Make configuration of SPI devices target dependent

[pes-rpp/rpp-lib.git] / rpp / src / rpp / hbr.c

diff --git a/rpp/src/rpp/hbr.c b/rpp/src/rpp/hbr.c
index d55cd9fba7ed0610fb024d64ada410d5bcab4422..d628092b7f2daa0252cec53985dfeac2b3598d11 100644 (file)
--- a/rpp/src/rpp/hbr.c
+++ b/rpp/src/rpp/hbr.c
@@ -1,4 +1,4 @@
-/* Copyright (C) 2013, 2014 Czech Technical University in Prague
+/* Copyright (C) 2013, 2014, 2015 Czech Technical University in Prague
  *
  * Authors:
  *     - Carlos Jenkins <carlos@jenkins.co.cr>
@@ -19,25 +19,30 @@
 
 
 #include "rpp/rpp.h"
+#include "rpp/mutex.h"
 
 #ifndef FREERTOS_POSIX
 #include "drv/hbridge.h"
+#include "drv/spi_def.h"
 #endif
 
+RPP_MUTEX_DEFINE(mutex_hbr);
+
 static boolean_t initialized = FALSE;
 
 int8_t rpp_hbr_init()
 {
-    if(initialized) {
-        return FAILURE;
-    }
-    initialized = TRUE;
+       if (initialized)
+               return FAILURE;
+       if (!RPP_MUTEX_INIT(mutex_hbr))
+               return FAILURE;
+       initialized = TRUE;
 #ifndef FREERTOS_POSIX
-    dmmInit();
-    hetInit();
-    spi_tms570_init();
+       dmmInit();
+       hetInit();
+       spi_tms570_init(spi_ifcs, ARRAY_SIZE(spi_ifcs));
 #endif
-    return SUCCESS;
+       return SUCCESS;
 }
 
 
@@ -45,10 +50,10 @@ int8_t rpp_hbr_init()
 static void rpp_hdr_reset()
 {
 #ifndef FREERTOS_POSIX
-    drv_hbr_set_en(LOW);
-    drv_hbr_pwm_set_duty(0);
-    drv_hbr_pwm_stop();
-    drv_hbr_set_dir(LOW);
+       drv_hbr_set_en(LOW);
+       drv_hbr_pwm_set_duty(0);
+       drv_hbr_pwm_stop();
+       drv_hbr_set_dir(LOW);
 #endif
 }
 
@@ -57,82 +62,84 @@ static boolean_t enabled = FALSE;
 
 int8_t rpp_hbr_enable(int32_t period)
 {
-    if(enabled) {
-        return FAILURE;
-    }
-
-    if(period < 1) {
-        period = 55; // ~18kHz (18181.818181818 Hz to be precise)
-    }
+       if (enabled)
+               return FAILURE;
 
-    rpp_hdr_reset();
+       if (period < 1)
+               period = 55;  // ~18kHz (18181.818181818 Hz to be precise)
 
 #ifndef FREERTOS_POSIX
-
-    // Configure N2HET
-    if (drv_hbr_pwm_set_signal(period, 0) != SUCCESS) {
-        return FAILURE;
-    }
-    drv_hbr_pwm_start();
-
-    drv_hbr_set_en(HIGH);
-
-    // Start watchdog
-    int ret = drv_hbr_wdg_start();
-    if (ret != SUCCESS && ret != -RPP_EBUSY) { // Don't fail if already started
-        return FAILURE;
-    }
+       RPP_MUTEX_LOCK(mutex_hbr);
+       rpp_hdr_reset();
+
+       // Configure N2HET
+       if (drv_hbr_pwm_set_signal(period, 0) != SUCCESS) {
+               RPP_MUTEX_UNLOCK(mutex_hbr);
+               return FAILURE;
+       }
+       drv_hbr_pwm_start();
+
+       drv_hbr_set_en(HIGH);
+
+       // Start watchdog
+       int ret = drv_hbr_wdg_start();
+       if (ret != SUCCESS && ret != -RPP_EBUSY) {   // Don't fail if already started
+               RPP_MUTEX_UNLOCK(mutex_hbr);
+               return FAILURE;
+       }
+       RPP_MUTEX_UNLOCK(mutex_hbr);
 #endif
 
-    enabled = TRUE;
+       enabled = TRUE;
 
-    return SUCCESS;
+       return SUCCESS;
 }
 
 
 int8_t rpp_hbr_control(double cmd)
 {
-    if(!enabled) {
-        return -1;
-    }
+       if (!enabled)
+               return -1;
 
-    // Check range of the command
-    if((cmd < -1.0) || (cmd > 1.0)) {
-        return -2;
-    }
+       // Check range of the command
+       if ((cmd < -1.0) || (cmd > 1.0))
+               return -2;
 
 #ifndef FREERTOS_POSIX
-    // Great, now scale and return to sanity world of ints :D
-    int32_t scaled = (int32_t)(cmd * 100.0);
+       // Great, now scale and return to sanity world of ints :D
+       int32_t scaled = (int32_t)(cmd * 100.0);
 
 
-    // Set direction
-    drv_hbr_set_dir(scaled > 0);
+       // Set direction
+       RPP_MUTEX_LOCK(mutex_hbr);
+       drv_hbr_set_dir(scaled > 0);
 
-    // Set PWM duty cycle
-    drv_hbr_pwm_set_duty(abs(scaled));
+       // Set PWM duty cycle
+       drv_hbr_pwm_set_duty(abs(scaled));
+       RPP_MUTEX_UNLOCK(mutex_hbr);
 #endif
 
-    return SUCCESS;
+       return SUCCESS;
 }
 
 
 int8_t rpp_hbr_disable()
 {
-    if(!enabled) {
-        return FAILURE;
-    }
+       if (!enabled)
+               return FAILURE;
 
 #ifndef FREERTOS_POSIX
-    rpp_hdr_reset();
-
-    // We ignore is watchdog could not be stopped, because is harmless.
-    // It would be worse if we just could not stop the H-Bridge just because
-    // the watchdog could not be stopped.
-    drv_hbr_wdg_stop();
+       RPP_MUTEX_LOCK(mutex_hbr);
+       rpp_hdr_reset();
+
+       // We ignore is watchdog could not be stopped, because is harmless.
+       // It would be worse if we just could not stop the H-Bridge just because
+       // the watchdog could not be stopped.
+       drv_hbr_wdg_stop();
+       RPP_MUTEX_UNLOCK(mutex_hbr);
 #endif
 
-    enabled = FALSE;
+       enabled = FALSE;
 
-    return SUCCESS;
+       return SUCCESS;
 }