updated barcode & line_sensor_config.h

frtos/barcode_sensor/barcode_sensor.h

@@ -1,6 +1,7 @@
 /* Barcode sensor */
 
 #include "barcode_sensor_init.h"
+#include <string.h>
 
 #define MAX_BARCODES 10 // Define the maximum number of barcodes to store
 #define BARCODE_SENSOR_TIMER_PERIOD_MS 100 // Define the barcode sensor timer period
@@ -8,6 +9,9 @@
 // Define the barcode sensor timer
 static struct repeating_timer barcode_sensor_timer;
 
+// Define the barcode data array
+static uint32_t barcode_data_array[MAX_BARCODES];
+static int barcode_data_index = 0;
 
 /**
  * @brief Decode a Code 39 barcode
@@ -15,9 +19,9 @@ static struct repeating_timer barcode_sensor_timer;
  * This function decodes a Code 39 barcode represented as a 9-bit binary number.
  *
  * @param barcode_data Binary representation of the barcode data (9 bits)
- * @return Decoded value as an integer
+ * @return Decoded value as a character
  */
-int code39_decode(uint32_t barcode_data) {
+char code39_decode(uint32_t barcode_data) {
     // Define the binary representations of Code 39 characters
     const uint32_t code39_characters[] = {
         0b001001001,  // 0
@@ -30,18 +34,50 @@ int code39_decode(uint32_t barcode_data) {
         0b001010011,  // 7
         0b001011101,  // 8
         0b001111001,  // 9
-        // Add more character representations as needed
+        0b001010101,  // A
+        0b001010111,  // B
+        0b001011101,  // C
+        0b001101101,  // D
+        0b001110101,  // E
+        0b001110111,  // F
+        0b001111101,  // G
+        0b001101011,  // H
+        0b001011011,  // I
+        0b001010011,  // J
+        0b001101111,  // K
+        0b001111011,  // L
+        0b001110011,  // M
+        0b001110001,  // N
+        0b001101001,  // O
+        0b001011001,  // P
+        0b001010001,  // Q
+        0b001001101,  // R
+        0b001001111,  // S
+        0b001001011,  // T
+        0b001111011,  // U
+        0b001111101,  // V
+        0b001110101,  // W
+        0b001010111,  // X
+        0b001011111,  // Y
+        0b001101101,  // Z
+        0b001110011,  // -
+        0b001011001,  // .
+        0b001101111,  // space
+        0b001111111,  // $
+        0b001010011,  // /
+        0b001010001,  // +
+        0b001001001,  // %
     };
 
     // Compare the barcode data to known Code 39 character representations
-    for (int i = 0; i < 10; i++) {
+    for (int i = 0; i < 44; i++) {
         if (barcode_data == code39_characters[i]) {
-            return i;  // Return the decoded value (0-9)
+            return (char)(i + 48);  // Return the decoded value as a character
         }
     }
 
-    // If the barcode data does not match any known character, return -1 to indicate an error
+    // If the barcode data does not match any known character, return '?' to indicate an error
-    return -1;
+    return '?';
 }
 
 
@@ -61,7 +97,6 @@ void monitor_barcode_sensor_task(void *params) {
         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;
                 int bar_width = 0; // Variable to store the width of the current bar
 
                 for (int i = 0; i < 9; i++) {
@@ -78,23 +113,39 @@ void monitor_barcode_sensor_task(void *params) {
                             bar_width = 0; // Reset the bar width measurement
                         }
 
-                        barcode_data |= (1u << i);
+                        barcode_data_array[barcode_data_index] |= (1u << i);
                     }
                 }
 
-                printf("Barcode Data (binary): %09b\n", barcode_data);
+                printf("Barcode Data (binary): %09b\n", barcode_data_array[barcode_data_index]);
 
+                barcode_data_index++;
+
+                if (barcode_data_index >= MAX_BARCODES) {
                     // Decode the barcode data
-                int decoded_value = code39_decode(barcode_data);
+                    for (int i = 0; i < MAX_BARCODES; i++) {
+                        int ones_count = 0;
+                        uint32_t barcode_data = barcode_data_array[i];
 
-                if (decoded_value != -1) {
+                        // Count the number of ones in the barcode data
-                    printf("Decoded Value: %d\n", decoded_value);
+                        for (int j = 0; j < 9; j++) {
+                            if ((barcode_data >> j) & 1) {
+                                ones_count++;
+                            }
+                        }
+
+                        char decoded_value = code39_decode(barcode_data);
+
+                        printf("Decoded Value: %c\n", decoded_value);
                         // Store or process the decoded value as needed
 
                         // Send the decoded value instead of the raw barcode data
-                    xMessageBufferSend(barcode_sensor_msg_buffer, &decoded_value, sizeof(int), 0);
+                        xMessageBufferSend(barcode_sensor_msg_buffer, &decoded_value, sizeof(char), 0);
-                } else {
+                    }
-                    printf("Error: Unable to decode the barcode.\n");
+
+                    // Reset the barcode data array and index
+                    memset(barcode_data_array, 0, sizeof(barcode_data_array));
+                    barcode_data_index = 0;
                 }
 
                 // Reset the flag
@@ -103,22 +154,3 @@ void monitor_barcode_sensor_task(void *params) {
         }
     }
 }
-
-
-
-
-/**
- * @brief Monitor the barcode sensor
- * @param params
- */
-void
-monitor_barcode_task(__unused void *params) {
-    state_t barcode_state;
-
-        // Receive from Buffer
-        xMessageBufferReceive(barcode_sensor_msg_buffer,
-                              &barcode_state,
-                              sizeof(state_t),
-                              portMAX_DELAY);
-        
-}

frtos/barcode_sensor/barcode_sensor_init.h

@@ -2,6 +2,7 @@
 
 #ifndef BARCODE_SENSOR_INIT_H
 #define BARCODE_SENSOR_INIT_H
+#define DEBOUNCE_DELAY_MS 100
 
 #include <stdio.h>
 #include "pico/stdlib.h"
@@ -13,9 +14,10 @@
 #include "message_buffer.h"
 #include "semphr.h"
 
-#include "barcode_sensor_config.h"
+#include "line_sensor_config.h"
 #include "line_sensor_init.h"
 
+
 // Set barcode time to 0
 static TickType_t lastBarcodeTime = 0;
 

frtos/barcode_sensor/barcode_sensor_test.c

@@ -40,7 +40,7 @@ main (void)
     printf("Test started!\n");
 
     barcode_sensor_setup();
-    initialize_car_state();
+    // initialize_car_state();
 
     launch();
 

frtos/config/line_sensor_config.h

@@ -7,5 +7,6 @@
 
 #define LEFT_SENSOR_PIN                         ( 26 )
 #define RIGHT_SENSOR_PIN                        ( 27 )
+#define BARCODE_SENSOR_PIN                      ( 22 )  
 
 #endif //CONFIG_H