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Added logic for 2 line sensors

This commit is contained in:
linuxes_mojoworld@aleeas.com 2023-11-20 10:26:08 +08:00
parent f888568559
commit 0e3e481a2c
3 changed files with 20 additions and 10 deletions
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3
frtos/config/car_config.h
View File

@ -10,7 +10,8 @@
typedef struct s_obs_struct
{
bool line_detected;
bool left_sensor_detected;
bool right_sensor_detected;
bool ultrasonic_detected;
} obs_t;

16
frtos/line_sensor/line_sensor_init.h
View File

@ -59,7 +59,7 @@ bool h_left_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
void
monitor_left_sensor_task(void *pvParameters) {
monitor_line_sensor_task(void *pvParameters) {
volatile obs_t *p_obs = NULL;
p_obs = (obs_t *) pvParameters;
@ -68,8 +68,10 @@ monitor_left_sensor_task(void *pvParameters) {
// if (xSemaphoreTake(g_left_sensor_sem, portMAX_DELAY) == pdTRUE)
// {
// Set the flag to notify the task
p_obs->line_detected = gpio_get(LEFT_SENSOR_PIN);
printf("Left Sensor: %d\n", p_obs->line_detected);
p_obs->left_sensor_detected = gpio_get(LEFT_SENSOR_PIN);
p_obs->right_sensor_detected = gpio_get(RIGHT_SENSOR_PIN);
// printf("Left Sensor: %d\n", p_obs->line_detected);
vTaskDelay(pdMS_TO_TICKS(LINE_SENSOR_READ_DELAY));
// }
}
@ -78,13 +80,13 @@ monitor_left_sensor_task(void *pvParameters) {
void
line_tasks_init(car_struct_t *car_struct)
{
TaskHandle_t h_monitor_left_sensor_task = NULL;
xTaskCreate(monitor_left_sensor_task,
"read_left_sensor_task",
TaskHandle_t h_monitor_line_sensor_task = NULL;
xTaskCreate(monitor_line_sensor_task,
"read_line_sensor_task",
configMINIMAL_STACK_SIZE,
(void *)car_struct->obs,
PRIO,
&h_monitor_left_sensor_task);
&h_monitor_line_sensor_task);
}

9
frtos/rtos_car.c
View File

@ -8,10 +8,17 @@ bool
check_collision(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
return car_struct->obs->line_detected
return ((car_struct->obs->left_line_detected << 1) | (car_struct->obs->right_line_detected))
|| car_struct->obs->ultrasonic_detected;
}
bool
check_line_touch(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
return (car_struct->obs->left_line_detected << 1) | (car_struct->obs->right_line_detected);
void
motor_control_task(void *params)
{