barcode update

frtos/config/line_sensor_config.h

@@ -7,6 +7,7 @@
 
 #define LEFT_SENSOR_PIN                         ( 26 )
 #define RIGHT_SENSOR_PIN                        ( 27 )
+#define BARCODE_SENSOR_PIN                      ( 22 )
 
 
 /* Map */

frtos/line_sensor/line_sensor.h

@@ -6,6 +6,7 @@
 
 #include "line_sensor_init.h"
 
+
 /**
  * @brief Monitor the left sensor
  *
@@ -66,7 +67,42 @@ monitor_right_sensor_task(void *params) {
     }
 }
 
+/**
+ * @brief Monitor the barcode sensor
+ *
+ * This function will monitor the barcode sensor and send the state to the
+ * barcode sensor message buffer, used to scan the barcode below the car
+ *
+ * @param params
+ */
+void monitor_barcode_sensor_task(void *params) {
+    for (;;) {
+        if (xSemaphoreTake(g_barcode_sensor_sem, portMAX_DELAY) == pdTRUE) {
+            // Check the flag or receive the message
+            if (barcode_sensor_triggered == pdTRUE) {
+                uint32_t barcode_data = 0;
 
+                for (int i = 0; i < 9; i++) {
+                    sleep_ms(100);  // Wait for a segment of the barcode
+
+                    if (gpio_get(BARCODE_SENSOR_PIN)) {
+                        barcode_data |= (1u << i);
+                    } else {
+                        barcode_data &= ~(1u << i);
+                    }
+                }
+
+                printf("Barcode Data (binary): %09b\n", barcode_data);
+
+                // Send or process the barcode data
+                xMessageBufferSend(barcode_sensor_msg_buffer, &barcode_data, sizeof(uint32_t), 0);
+
+                // Reset the flag
+                barcode_sensor_triggered = pdFALSE;
+            }
+        }
+    }
+}
 /**
  * @brief Monitor the direction and Oritentation of the car
  *
@@ -79,6 +115,7 @@ void
 monitor_direction_task(__unused void *params) {
     state_t left_state;
     state_t right_state;
+    state_t barcode_state;
 
     for (;;)
     {
@@ -93,6 +130,11 @@ monitor_direction_task(__unused void *params) {
                               sizeof(state_t),
                               portMAX_DELAY);
         
+        xMessageBufferReceive(barcode_sensor_msg_buffer,
+                              &barcode_state,
+                              sizeof(state_t),
+                              portMAX_DELAY);
+
 //        g_car_state.current_direction = (left_state << 1) | right_state;
 
 //        switch (g_car_state.current_direction)

frtos/line_sensor/line_sensor_init.h

@@ -23,6 +23,7 @@
 
 static TickType_t lastEdgeTimeLeft = 0;
 static TickType_t lastEdgeTimeRight = 0;
+static TickType_t lastBarcodeTime = 0;
 
 typedef enum { // Unused, useful for readability
     LINE_DETECTED = 0,
@@ -53,13 +54,16 @@ typedef struct {
 // Semaphore
 SemaphoreHandle_t g_left_sensor_sem = NULL;
 SemaphoreHandle_t g_right_sensor_sem = NULL;
+SemaphoreHandle_t g_barcode_sensor_sem = NULL;
 
 // Queue
 static MessageBufferHandle_t left_sensor_msg_buffer;   // Left Sensor Buffer
 static MessageBufferHandle_t right_sensor_msg_buffer;   // Right Sensor Buffer
+static MessageBufferHandle_t barcode_sensor_msg_buffer;   // Barcode Sensor Buffer
 
 static volatile BaseType_t right_sensor_triggered = pdFALSE;
 static volatile BaseType_t left_sensor_triggered = pdFALSE;
+static volatile BaseType_t barcode_sensor_triggered = pdFALSE;
 
 // Car State Struct
 static car_state_t g_car_state;
@@ -82,15 +86,17 @@ static inline void
 line_sensor_setup() {
     g_left_sensor_sem = xSemaphoreCreateBinary();
     g_right_sensor_sem = xSemaphoreCreateBinary();
+    g_barcode_sensor_sem = xSemaphoreCreateBinary();
 
-    uint mask = (1 << LEFT_SENSOR_PIN) | (1 << RIGHT_SENSOR_PIN);
+    uint mask = (1 << LEFT_SENSOR_PIN) | (1 << RIGHT_SENSOR_PIN) | (1 << BARCODE_SENSOR_PIN);
 
-    // Initialise 2 GPIO pins and set them to input
+    // Initialise 3 GPIO pins and set them to input
     gpio_init_mask(mask);
     gpio_set_dir_in_masked(mask);
 
     left_sensor_msg_buffer = xMessageBufferCreate(30);
     right_sensor_msg_buffer = xMessageBufferCreate(30);
+    barcode_sensor_msg_buffer = xMessageBufferCreate(30);
 
