Refactor

Makefile

@@ -6,7 +6,7 @@ TEST_TARGETNAME = test
 TEST_BUILDFOLDER = ./test/build/
 TEST_TARGET = $(TEST_BUILDFOLDER)$(TEST_TARGETNAME)
 
-INC = -Isrc/include -I/usr/include -I/usr/include/libftdi1
+INC = -Isrc/include -I/usr/include 
 CFLAGS = -Wall -Wpedantic -Wextra -g
 CPPFLAGS = 
 
@@ -17,13 +17,13 @@ $(TARGETNAME): $(TARGET)
 
 $(TARGET): $(SRC)
 	mkdir -p $(BUILDFOLDER)
-	cc -o $@ $^ $(CPPFLAGS) $(CFLAGS) $(INC) -lm -lftdi1 
+	cc -o $@ $^ $(CPPFLAGS) $(CFLAGS) $(INC) -lm 
 
 $(TEST_TARGETNAME): $(TEST_TARGET)
 
 $(TEST_TARGET): $(TEST_SRC)
 	mkdir -p $(TEST_BUILDFOLDER)
-	cc -o $@ $^ $(CPPFLAGS) $(CFLAGS) $(INC) -lm -lftdi1 -lcunit
+	cc -o $@ $^ $(CPPFLAGS) $(CFLAGS) $(INC) -lm -lcunit
 
 clean:
 	rm -fr ./src/*.o $(BUILDFOLDER)*

compile_commands.json

@@ -9,14 +9,13 @@
       "-g",
       "-Isrc/include",
       "-I/usr/include",
-      "-I/usr/include/libftdi1",
       "-o",
       "build/inverter",
       "src/bridge_utils.c"
     ],
-    "directory": "/home/m/dev/electronics/inverter/sw_ftdi",
+    "directory": "/home/m/dev/electronics/inverter/sw_linux",
-    "file": "/home/m/dev/electronics/inverter/sw_ftdi/src/bridge_utils.c",
+    "file": "/home/m/dev/electronics/inverter/sw_linux/src/bridge_utils.c",
-    "output": "/home/m/dev/electronics/inverter/sw_ftdi/build/inverter"
+    "output": "/home/m/dev/electronics/inverter/sw_linux/build/inverter"
   },
   {
     "arguments": [
@@ -28,33 +27,13 @@
       "-g",
       "-Isrc/include",
       "-I/usr/include",
-      "-I/usr/include/libftdi1",
-      "-o",
-      "build/inverter",
-      "src/ftdi_utils.c"
-    ],
-    "directory": "/home/m/dev/electronics/inverter/sw_ftdi",
-    "file": "/home/m/dev/electronics/inverter/sw_ftdi/src/ftdi_utils.c",
-    "output": "/home/m/dev/electronics/inverter/sw_ftdi/build/inverter"
-  },
-  {
-    "arguments": [
-      "/usr/bin/cc",
-      "-c",
-      "-Wall",
-      "-Wpedantic",
-      "-Wextra",
-      "-g",
-      "-Isrc/include",
-      "-I/usr/include",
-      "-I/usr/include/libftdi1",
       "-o",
       "build/inverter",
       "src/main.c"
     ],
-    "directory": "/home/m/dev/electronics/inverter/sw_ftdi",
+    "directory": "/home/m/dev/electronics/inverter/sw_linux",
-    "file": "/home/m/dev/electronics/inverter/sw_ftdi/src/main.c",
+    "file": "/home/m/dev/electronics/inverter/sw_linux/src/main.c",
-    "output": "/home/m/dev/electronics/inverter/sw_ftdi/build/inverter"
+    "output": "/home/m/dev/electronics/inverter/sw_linux/build/inverter"
   },
   {
     "arguments": [
@@ -66,14 +45,13 @@
       "-g",
       "-Isrc/include",
       "-I/usr/include",
-      "-I/usr/include/libftdi1",
       "-o",
       "build/inverter",
       "src/pins.c"
     ],
-    "directory": "/home/m/dev/electronics/inverter/sw_ftdi",
+    "directory": "/home/m/dev/electronics/inverter/sw_linux",
-    "file": "/home/m/dev/electronics/inverter/sw_ftdi/src/pins.c",
+    "file": "/home/m/dev/electronics/inverter/sw_linux/src/pins.c",
-    "output": "/home/m/dev/electronics/inverter/sw_ftdi/build/inverter"
+    "output": "/home/m/dev/electronics/inverter/sw_linux/build/inverter"
   },
   {
     "arguments": [
@@ -85,14 +63,13 @@
       "-g",
       "-Isrc/include",
       "-I/usr/include",
-      "-I/usr/include/libftdi1",
       "-o",
       "build/inverter",
       "src/statemachine.c"
     ],
-    "directory": "/home/m/dev/electronics/inverter/sw_ftdi",
+    "directory": "/home/m/dev/electronics/inverter/sw_linux",
-    "file": "/home/m/dev/electronics/inverter/sw_ftdi/src/statemachine.c",
+    "file": "/home/m/dev/electronics/inverter/sw_linux/src/statemachine.c",
-    "output": "/home/m/dev/electronics/inverter/sw_ftdi/build/inverter"
+    "output": "/home/m/dev/electronics/inverter/sw_linux/build/inverter"
   },
   {
     "arguments": [
@@ -104,13 +81,12 @@
       "-g",
       "-Isrc/include",
       "-I/usr/include",
-      "-I/usr/include/libftdi1",
       "-o",
       "build/inverter",
       "src/timer_utils.c"
     ],
-    "directory": "/home/m/dev/electronics/inverter/sw_ftdi",
+    "directory": "/home/m/dev/electronics/inverter/sw_linux",
-    "file": "/home/m/dev/electronics/inverter/sw_ftdi/src/timer_utils.c",
+    "file": "/home/m/dev/electronics/inverter/sw_linux/src/timer_utils.c",
-    "output": "/home/m/dev/electronics/inverter/sw_ftdi/build/inverter"
+    "output": "/home/m/dev/electronics/inverter/sw_linux/build/inverter"
   }
 ]

