From fbb77baa3b6e487f4c68e08770499cb893c4e035 Mon Sep 17 00:00:00 2001
From: jlukanc <27705324+jlukanc1@users.noreply.github.com>
Date: Fri, 15 Jan 2021 22:11:53 -0500
Subject: [PATCH] add non-blocking motor controller

---
 src/CMakeLists.txt                       |  2 +
 src/components/motor/MotorController.cpp | 40 +++++++++++++++++
 src/components/motor/MotorController.h   | 57 ++++++++++++++++++++++++
 3 files changed, 99 insertions(+)
 create mode 100644 src/components/motor/MotorController.cpp
 create mode 100644 src/components/motor/MotorController.h

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index fde1f586..b5669414 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -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
diff --git a/src/components/motor/MotorController.cpp b/src/components/motor/MotorController.cpp
new file mode 100644
index 00000000..1885f7bd
--- /dev/null
+++ b/src/components/motor/MotorController.cpp
@@ -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?
+}
\ No newline at end of file
diff --git a/src/components/motor/MotorController.h b/src/components/motor/MotorController.h
new file mode 100644
index 00000000..6712d933
--- /dev/null
+++ b/src/components/motor/MotorController.h
@@ -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:
+
+    };
+  }
+}
\ No newline at end of file