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Merge pull request #10 from soapysoltionss/main 

barcode
This commit is contained in:
Richie Wang 2023-10-31 14:39:27 +08:00 committed by GitHub
parent ed3c440ebc 2a38789890
commit 398ef2b8ca
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 123 additions and 10 deletions
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1
frtos/config/line_sensor_config.h
View File

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

43
frtos/line_sensor/line_sensor.h
View File

@ -6,6 +6,7 @@
#include "line_sensor_init.h"
/**
* @brief Monitor the left sensor
*
@ -101,6 +102,42 @@ 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
*
@ -113,6 +150,7 @@ void
monitor_direction_task(__unused void *params) {
state_t left_state;
state_t right_state;
state_t barcode_state;
for (;;)
{
@ -126,6 +164,11 @@ monitor_direction_task(__unused void *params) {
&right_state,
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;

45
frtos/line_sensor/line_sensor_init.h
View File

@ -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);
}

29
frtos/line_sensor/line_sensor_test.c
View File

@ -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)
@ -10,14 +11,18 @@ void
launch()
{
// isr to detect left line sensor
// gpio_set_irq_enabled(LEFT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
// gpio_add_raw_irq_handler(LEFT_SENSOR_PIN, h_line_sensor_handler);
//
// // isr to detect right line sensor
// gpio_set_irq_enabled(RIGHT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
// gpio_add_raw_irq_handler(RIGHT_SENSOR_PIN, h_line_sensor_handler);
//
// irq_set_enabled(IO_IRQ_BANK0, true);
gpio_set_irq_enabled(LEFT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(LEFT_SENSOR_PIN, h_line_sensor_handler);
// isr to detect right line sensor
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;
add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
@ -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",

15
frtos/rtos_car.c
View File

@ -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",
@ -63,6 +70,14 @@ launch()
NULL,
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,