src/bridge_utils.c

@@ -5,61 +5,65 @@
 
 bdg_sm_state_t bridge_state;
 
-sm_trans_t bridge_sm_transitions[] = {{.from_state = BRIDGE_SM_START,
+sm_trans_t bridge_sm_transitions[] = {
-                                       .to_state = BRIDGE_SM_INIT_IO,
+    {.from_state = BRIDGE_SM_START,
-                                       .trans_fct = brdg_BothGndOn},
+     .to_state = BRIDGE_SM_INIT_IO,
-                                      {.from_state = BRIDGE_SM_INIT_IO,
+     .trans_fct = brdg_BothGndOn},
-                                       .to_state = HB1_PWR_ON,
+    {.from_state = BRIDGE_SM_INIT_IO,
-                                       .trans_fct = brdg_Hb1PowerOn},
+     .to_state = HB1_PWR_ON,
-                                      {.from_state = HB1_GND_ON,
+     .trans_fct = brdg_Hb1PowerOn},
-                                       .to_state = HB1_PWR_ON,
+    {.from_state = HB1_GND_ON,
-                                       .trans_fct = brdg_Hb1PowerOn},
+     .to_state = HB1_PWR_ON,
-                                      {.from_state = HB1_PWR_ON,
+     .trans_fct = brdg_Hb1PowerOn},
-                                       .to_state = HB1_PWR_OFF,
+    {.from_state = HB1_PWR_ON,
-                                       .trans_fct = brdg_Hb1PowerOff},
+     .to_state = HB1_PWR_OFF,
-                                      {.from_state = HB1_PWR_OFF,
+     .trans_fct = brdg_Hb1PowerOff},
-                                       .to_state = HB2_GND_ON,
+    {.from_state = HB1_PWR_OFF,
-                                       .trans_fct = brdg_Hb2GndOn},
+     .to_state = HB2_GND_ON,
-                                      {.from_state = HB2_GND_ON,
+     .trans_fct = brdg_Hb2GndOn},
-                                       .to_state = HB2_PWR_ON,
+    {.from_state = HB2_GND_ON,
-                                       .trans_fct = brdg_Hb2PowerOn},
+     .to_state = HB2_PWR_ON,
-                                      {.from_state = HB2_PWR_ON,
+     .trans_fct = brdg_Hb2PowerOn},
-                                       .to_state = HB2_PWR_OFF,
+    {.from_state = HB2_PWR_ON,
-                                       .trans_fct = brdg_Hb2PowerOff},
+     .to_state = HB2_PWR_OFF,
-                                      {.from_state = HB2_PWR_OFF,
+     .trans_fct = brdg_Hb2PowerOff},
-                                       .to_state = HB2_GND_ON,
+    {.from_state = HB2_PWR_OFF,
-                                       .trans_fct = brdg_Hb2GndOn}};
+     .to_state = HB2_GND_ON,
+     .trans_fct = brdg_Hb2GndOn},
+};
 
