docs(Line Sensor):

Removed unused files
Added comments
Added Readme for line sensor

README.md

@@ -44,6 +44,9 @@ Motor module consist of 4 components:
 
 ## Line Sensor
 
+The Line sensor package is in `frtos/line_sensor`, and its configuration is in `frtos/config/line_sensor_config.h`. It
+contains the drivers and FreeRTOS tasks to read the line sensor data and update the car's obstruction struct.
+
 ## Magnetometer
 
 The magnetometer used is the [LSM303DLHC](https://www.st.com/resource/en/datasheet/lsm303dlhc.pdf) from STMicroelectronics.

frtos/line_sensor/line_sensor_init.h

@@ -31,7 +31,8 @@ SemaphoreHandle_t g_left_sensor_sem = NULL;
 static inline void
 line_sensor_init(car_struct_t *p_car_struct)
 {
-    p_car_struct->obs->left_sensor_detected, p_car_struct->obs->left_sensor_detected = false;
+    p_car_struct->obs->left_sensor_detected,
+        p_car_struct->obs->left_sensor_detected = false;
 
     g_left_sensor_sem = xSemaphoreCreateBinary();
 
@@ -40,7 +41,6 @@ line_sensor_init(car_struct_t *p_car_struct)
     // Initialise 3 GPIO pins and set them to input
     gpio_init_mask(mask);
     gpio_set_dir_in_masked(mask);
-
 }
 
 /**
@@ -48,35 +48,37 @@ line_sensor_init(car_struct_t *p_car_struct)
  * @param rt
  * @return True (To keep the timer running)
  */
-bool h_left_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
+bool
+h_left_sensor_timer_handler(repeating_timer_t *repeatingTimer)
+{
 
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    xSemaphoreGiveFromISR(g_left_sensor_sem,
+    xSemaphoreGiveFromISR(g_left_sensor_sem, &xHigherPriorityTaskWoken);
-                          &xHigherPriorityTaskWoken);
     portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     return true;
 }
 
-
 void
-monitor_line_sensor_task(void *pvParameters) {
+monitor_line_sensor_task(void *pvParameters)
+{
     volatile obs_t *p_obs = NULL;
-    p_obs = (obs_t *) pvParameters;
+    p_obs                 = (obs_t *)pvParameters;
 
     for (;;)
     {
-//        if (xSemaphoreTake(g_left_sensor_sem, portMAX_DELAY) == pdTRUE)
-//        {
-            // Set the flag to notify the task
-            p_obs->left_sensor_detected = gpio_get(LEFT_SENSOR_PIN);
-            p_obs->right_sensor_detected = gpio_get(RIGHT_SENSOR_PIN);
 
-	    // printf("Left Sensor: %d\n", p_obs->line_detected);
+        // Set the flag to notify the task
-            vTaskDelay(pdMS_TO_TICKS(LINE_SENSOR_READ_DELAY));
+        p_obs->left_sensor_detected  = gpio_get(LEFT_SENSOR_PIN);
-//        }
+        p_obs->right_sensor_detected = gpio_get(RIGHT_SENSOR_PIN);
+
+        vTaskDelay(pdMS_TO_TICKS(LINE_SENSOR_READ_DELAY));
     }
 }
 
+/**
+ * @brief Initialise the tasks for the line sensor
+ * @param car_struct  The car struct
+ */
 void
 line_tasks_init(car_struct_t *car_struct)
 {
@@ -89,5 +91,4 @@ line_tasks_init(car_struct_t *car_struct)
                 &h_monitor_line_sensor_task);
 }
 
-
 #endif /* LINE_SENSOR_INIT_H */

frtos/line_sensor/line_sensor_unused.c

@@ -1,100 +0,0 @@
-#include <stdio.h>
-#include "pico/stdlib.h"
-
-#include "hardware/adc.h"
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-#include "semphr.h"
-
-#include "line_sensor.h"
-#include "string.h"
-
-//const float conversionFactor = 3.3f / (1 << 12);
-
-volatile u_int8_t map[MAP_SIZE][MAP_SIZE] = {0};
-
-
-/**
- * @brief Update the map based on the car's state
- *
- * @param car_state The current car state
- */
-static inline void
-update_map(car_state_t car_state) {
-    if (car_state.x >= 0 && car_state.x < MAP_SIZE &&
-        car_state.y >= 0 && car_state.y < MAP_SIZE) {
-        map[car_state.x][car_state.y] = 1;
-    }
-}
-
-/**
- * @brief Handle forward movement of the car
- *
- * @param car_state The current car state
- */
-static void
-handle_forward_movement(car_state_t *car_state) {
-    printf("FORWARD, ");
-    // TODO: Check car's actual forward movement
-    switch (car_state->orientation) {
-        case NORTH:
-            printf("NORTH\n");
-            car_state->y++;
-            break;
-        case EAST:
-            printf("EAST\n");
-            car_state->x++;
-            break;
-        case SOUTH:
-            printf("SOUTH\n");
-            car_state->y--;
-            break;
-        case WEST:
-            printf("WEST\n");
-            car_state->x--;
-            break;
-    }
-}
-
-/**
- * @brief Handle a right turn of the car
- *
- * Note: Bitwise AND with 0x03 to ensure that the orientation
- * is always between 0 and 3
- * @param car_state The current car state
- */
-static inline void
-handle_right_turn(car_state_t *car_state) {
-    car_state->orientation = (car_state->orientation + 1) & 0x03;
-}
-
-/**
- * @brief Handle a left turn of the car
- *
- * @param car_state The current car state
- */
-static inline void
-handle_left_turn(car_state_t *car_state) {
-    car_state->orientation = (car_state->orientation - 1) & 0x03;
-}
-
-/**
- * @brief Print the map to the console
- *
- * This function will print the map to the console
- */
-void
-print_map() {
-    // Invert the map, 0,0 is at the bottom left
-    for (int i = MAP_SIZE - 1; i >= 0; i --)
-    {
-        for (int j = 0; j < MAP_SIZE; j ++)
-        {
-            printf("%d ", map[j][i]);
-        }
-        printf("\n");
-    }
-}
-

frtos/rtos_car.c

@@ -18,6 +18,11 @@ check_line_touch(void *params)
            | (car_struct->obs->right_sensor_detected);
 }
 
+/**
+ * @brief Check if the car is on the line or if there is an obstacle
+ * @param params  The car_struct
+ * @return 1 if there is an obstacle, 0 otherwise
+ */
 bool
 check_collision(void *params)
 {