fix(Line sensor):

Changed line sensor task

frtos/line_sensor/line_sensor.h

@@ -14,13 +14,34 @@
  *
  * @param params
  */
+//void
+//monitor_left_sensor_task(__unused void *params) {
+//    for (;;)
+//    {
+//        if (xSemaphoreTake(g_left_sensor_sem, portMAX_DELAY) == pdTRUE)
+//        {
+//            if (left_sensor_triggered == pdTRUE)
+//            {
+//                printf("left sensor triggered\n");
+//                // Get Current State
+//                state_t state = gpio_get(LEFT_SENSOR_PIN);
+//
+//                xMessageBufferSend(left_sensor_msg_buffer,
+//                                   &state,
+//                                   sizeof(state_t),
+//                                   0);
+//                // Reset the flag
+//                left_sensor_triggered = pdFALSE;
+//            }
+//        }
+//    }
+//}
+
 void
 monitor_left_sensor_task(__unused void *params) {
     for (;;)
     {
         if (xSemaphoreTake(g_left_sensor_sem, portMAX_DELAY) == pdTRUE)
-        {
-            if (left_sensor_triggered == pdTRUE)
         {
                 printf("left sensor triggered\n");
                 // Get Current State
@@ -30,9 +51,6 @@ monitor_left_sensor_task(__unused void *params) {
                                    &state,
                                    sizeof(state_t),
                                    0);
-                // Reset the flag
-                left_sensor_triggered = pdFALSE;
-            }
         }
     }
 }
@@ -45,12 +63,32 @@ monitor_left_sensor_task(__unused void *params) {
  *
  * @param params
  */
+//void
+//monitor_right_sensor_task(void *params) {
+//    for (;;) {
+//        if (xSemaphoreTake(g_right_sensor_sem, portMAX_DELAY) == pdTRUE) {
+//            // Check the flag or receive the message
+//            if (right_sensor_triggered == pdTRUE) {
+//                printf("right sensor triggered\n");
+//                // Get Current State
+//                state_t state = gpio_get(RIGHT_SENSOR_PIN);
+//
+//                xMessageBufferSend(right_sensor_msg_buffer,
+//                                   &state,
+//                                   sizeof(state_t),
+//                                   0);
+//                // Reset the flag
+//                right_sensor_triggered = pdFALSE;
+//            }
+//        }
+//    }
+//}
+
 void
 monitor_right_sensor_task(void *params) {
     for (;;) {
         if (xSemaphoreTake(g_right_sensor_sem, portMAX_DELAY) == pdTRUE) {
             // Check the flag or receive the message
-            if (right_sensor_triggered == pdTRUE) {
                 printf("right sensor triggered\n");
                 // Get Current State
                 state_t state = gpio_get(RIGHT_SENSOR_PIN);
@@ -59,13 +97,9 @@ monitor_right_sensor_task(void *params) {
                                    &state,
                                    sizeof(state_t),
                                    0);
-                // Reset the flag
-                right_sensor_triggered = pdFALSE;
         }
     }
 }
-}
-
 
 /**
  * @brief Monitor the direction and Oritentation of the car

frtos/line_sensor/line_sensor_test.c

@@ -10,26 +10,26 @@ void
 launch()
 {
     // isr to detect left line sensor
-    gpio_set_irq_enabled(LEFT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, 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);
+//    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);
-
-//    struct repeating_timer g_left_sensor_timer;
-//    add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
-//                           h_left_sensor_timer_handler,
-//                           NULL,
-//                           &g_left_sensor_timer);
 //
-//    struct repeating_timer g_right_sensor_timer;
+//    // isr to detect right line sensor
-//    add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
+//    gpio_set_irq_enabled(RIGHT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
-//                           h_right_sensor_timer_handler,
+//    gpio_add_raw_irq_handler(RIGHT_SENSOR_PIN, h_line_sensor_handler);
-//                           NULL,
+//
-//                           &g_right_sensor_timer);
+//    irq_set_enabled(IO_IRQ_BANK0, true);
+
+    struct repeating_timer g_left_sensor_timer;
+    add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
+                           h_left_sensor_timer_handler,
+                           NULL,
+                           &g_left_sensor_timer);
+
+    struct repeating_timer g_right_sensor_timer;
+    add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
+                           h_right_sensor_timer_handler,
+                           NULL,
+                           &g_right_sensor_timer);
 
     TaskHandle_t h_monitor_left_sensor_task;
     xTaskCreate(monitor_left_sensor_task,

frtos/magnetometer/magnetometer_direction.h

@@ -6,15 +6,13 @@
  *
  * @details The direction of the car is calculated using the roll, pitch and yaw
  *          The roll and pitch are calculated using the accelerometer data
- *          The yaw is calculated using the magnetometer data
+ *          The yaw is calculated using the magnetometer and accelerometer data
  *          The roll, pitch and yaw are combined to calculate the direction
- *          of the car
+ *          of the car with a complementary filter and compensating for the
- *
+ *          temperature.
- *          The direction of the car is calculated using the complementary
- *          filter
  *
  *          The complementary filter is used to combine the accelerometer
- *          and magnetometer data to calculate the direction of the car
+ *          and magnetometer data (yaw) to calculate the direction of the car
  *
  *          Source:
  *          https://www.nxp.com/docs/en/application-note/AN3461.pdf