-sm_t bridge_statemachine = {.current_state = BRIDGE_SM_START,
+sm_t bridge_statemachine = {
-                            .transitions = bridge_sm_transitions};
+    .current_state = BRIDGE_SM_START,
+    .transitions = bridge_sm_transitions,
+};
 
 void brdg_BothGndOn(void) {
   /* Turn both GND transistors on */
-  setPin(D0);
+  setPin(GND_HALFBRIDGE_1);
-  setPin(D2);
+  setPin(GND_HALFBRIDGE_2);
 
   /* Turn both PWR transistors off */
-  unsetPin(D3);
+  unsetPin(PWR_HALFBRIDGE_1);
-  unsetPin(D1);
+  unsetPin(PWR_HALFBRIDGE_2);
 }
 
 void brdg_Hb1GndOn(void) {
   /* We turn GND of half-bridge 1 on */
-  setPin(D0);
+  setPin(GND_HALFBRIDGE_1);
 
   /* And then we turn GND of half-bridge 2 off */
-  unsetPin(D2);
+  unsetPin(GND_HALFBRIDGE_2);
 }
 
-void brdg_Hb1PowerOn(void) { setPin(D3); }
+void brdg_Hb1PowerOn(void) { setPin(PWR_HALFBRIDGE_1); }
 
-void brdg_Hb1PowerOff(void) { unsetPin(D3); }
+void brdg_Hb1PowerOff(void) { unsetPin(PWR_HALFBRIDGE_1); }
 
 void brdg_Hb2GndOn(void) {
-  setPin(D0);
+  setPin(GND_HALFBRIDGE_2);
-  unsetPin(D2);
+  unsetPin(GND_HALFBRIDGE_1);
 }
 
-void brdg_Hb2PowerOn(void) { setPin(D1); }
+void brdg_Hb2PowerOn(void) { setPin(PWR_HALFBRIDGE_2); }
 
-void brdg_Hb2PowerOff(void) { unsetPin(D1); }
+void brdg_Hb2PowerOff(void) { unsetPin(PWR_HALFBRIDGE_2); }

src/ftdi_utils.c

@@ -1,42 +0,0 @@
-#include <ftdi.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-#include "ftdi_utils.h"
-
-struct ftdi_context *ftdi;
-
-int init_ftdi() {
-  struct ftdi_version_info version;
-  uint8_t pins;
-  unsigned int chipid;
-
-  if ((ftdi = ftdi_new()) == 0) {
-    fprintf(stderr, "ftdi_new failed\n");
-    return EXIT_FAILURE;
-  }
-  version = ftdi_get_library_version();
-  printf("Initialized libftdi %s (major: %d, minor: %d, micro: %d, snapshot "
-         "ver: %s)\n",
-         version.version_str, version.major, version.minor, version.micro,
-         version.snapshot_str);
-
-  int ret = ftdi_usb_open(ftdi, 0x0403, 0x6014);
-  if (ret < 0) {
-    fprintf(stderr, "unable to open ftdi device: %d (%s)\n", ret,
-            ftdi_get_error_string(ftdi));
-    ftdi_free(ftdi);
-    return EXIT_FAILURE;
-  }
-
-  // Enable bitbang mode
-  ftdi_set_bitmode(ftdi, 0xFF, BITMODE_BITBANG);
-
-  printf("ftdi_read_chipid: %d\n", ftdi_read_chipid(ftdi, &chipid));
-  printf("FTDI chipid: %X\n", chipid);
-  ftdi_read_pins(ftdi, &pins);
-
-  printf("Pins state: %X\n", pins);
-
-  return EXIT_SUCCESS;
-}

