added basic architecture ideas #49

firmware/SatStepperBegin/control_modules/commutation_angle.c

@@ -0,0 +1,6 @@
+#include "state.h"
+#include "commutation_angle.h"
+
+void computeCommutationAngle() {
+
+}

firmware/SatStepperBegin/control_modules/commutation_angle.h

@@ -0,0 +1 @@
+void computeCommutationAngle();

firmware/SatStepperBegin/control_modules/modules_list.c

@@ -0,0 +1,23 @@
+#include "modules_list.h"
+#include "commutation_angle.h"
+
+typedef void (* moduleExecuter)(void);
+moduleExecuter controlModules[MODULE_LIST_END];
+unsigned modulesStatus[MODULE_LIST_END] = {MODULE_DISABLED};
+
+controlModules[COMMUT_ANGLE_MODULE] = &computeCommutationAngle;
+
+void setModuleStatus(unsigned moduleId, unsigned status) {
+    // TODO: add static assert moduleId < MODULE_ENABLED
+    // and status == MODULE_ENABLED || status == MODULE_DISABLED
+
+    modulesStatus[moduleId] = status;
+}
+
+void runEnabledModules() {
+    for (unsigned moduleId = 0; moduleId < MODULE_LIST_END; ++moduleId) {
+        if (modulesStatus[moduleId] == MODULE_ENABLED) {
+            (*controlModules[moduleId])();
+        }
+    }
+}

firmware/SatStepperBegin/control_modules/modules_list.h

@@ -0,0 +1,12 @@
+enum {
+    COMMUT_ANGLE_MODULE = 0,
+    MODULE_LIST_END     = 1
+};
+
+enum {
+    MODULE_DISABLED   = 0,
+    MODULE_ENABLED    = 1
+};
+
+void setModuleStatus(unsigned moduleId, unsigned status);
+void runEnabledModules();

firmware/SatStepperBegin/sensors/encoder/encoder.c

@@ -16,6 +16,9 @@
 #include "state.h"
 #define ENCODER_RANGE 25000
 
+#include "control_modules/modules_list.h"
+
+
 interrupt void encoderInputAIntHandler(void) {
 #ifdef DEBUG
     ASSERT(
@@ -42,6 +45,8 @@ interrupt void encoderInputAIntHandler(void) {
     );
 #endif // DEBUG
     ACKNOWLEDGE_ONE_MORE_INTERRUPT_FROM_GROUP(PIEACK_GROUP1);
+
+    // runEnabledModules();
 }
 
 interrupt void encoderInputBIntHandler(void) {
@@ -70,6 +75,8 @@ interrupt void encoderInputBIntHandler(void) {
     );
 #endif // DEBUG
     ACKNOWLEDGE_ONE_MORE_INTERRUPT_FROM_GROUP(PIEACK_GROUP1);
+
+    // runEnabledModules();
 }
 
 interrupt void encoderInputCIntHandler(void) {
@@ -90,8 +97,7 @@ interrupt void encoderInputCIntHandler(void) {
         }
     }
 
-    // Acknowledge interrupt to recieve more interrupts from PIE group 12
-    PieCtrlRegs.PIEACK.all = PIEACK_GROUP12;
+    ACKNOWLEDGE_ONE_MORE_INTERRUPT_FROM_GROUP(PIEACK_GROUP12);
 }
 
 void encoderInit() {