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fix(Line sensor): 

Changed line sensor task
This commit is contained in:
Devoalda 2023-10-26 17:09:25 +08:00
parent 237e370875
commit 5c70e4d1b7
3 changed files with 67 additions and 35 deletions
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54
frtos/line_sensor/line_sensor.h
View File

@ -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

38
frtos/line_sensor/line_sensor_test.c
View File

@ -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_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);
// gpio_set_irq_enabled(LEFT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
// gpio_add_raw_irq_handler(LEFT_SENSOR_PIN, h_line_sensor_handler);
//
// 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);
// // 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;
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,

10
frtos/magnetometer/magnetometer_direction.h
View File

@ -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
*
* The direction of the car is calculated using the complementary
* filter
* of the car with a complementary filter and compensating for the
* temperature.
*
* 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