hapticLib.c

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/*
 * Copyright (c) 2012, Leonardo Guardati <leonardo@guardati.it>
 *
 * Permission  to  use,  copy,  modify,  and/or distribute this
 * software  for  any  purpose  with  or  without fee is hereby
 * granted,  provided  that the above copyright notice and this
 * permission notice appear in all copies.
 *
 * THE  SOFTWARE  IS  PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS
 * ALL  WARRANTIES  WITH  REGARD TO THIS SOFTWARE INCLUDING ALL
 * IMPLIED  WARRANTIES  OF  MERCHANTABILITY  AND FITNESS. IN NO
 * EVENT  SHALL  THE  AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
 * INDIRECT,   OR   CONSEQUENTIAL   DAMAGES   OR   ANY  DAMAGES
 * WHATSOEVER  RESULTING  FROM  LOSS  OF  USE, DATA OR PROFITS,
 * WHETHER  IN  AN  ACTION  OF  CONTRACT,  NEGLIGENCE  OR OTHER
 * TORTIOUS  ACTION,  ARISING  OUT OF OR IN CONNECTION WITH THE
 * USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 */
#define HL_SYSTEM_FILE

#include "hapticLib.h"

extern pattern_initiator patternMap[MAX_HAPTORS];

system_desc SystemDesc;

haptor_desc *hl_configure(uint32_t pwmFreq, uint8_t samplesDelay, uint8_t numHaptors) {

        uint8_t i = 0;

        // Input validation MISSING

        RCC_Configuration();
        GPIO_Configuration();

#ifdef HL_DEBUG
        USART_Configuration();
#endif

        if( numHaptors > MAX_HAPTORS )
        {
#ifdef HL_DEBUG
                send_string("hl_configure(): This platform doesn't support \0");
                send_int( numHaptors );
                send_string(" haptors. (MAX=\0");
                send_int( MAX_HAPTORS );
                send_string(".\r\n\0");
#endif
                return NULL;
        }

        SystemDesc.num_haptors   = numHaptors;

        SystemDesc.pwm_freq      = pwmFreq;
        SystemDesc.samples_delay = samplesDelay;

        for( i=0 ; i < SystemDesc.num_haptors ; i++ )
                SystemDesc.patterns[i].name = Null;

        // todo clarify the interface with Platform specific module
        //      for haptor initialization.
        TIM_Configuration(pwmFreq);

        // todo this is the temporary hardware activation...
        // until a clear interface is defined.
        for( i=0 ; i< SystemDesc.num_haptors ; i++ )
        {
                SystemDesc.haptors[i].id = i+1;  //temporary

                if( TIM_Channel_Enable(i+1) )
                {
#ifdef HL_DEBUG
                        send_string("hl_configure(): Problem activating Hardware PWM!\r\n\0");
#endif
                        return NULL;
                }
        }

        for( i=0 ; i < SystemDesc.num_haptors ; i++ )
        {
                SystemDesc.haptors[i].min_duty      = 0x0000;
                SystemDesc.haptors[i].max_duty      = 0xFFFF;
                SystemDesc.haptors[i].activePattern = NULL;
                SystemDesc.haptors[i].nextHaptor    = NULL;
        }

        return SystemDesc.haptors;
}

pattern_desc *hl_initPattern(pattern_name patternName, user_param *userParams)
{
        uint8_t i=0;

        // Input validation
        if( Null >= patternName || patternName >= Num_Patterns_Available)
        {
#ifdef HL_DEBUG
                send_string("hl_initPattern(): patternName is Invalid!\r\n\0");
#endif
                return NULL;
        }

        // Search an available pattern slot and initialize it.
        for( i=0 ; i < SystemDesc.num_haptors ; i++ )
        {
                if( SystemDesc.patterns[i].name == Null )
                {
                        SystemDesc.patterns[i].name             = patternName;
                        SystemDesc.patterns[i].userParams       = userParams;
                        SystemDesc.patterns[i].continuator      = NULL;
                        SystemDesc.patterns[i].activeHaptorList = NULL;

                        return &SystemDesc.patterns[i];
                }
        }

        // Else error.
#ifdef HL_DEBUG
        send_string("hl_initPattern(): No more Pattern can be created, every haptor is busy!\r\n\0");
#endif
        return NULL;

}

pattern_desc *hl_addHaptor(haptor_desc *newHaptor, pattern_desc *pattern)
{
        haptor_desc *tmp = NULL;

        // Input validation: haptor
        if( ( newHaptor == NULL ) || ( newHaptor->activePattern != NULL ) )
        {
#ifdef HL_DEBUG
                send_string("hl_addHaptor(): haptor invalid or busy with another pattern!\r\n\0");
#endif
                return NULL;
        }

        // Input validation: pattern
        if( ( pattern == NULL ) || \
                ( Null >= pattern->name ) || ( pattern->name >= Num_Patterns_Available))
        {
#ifdef HL_DEBUG
                send_string("hl_addHaptor(): This pattern is not valid or not initialized!\r\n\0");
#endif
                return NULL;
        }

        // Add the haptor to the pattern's haptor list!
        tmp = pattern->activeHaptorList;

        if( pattern->activeHaptorList == NULL )
                pattern->activeHaptorList = newHaptor;
        else
        {
                tmp = pattern->activeHaptorList;
                while( tmp->nextHaptor )
                                tmp = tmp->nextHaptor;
                tmp->nextHaptor = newHaptor;
        }

        newHaptor->activePattern = pattern;
        newHaptor->nextHaptor    = NULL;
        
        return pattern;
}

uint8_t hl_startPattern(pattern_desc * pattern)
{
        //Input Validation
        if( ( pattern == NULL ) || \
                ( Null >= pattern->name ) || ( pattern->name >= Num_Patterns_Available))
        {
#ifdef HL_DEBUG
                send_string("hl_startPattern(): This pattern is not valid or not initialized.\r\n\0");
#endif
                return 1;
        }

        if( patternMap[pattern->name](pattern) )
        {
#ifdef HL_DEBUG
                send_string("hl_startPattern(): Problem in pattern Initiator.\r\n\0");
#endif
                return 1;
        }

        return 0;
}

uint8_t hl_stopPattern(pattern_desc *pattern)
{
        haptor_desc *tmp = NULL;
        haptor_desc *tmp2 = NULL;

        // Input validation
        if( (pattern == NULL) || \
                        ( Null >= pattern->name ) || ( pattern->name >= Num_Patterns_Available))
        {
#ifdef HL_DEBUG
                send_string("hl_stopPattern(): This pattern is not valid or not initialized.\r\n\0");
#endif
                return 1;
        }

        if( pattern->continuator == NULL )
        {
#ifdef HL_DEBUG
                send_string("hl_stopPattern(): This pattern is not active.\r\n\0");
#endif
                return 1;
        }

        if( pattern->activeHaptorList == NULL )
        {
#ifdef HL_DEBUG
                send_string("hl_stopPattern(): This pattern has no haptor linked to it (STRANGE).\r\n\0");
#endif
                return 1;
        }

        tmp  = pattern->activeHaptorList;
        tmp2 = NULL;
        do
        {
                TIM_Channel_DutyChanger( 0, tmp->id );

                tmp2 = tmp->nextHaptor;

                tmp->nextHaptor = NULL;
                tmp->activePattern = NULL;

                tmp = tmp2;
        }
        while( tmp );

        pattern->name             = Null;
        pattern->userParams       = NULL;
        pattern->continuator      = NULL;
        pattern->activeHaptorList = NULL;

        return 0;
}