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docs(Line Sensor): 

Removed unused files
Added comments
Added Readme for line sensor
This commit is contained in:
Devoalda 2023-11-23 12:00:40 +08:00
parent e55b5d0758
commit 6fd02430d3
4 changed files with 26 additions and 117 deletions
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3
README.md
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@ -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.

25
frtos/line_sensor/line_sensor_init.h
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@ -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,
&xHigherPriorityTaskWoken);
xSemaphoreGiveFromISR(g_left_sensor_sem, &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;
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);
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 */

100
frtos/line_sensor/line_sensor_unused.c
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@ -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");
}
}

5
frtos/rtos_car.c
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@ -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)
{