}

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@ -0,0 +1,57 @@
#pragma once
#include <cstdint>
namespace Pinetime {
namespace Controllers {
static constexpr uint8_t pinMotor = 16;
class MotorController {
public:
void Init();
void SetDuration(uint8_t motorDuration);
#ifndef NRF_CLOCK_ENABLED
#define NRF_CLOCK_ENABLED 1
#endif
#ifndef CLOCK_CONFIG_LF_SRC
#define CLOCK_CONFIG_LF_SRC 1
#endif
#ifndef CLOCK_CONFIG_IRQ_PRIORITY
#define CLOCK_CONFIG_IRQ_PRIORITY 6
#endif
#define APP_TIMER_ENABLED 1
#define APP_TIMER_CONFIG_RTC_FREQUENCY 15 //2048hz
#define APP_TIMER_CONFIG_IRQ_PRIORITY 6
#ifndef APP_TIMER_CONFIG_OP_QUEUE_SIZE
#define APP_TIMER_CONFIG_OP_QUEUE_SIZE 10
#endif
#ifndef APP_TIMER_CONFIG_USE_SCHEDULER
#define APP_TIMER_CONFIG_USE_SCHEDULER 0
#endif
#ifndef APP_TIMER_KEEPS_RTC_ACTIVE
#define APP_TIMER_KEEPS_RTC_ACTIVE 0
#endif
#ifndef APP_TIMER_SAFE_WINDOW_MS
#define APP_TIMER_SAFE_WINDOW_MS 300000
#endif
#ifndef APP_TIMER_WITH_PROFILER
#define APP_TIMER_WITH_PROFILER 0
#endif
#ifndef APP_TIMER_CONFIG_SWI_NUMBER
#define APP_TIMER_CONFIG_SWI_NUMBER 0
#endif
private:
};
}
}