I have an application I am working on, and I created a custom structure rx_servo_t. The structure is meant to provide methods for controlling some off board motors via GPIO and PWMs. When initialized, the structure launches a work thread that monitors the state of the structure. When I have one instance of the struct, my application seems to work as intended. However I want to instantiate multiple instances of this struct, and that is where I am seeing issues.
Top of main.c where I instantiate the structs Dose and Valve Servo
rx_servo_t dose_servo = {
.name = "Dose Servo",
.motor.name = "Dose Motor",
.encoder.name = "Dose Encoder",
};
rx_servo_t valve_servo = {
.name = "Valve Servo",
.motor.name = "Valve Motor",
.encoder.name = "Valve Encoder",
};
Inside main function where I initialize the structs, The 5 second delay is for demonstrating what is happening in the logging.
int main(void)
{
rx_servo_init(&dose_servo, &dose_enc_a, &dose_enc_b, &dose_motor_dir, &dose_motor_spd);
k_sleep(K_MSEC(5000));
rx_servo_init(&valve_servo, &valve_enc_a, &valve_enc_b, &valve_motor_dir, &valve_motor_spd);
...
The initialization function
void rx_servo_init(rx_servo_t *svo, const struct gpio_dt_spec *enc_a, const struct gpio_dt_spec *enc_b,
const struct gpio_dt_spec *mtr_ph, const struct pwm_dt_spec *mtr_en)
{
LOG_INF("Initializing %s servo", svo->name);
servo = svo;
// strncpy(servo->name, "RX Servo", 32);
rx_encoder_init(&servo->encoder, enc_a, enc_b);
rx_motor_init(&servo->motor, mtr_ph, mtr_en);
servo->home = rx_servo_home; // Assign the home function to the servo object
servo->move = rx_servo_move; // Assign the move function to the servo object
servo->state = SERVO_LOST; // Set the initial state of the servo
servo->motor.stop(); // Stop the motor
servo->motor.set_period(RX_SERVO_MOTOR_PERIOD_USEC); // Set the period of the motor
servo->motor.set_dutycycle(RX_SERVO_MOTOR_MIN_DUTYCYCLE); // Set the initial duty cycle
k_work_init(&svo->work, rx_servo_work_handler); // Initialize the work item
k_timer_init(&svo->timer, rx_servo_timer_handler, NULL); // Initialize the timer
k_timer_start(&svo->timer, K_MSEC(RX_SERVO_PERIOD),
K_MSEC(RX_SERVO_PERIOD));
if(servo->initialized == 1)
{
LOG_ERR("Servo %s already initialized", svo->name);
return;
}
servo->initialized = 1; // Set the initialized flag
LOG_INF("Initializing servo %s complete", svo->name);
}
At the start of the work handler, I print a log message.
void rx_servo_work_handler(struct k_work *work)
{
rx_servo_t *svo = CONTAINER_OF(work, rx_servo_t, work);
LOG_INF("%s Servo work handler running", servo->name);
The output of my application is as follows. Logging starts as expected with the first instance, but after the 5 second delay, there are then 2 log messages for the second instance.
Thanks in advance for any assistance.