src/include/ftdi_utils.h

@@ -1,3 +0,0 @@
-extern struct ftdi_context *ftdi;
-
-int init_ftdi();

src/include/global_utils.h

@@ -0,0 +1 @@
+#define UNUSED __attribute__((unused))

src/include/misc_utils.h

@@ -0,0 +1 @@
+unsigned long abs_long(long);

src/include/pins.h

@@ -1,10 +1,11 @@
 #include <inttypes.h>
 
-#define D0 0
+#define GND_HALFBRIDGE_1 0
-#define D1 1
+#define GND_HALFBRIDGE_2 1
-#define D2 2
+#define PWR_HALFBRIDGE_1 2
-#define D3 3
+#define PWR_HALFBRIDGE_2 3
 
 void togglePin(unsigned int pin);
 void unsetPin(unsigned int pin);
-void setPin(unsigned int pin);
+void setPin(unsigned int pin);
+

src/include/time_scales.h

@@ -1,8 +1,13 @@
+#define NSEC (1)
+
 // microseconds in nanoseconds
-#define USEC (1000)
+#define USEC (1000 * NSEC)
 
 // milliseconds in nanoseconds
 #define MSEC (1000 * USEC)
 
 // seconds in nanoseconds
-#define SEC (1000 * MSEC)
+#define SEC (1000 * MSEC)
+
+
+#define NSEC_IN_SEC (1000000000)

src/include/timer_utils.h

@@ -7,10 +7,11 @@ typedef struct {
   struct sigevent sevp;
   struct itimerspec times;
   struct timespec runsSince;
-  void (*funcToBeCalled)(void);
+  void (*funcToBeCalled)(void *);
+  void *args;
 } tmr_ctx;
 
 void tmr_initTimer(tmr_ctx *ctx);
 void tmr_handleTimerOverflow(union sigval);
-int tmr_callEvery(void (*func)(void), long nsec);
+int tmr_callEvery(void (*func)(void *), void *args, long nsec);
-void tmr_add_ns_to_current_time(struct itimerspec *current, long nsecs);
+void tmr_add_ns_to_current_time(struct itimerspec *current, long nsecs);

src/main.c

@@ -1,42 +1,33 @@
-#include <ftdi.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
 
-#include "ftdi_utils.h"
+#include "global_utils.h"
 #include "pins.h"
 #include "time_scales.h"
 #include "timer_utils.h"
 
-static uint64_t counter = 0;
+struct itimerspec lastTime;
-void test1(void) {
+
-  printf("%lu\n", counter);
+void printTime(UNUSED void *arg) {
+  struct itimerspec time;
+  clock_gettime(CLOCK_REALTIME, &time.it_value);
+
   fflush(stdout);
-  counter++;
+
+  lastTime = time;
 }
 
-void test2(void) {
+int main(void) {
-  printf("This is test2\n");
-  fflush(stdout);
-}
-
-void togglePin1(void) { togglePin(D0); }
-
-int main() {
   printf("Program started\n");
 
-  if (init_ftdi()) {
+  clock_gettime(CLOCK_REALTIME, &lastTime.it_value);
-    printf("Error initializing ftdi\n");
+  if (tmr_callEvery(printTime, NULL, 1 * MSEC)) {
-    return EXIT_FAILURE;
-  }
-
-  if (tmr_callEvery(togglePin1, 10 * USEC)) {
     printf("Error starting timer for togglePin\n");
     return EXIT_FAILURE;
   }
-
   while (1) {
-    sleep(10000);
+    sleep(100);
   }
 
   return 0;

src/misc_utils.c

@@ -0,0 +1,8 @@
+#include "misc_utils.h"
+
+unsigned long abs_long(long a) {
+  if (a > 0)
+    return a;
+  else
+    return -a;
+}

src/pins.c

@@ -1,44 +1,12 @@
-#include <ftdi.h>
 #include <inttypes.h>
 #include <stdio.h>
 
-#include "ftdi_utils.h"
 #include "pins.h"
 
 uint8_t pin_state_cache = 0x0;
 
