refactor(Code Cleanup): Modified code structure

frtos/config/line_sensor_config.h

@@ -3,10 +3,10 @@
 
 /* ADC Configuration */
 
-#define LINE_SENSOR_READ_DELAY                  ( 100 )
+#define LINE_SENSOR_READ_DELAY (100)
 
-#define LEFT_SENSOR_PIN                         ( 26 )
+#define LEFT_SENSOR_PIN    (26)
-#define RIGHT_SENSOR_PIN                        ( 27 )
+#define RIGHT_SENSOR_PIN   (27)
-#define BARCODE_SENSOR_PIN                      ( 22 )  
+#define BARCODE_SENSOR_PIN (22)
 
-#endif //CONFIG_H
+#endif // CONFIG_H

frtos/line_sensor/line_sensor_test.c

@@ -2,7 +2,6 @@
 #include "line_sensor_init.h"
 #include "car_config.h"
 
-
 int
 main(void)
 {
@@ -10,7 +9,7 @@ main(void)
 
     obs_t obs;
 
-    car_struct_t car_struct = {.obs = &obs};
+    car_struct_t car_struct = { .obs = &obs };
 
     sleep_ms(2000);
 

frtos/magnetometer/magnetometer_direction.h

@@ -9,11 +9,15 @@
  *          The yaw is calculated using the magnetometer and accelerometer data
  *          The roll, pitch and yaw are combined to calculate the direction
  *          of the car with a complementary filter and compensating for the
- *          temperature.
+ *          temperature. (existing)
  *
  *          The complementary filter is used to combine the accelerometer
  *          and magnetometer data (yaw) to calculate the direction of the car
  *
+ *          Complementary Filter was used previously, but it was not accurate
+ *          enough. The yaw calculated from the magnetometer data was used
+ *          instead.
+ *
  *          Source:
  *          https://www.nxp.com/docs/en/application-note/AN3461.pdf
  *          https://ahrs.readthedocs.io/en/latest/filters/complementary.html
@@ -80,7 +84,8 @@ calculate_yaw_magnetometer(int16_t magnetometer[3])
  * @return              Compensated Yaw
  */
 float
-compensate_magnetometer(float yaw_mag, int16_t temperature) {
+compensate_magnetometer(float yaw_mag, int16_t temperature)
+{
     // Calculate temperature difference from the reference temperature
     uint delta_temp = temperature - TEMPERATURE_OFFSET;
 
@@ -301,7 +306,7 @@ print_roll_and_pitch(angle_t roll_angle, angle_t pitch_angle)
 }
 
 void
-updateDirection(volatile direction_t * g_direction)
+updateDirection(volatile direction_t *g_direction)
 {
     int16_t magnetometer[3];
     int16_t accelerometer[3];
@@ -323,7 +328,7 @@ void
 monitor_direction_task(void *pvParameters)
 {
     volatile direction_t *p_direction = NULL;
-    p_direction = (direction_t *) pvParameters;
+    p_direction                       = (direction_t *)pvParameters;
 
     for (;;)
     {
@@ -339,7 +344,7 @@ magnetometer_tasks_init(car_struct_t *car_struct)
     xTaskCreate(monitor_direction_task,
                 "Direction Task",
                 configMINIMAL_STACK_SIZE,
-                (void *) car_struct->p_direction,
+                (void *)car_struct->p_direction,
                 PRIO,
                 &h_direction_task);
 }

frtos/magnetometer/magnetometer_test.c

@@ -21,13 +21,13 @@ launch()
 }
 
 int
-main (void)
+main(void)
 {
     stdio_usb_init();
 
     direction_t direction;
 
-    car_struct_t car_struct = {.p_direction = &direction};
+    car_struct_t car_struct = { .p_direction = &direction };
 
     int grid_rows = 10; // Define the number of rows in your grid
     int grid_cols = 10; // Define the number of columns in your grid
@@ -39,13 +39,13 @@ main (void)
 
     magnetometer_init(&car_struct);
 
-//    printf("Magnetometer initialized!\n");
+    //    printf("Magnetometer initialized!\n");
 
     magnetometer_tasks_init(&car_struct);
 
     vTaskStartScheduler();
 
-//    launch();
+    //    launch();
 