 }
 
@@ -124,6 +130,22 @@ bool h_right_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
     return true;
 }
 
+/**
+ * @brief Timer Interrupt Handler for the barcode sensor
+ *
+ * @param repeatingTimer
+ * @return True (To keep the timer running)
+ */
+bool h_barcode_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
+
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xSemaphoreGiveFromISR(g_barcode_sensor_sem,
+                          &xHigherPriorityTaskWoken);
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+
+    return true;
+}
+
 void h_line_sensor_handler(void) {
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
     TickType_t currentTicks = xTaskGetTickCount();
@@ -166,6 +188,25 @@ void h_line_sensor_handler(void) {
         }
     }
 
+    if (gpio_get_irq_event_mask(BARCODE_SENSOR_PIN) & GPIO_IRQ_EDGE_FALL)
+    {
+        if ((currentTicks - lastBarcodeTime) >=
+            pdMS_TO_TICKS(DEBOUNCE_DELAY_MS))
+        {
+            lastBarcodeTime = currentTicks;
+            gpio_acknowledge_irq(BARCODE_SENSOR_PIN, GPIO_IRQ_EDGE_FALL);
+            // Set the flag to notify the task
+            barcode_sensor_triggered = pdTRUE;
+            xSemaphoreGiveFromISR(g_barcode_sensor_sem,
+                                  &xHigherPriorityTaskWoken);
+        }
+        else
+        {
+            // Reset the timer to the currentTicks if the edge is ignored
+            lastBarcodeTime = currentTicks;
+        }
+    }
+
     portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
 }
 

frtos/line_sensor/line_sensor_test.c

@@ -3,6 +3,7 @@
 
 #define READ_LEFT_SENSOR_PRIO           (tskIDLE_PRIORITY + 2UL)
 #define READ_RIGHT_SENSOR_PRIO          (tskIDLE_PRIORITY + 2UL)
+#define READ_RIGHT_SENSOR_PRIO          (tskIDLE_PRIORITY + 2UL)
 
 #define DIRECTION_TASK_PRIORITY         (tskIDLE_PRIORITY + 3UL)
 
@@ -17,6 +18,10 @@ launch()
     gpio_set_irq_enabled(RIGHT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
     gpio_add_raw_irq_handler(RIGHT_SENSOR_PIN, h_line_sensor_handler);
 
+    // isr to detect barcode line sensor
+    gpio_set_irq_enabled(BARCODE_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
+    gpio_add_raw_irq_handler(BARCODE_SENSOR_PIN, h_line_sensor_handler);
+
     irq_set_enabled(IO_IRQ_BANK0, true);
 
 //    struct repeating_timer g_left_sensor_timer;
@@ -47,6 +52,14 @@ launch()
                 READ_RIGHT_SENSOR_PRIO,
                 &h_monitor_right_sensor_task);
 
+    TaskHandle_t h_monitor_barcode_sensor_task;
+    xTaskCreate(monitor_barcode_sensor_task,
+                "Monitor Barcode Sensor Task",
+                configMINIMAL_STACK_SIZE,
+                NULL,
+                READ_RIGHT_SENSOR_PRIO,
+                &h_monitor_right_sensor_task);
+
 //    TaskHandle_t h_monitor_direction_task;
 //    xTaskCreate(monitor_direction_task,
 //                "Monitor Direction Task",

frtos/rtos_car.c

@@ -24,6 +24,7 @@
 
 #define READ_LEFT_SENSOR_PRIO           (tskIDLE_PRIORITY + 2UL)
 #define READ_RIGHT_SENSOR_PRIO          (tskIDLE_PRIORITY + 2UL)
+#define READ_BARCODE_SENSOR_PRIO        (tskIDLE_PRIORITY + 2UL)
 
 #define DIRECTION_TASK_PRIORITY         (tskIDLE_PRIORITY + 3UL)
 
@@ -48,6 +49,12 @@ launch()
                            NULL,
                            &g_right_sensor_timer);
 
+    struct repeating_timer g_barcode_sensor_timer;
+    add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
+                           h_barcode_sensor_timer_handler,
+                           NULL,
+                           &g_barcode_sensor_timer);
+
     TaskHandle_t h_monitor_left_sensor_task;
     xTaskCreate(monitor_left_sensor_task,
                 "Monitor Left Sensor Task",
@@ -64,6 +71,14 @@ launch()
                 READ_RIGHT_SENSOR_PRIO,
                 &h_monitor_right_sensor_task);
     
+    TaskHandle_t h_monitor_barcode_sensor_task;
+    xTaskCreate(monitor_barcode_sensor_task,
+                "Monitor Barcode Sensor Task",
+                configMINIMAL_STACK_SIZE,
+                NULL,
+                READ_BARCODE_SENSOR_PRIO,
+                &h_monitor_barcode_sensor_task);
+
     TaskHandle_t h_monitor_direction_task;
     xTaskCreate(monitor_direction_task,
                 "Monitor Direction Task",