-void setPin(unsigned int pin) {
+void setPin(unsigned int pin) {}
-  uint8_t pin_state = pin_state_cache | (1 << pin);
-  int ret = ftdi_write_data(ftdi, &pin_state, 1);
 
-  if (ret < 0) {
+void unsetPin(unsigned int pin) {}
-    fprintf(stderr, "setting pin failed for data 0x%x, error %d (%s)\n",
-            1 << pin, ret, ftdi_get_error_string(ftdi));
-  } else {
-    pin_state_cache = pin_state;
-  }
-}
 
-void unsetPin(unsigned int pin) {
+void togglePin(unsigned int pin) {}
-  uint8_t pin_state = pin_state_cache & ~(1 << pin);
-  int ret = ftdi_write_data(ftdi, &pin_state, 1);
-
-  if (ret < 0) {
-    fprintf(stderr, "unsetting pin failed for data 0x%x, error %d (%s)\n",
-            1 << pin, ret, ftdi_get_error_string(ftdi));
-  } else {
-    pin_state_cache = pin_state;
-  }
-}
-
-void togglePin(unsigned int pin) {
-  uint8_t pin_state = pin_state_cache ^ (1 << pin);
-  int ret = ftdi_write_data(ftdi, &pin_state, 1);
-
-  if (ret < 0) {
-    fprintf(stderr, "toggling pin failed for data 0x%x, error %d (%s)\n",
-            1 << pin, ret, ftdi_get_error_string(ftdi));
-  } else {
-    pin_state_cache = pin_state;
-  }
-}

src/timer_utils.c

@@ -4,15 +4,23 @@
 #include <stdlib.h>
 #include <time.h>
 
+#include "misc_utils.h"
 #include "time_scales.h"
 #include "timer_utils.h"
 
-int tmr_registry_index = 0;
+typedef struct {
-tmr_ctx *tmr_registry[10];
+  int index;
+  tmr_ctx *req[10];
+} timer_registry_t;
+
+static timer_registry_t timer_registry = {
+    .index = 0,
+    .req = {0},
+};
 
 void tmr_add_to_registry(tmr_ctx *ctx) {
-  tmr_registry[tmr_registry_index] = ctx;
+  timer_registry.req[timer_registry.index] = ctx;
-  tmr_registry_index++;
+  timer_registry.index++;
 }
 
 void tmr_initTimer(tmr_ctx *ctx) {
@@ -34,24 +42,23 @@ void tmr_initTimer(tmr_ctx *ctx) {
 
 void tmr_handleTimerOverflow(sigval_t ctx_par) {
   tmr_ctx *ctx = (tmr_ctx *)ctx_par.sival_ptr;
-  ctx->funcToBeCalled();
+  ctx->funcToBeCalled(ctx->args);
 
   tmr_add_ns_to_current_time(&ctx->times, ctx->interval);
   timer_settime(ctx->timerid, TIMER_ABSTIME, &ctx->times, NULL);
 }
 
-int tmr_callEvery(void (*func)(void), long nsec) {
+int tmr_callEvery(void (*func)(void *), void *args, long nsec) {
-  tmr_ctx *tmr = calloc(1, sizeof(tmr_ctx));
-  // tmr_ctx *tmr = malloc(sizeof(tmr_ctx));
-
-  tmr_add_to_registry(tmr);
-
-  tmr->interval = nsec;
-  tmr->funcToBeCalled = func;
-
   if (!func)
     return -1;
 
+  tmr_ctx *tmr = calloc(1, sizeof(tmr_ctx));
+
+  tmr->interval = nsec;
+  tmr->funcToBeCalled = func;
+  tmr->args = args;
+
+  tmr_add_to_registry(tmr);
   tmr_initTimer(tmr);
 
   return 0;
@@ -64,4 +71,16 @@ void tmr_add_ns_to_current_time(struct itimerspec *time, long nsec) {
   } else {
     time->it_value.tv_nsec += nsec;
   }
-}
+}
+
+struct timespec tmr_getAbsoluteDiffBetween(struct timespec a,
+                                           struct timespec b) {
+  struct timespec diff;
+
+  diff.tv_sec = abs_long(a.tv_sec - b.tv_sec);
+
+  if (diff.tv_sec != 0) {
+  }
+
+  return diff;
+}