-    return(0);
+    return (0);
 }

frtos/magnetometer/map.h

@@ -9,9 +9,9 @@
 #ifndef TEST_PROJECT_MAP_H
 #define TEST_PROJECT_MAP_H
 
-
 // Define the grid structure
-typedef struct {
+typedef struct
+{
     bool **data; // 2D array to represent the grid
     int    rows; // Number of rows in the grid
     int    cols; // Number of columns in the grid
@@ -21,16 +21,20 @@ typedef struct {
 Grid *car_path_grid;
 
 // Function to create and initialize a grid
-Grid *create_grid(int rows, int cols) {
+Grid *
-    Grid *grid = (Grid *) malloc(sizeof(Grid));
+create_grid(int rows, int cols)
+{
+    Grid *grid = (Grid *)malloc(sizeof(Grid));
     grid->rows = rows;
     grid->cols = cols;
 
     // Allocate memory for the 2D array
-    grid->data = (bool **) malloc(rows * sizeof(bool *));
+    grid->data = (bool **)malloc(rows * sizeof(bool *));
-    for (int i = 0; i < rows; i++) {
+    for (int i = 0; i < rows; i++)
-        grid->data[i] = (bool *) malloc(cols * sizeof(bool));
+    {
-        for (int j = 0; j < cols; j++) {
+        grid->data[i] = (bool *)malloc(cols * sizeof(bool));
+        for (int j = 0; j < cols; j++)
+        {
             grid->data[i][j] = false; // Initialize to 'false' (unvisited)
         }
     }
@@ -39,23 +43,32 @@ Grid *create_grid(int rows, int cols) {
 }
 
 // Function to mark a cell as visited
-void mark_cell(Grid *grid, int row, int col) {
+void
-    if (row >= 0 && row < grid->rows && col >= 0 && col < grid->cols) {
+mark_cell(Grid *grid, int row, int col)
+{
+    if (row >= 0 && row < grid->rows && col >= 0 && col < grid->cols)
+    {
         grid->data[row][col] = true;
     }
 }
 
 // Function to check if a cell has been visited
-bool is_cell_visited(Grid *grid, int row, int col) {
+bool
-    if (row >= 0 && row < grid->rows && col >= 0 && col < grid->cols) {
+is_cell_visited(Grid *grid, int row, int col)
+{
+    if (row >= 0 && row < grid->rows && col >= 0 && col < grid->cols)
+    {
         return grid->data[row][col];
     }
     return false; // Consider out-of-bounds as unvisited
 }
 
 // Function to destroy the grid and free memory
-void destroy_grid(Grid *grid) {
+void
-    for (int i = 0; i < grid->rows; i++) {
+destroy_grid(Grid *grid)
+{
+    for (int i = 0; i < grid->rows; i++)
+    {
         free(grid->data[i]);
     }
     free(grid->data);
@@ -64,12 +77,15 @@ void destroy_grid(Grid *grid) {
 
 // Function to update the map based on car's current orientation
 // Function to update the map based on car's current orientation and position
-void update_map(int orientation, int cur_x, int cur_y) {
+void
+update_map(int orientation, int cur_x, int cur_y)
+{
     // Define offsets for different orientations
     int offset_x = 0;
     int offset_y = 0;
 
-    switch (orientation) {
+    switch (orientation)
+    {
         case NORTH:
             offset_y = 1;
             break;
@@ -105,24 +121,27 @@ void update_map(int orientation, int cur_x, int cur_y) {
     mark_cell(car_path_grid, cur_x + offset_x, cur_y + offset_y);
 }
 
-
 // Function to print the map
-void print_map() {
+void
+print_map()
+{
     // Invert the map, 0,0 is at the Middle
     // Print 1 for visited cells and 0 for unvisited cells
-    for (int i = car_path_grid->rows - 1; i >= 0; i--) {
+    for (int i = car_path_grid->rows - 1; i >= 0; i--)
-        for (int j = 0; j < car_path_grid->cols; j++) {
+    {
+        for (int j = 0; j < car_path_grid->cols; j++)
+        {
             (car_path_grid->data[j][i]) ? printf("1 ") : printf("0 ");
-//                case false:
+            //                case false:
-//                    printf("0 ");
+            //                    printf("0 ");
-//                    break;
+            //                    break;
-//                case true:
+            //                case true:
-//                    printf("1 ");
+            //                    printf("1 ");
-//                    break;
+            //                    break;
-//            }
+            //            }
         }
         printf("\n");
     }
 }
 
-#endif //TEST_PROJECT_MAP_H
+#endif // TEST_PROJECT_MAP_H