diff --git a/frtos/CMakeLists.txt b/frtos/CMakeLists.txt index ba96573..d972636 100644 --- a/frtos/CMakeLists.txt +++ b/frtos/CMakeLists.txt @@ -1,6 +1,4 @@ include(FreeRTOS_Kernel_import.cmake) -add_subdirectory( - car - line_sensor -) +add_subdirectory(car) +add_subdirectory(line_sensor) diff --git a/frtos/car/rtos_car.c b/frtos/car/rtos_car.c index adffa9f..2b925b3 100644 --- a/frtos/car/rtos_car.c +++ b/frtos/car/rtos_car.c @@ -25,6 +25,18 @@ void launch() { + // isr to detect left wheel slot + gpio_set_irq_enabled_with_callback(SPEED_PIN_RIGHT, + GPIO_IRQ_EDGE_FALL, + true, + &right_wheel_sensor_isr); + + // isr to detect right wheel slot + gpio_set_irq_enabled_with_callback(SPEED_PIN_LEFT, + GPIO_IRQ_EDGE_FALL, + true, + &left_wheel_sensor_isr); + TaskHandle_t h_monitor_left_wheel_speed_task_handle = NULL; xTaskCreate(monitor_left_wheel_speed_task, "monitor_left_wheel_speed_task", diff --git a/frtos/car/wheel.h b/frtos/car/wheel.h index 8eda25d..9a46b99 100644 --- a/frtos/car/wheel.h +++ b/frtos/car/wheel.h @@ -26,7 +26,58 @@ uint g_slice_num_left = 0U; uint g_slice_num_right = 0U; -SemaphoreHandle_t g_wheel_speed_sem = NULL; +SemaphoreHandle_t g_wheel_speed_sem_left = NULL; +SemaphoreHandle_t g_wheel_speed_sem_right = NULL; + +void +wheel_setup(void) +{ + // Semaphore + g_wheel_speed_sem_left = xSemaphoreCreateBinary(); + g_wheel_speed_sem_right = xSemaphoreCreateBinary(); + + // Speed + /* adc_init(); + adc_gpio_init(SPEED_PIN_RIGHT); + adc_gpio_init(SPEED_PIN_LEFT);*/ + + gpio_init(SPEED_PIN_RIGHT); + gpio_init(SPEED_PIN_LEFT); + gpio_set_dir(SPEED_PIN_RIGHT, GPIO_IN); + gpio_set_dir(SPEED_PIN_LEFT, GPIO_IN); + + // Initialize direction pins as outputs + gpio_init(DIRECTION_PIN_RIGHT_IN1); + gpio_init(DIRECTION_PIN_RIGHT_IN2); + gpio_init(DIRECTION_PIN_LEFT_IN3); + gpio_init(DIRECTION_PIN_LEFT_IN4); + + gpio_set_dir(DIRECTION_PIN_RIGHT_IN1, GPIO_OUT); + gpio_set_dir(DIRECTION_PIN_RIGHT_IN2, GPIO_OUT); + gpio_set_dir(DIRECTION_PIN_LEFT_IN3, GPIO_OUT); + gpio_set_dir(DIRECTION_PIN_LEFT_IN4, GPIO_OUT); + + // Initialise PWM + gpio_set_function(PWM_PIN_LEFT, GPIO_FUNC_PWM); + gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM); + + g_slice_num_left = pwm_gpio_to_slice_num(PWM_PIN_LEFT); + g_slice_num_right = pwm_gpio_to_slice_num(PWM_PIN_RIGHT); + + // NOTE: PWM clock is 125MHz for raspberrypi pico w by default + + // 125MHz / 250 = 500kHz + pwm_set_clkdiv(g_slice_num_left, PWM_CLK_DIV); + pwm_set_clkdiv(g_slice_num_right, PWM_CLK_DIV); + + // have them to be 500kHz / 5000 = 100Hz + pwm_set_wrap(g_slice_num_left, (PWM_WRAP - 1U)); + pwm_set_wrap(g_slice_num_right, (PWM_WRAP - 1U)); + + pwm_set_enabled(g_slice_num_left, true); + pwm_set_enabled(g_slice_num_right, true); +} + /*! * @brief Set the direction of the wheels; can use bitwise OR to set both @@ -50,67 +101,6 @@ set_wheel_direction (uint32_t direction) gpio_set_mask(direction); } -uint8_t -get_wheel_slot_count (uint adc_pin) -{ - adc_select_input(adc_pin); - - uint8_t count = 0u; - TickType_t xEndTime = xTaskGetTickCount() + - pdMS_TO_TICKS(SPEED_READING_TRESHOLD_MSEC); - - static volatile bool b_is_adc_high = false; - - while (xTaskGetTickCount() < xEndTime) - { - /* - * If the sensor value is below the threshold and the previous reading - * was above the threshold, then increment the count. - */ - if (b_is_adc_high && (adc_read() < ADC_READING_TRESHOLD)) - { - count++; - b_is_adc_high = false; - } - else if (!b_is_adc_high && (adc_read() >= ADC_READING_TRESHOLD)) - { - b_is_adc_high = true; - } - } - - b_is_adc_high = false; - - return count; - -} - -void -monitor_left_wheel_speed_task (__unused void * p_params) -{ - for (;;) - { - xSemaphoreTake(g_wheel_speed_sem, portMAX_DELAY); - printf("left wheel: %d\n", get_wheel_slot_count(0)); - xSemaphoreGive(g_wheel_speed_sem); - vTaskDelay(pdMS_TO_TICKS(10)); - } -} - -void -monitor_right_wheel_speed_task (__unused void * p_params) -{ - static uint8_t count = 0u; - - for (;;) - { - xSemaphoreTake(g_wheel_speed_sem, portMAX_DELAY); - count = get_wheel_slot_count(1); - printf("right wheel: %f rounds\n", (((float) count) / 20.f)); - xSemaphoreGive(g_wheel_speed_sem); - vTaskDelay(pdMS_TO_TICKS(10)); - } -} - void set_wheel_speed (float speed) { @@ -124,44 +114,67 @@ set_wheel_speed (float speed) } void -wheel_setup(void) +left_wheel_sensor_isr (__unused uint gpio, __unused uint32_t events) { - // Semaphore - g_wheel_speed_sem = xSemaphoreCreateMutex(); + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + xSemaphoreGiveFromISR(g_wheel_speed_sem_left, &xHigherPriorityTaskWoken); + portYIELD_FROM_ISR(xHigherPriorityTaskWoken); +} - // Speed - adc_init(); - adc_gpio_init(SPEED_PIN_RIGHT); - adc_gpio_init(SPEED_PIN_LEFT); +void +right_wheel_sensor_isr (__unused uint gpio, __unused uint32_t events) +{ + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + xSemaphoreGiveFromISR(g_wheel_speed_sem_right, &xHigherPriorityTaskWoken); + portYIELD_FROM_ISR(xHigherPriorityTaskWoken); +} - // Initialize direction pins as outputs - gpio_init(DIRECTION_PIN_RIGHT_IN1); - gpio_init(DIRECTION_PIN_RIGHT_IN2); - gpio_init(DIRECTION_PIN_LEFT_IN3); - gpio_init(DIRECTION_PIN_LEFT_IN4); +void +monitor_left_wheel_speed_task (__unused void *pvParameters) +{ + for (;;) + { + if (xSemaphoreTake(g_wheel_speed_sem_left, portMAX_DELAY) == pdTRUE) + { + static uint64_t curr_time_left = 0u; + curr_time_left = time_us_64(); - gpio_set_dir(DIRECTION_PIN_RIGHT_IN1, GPIO_OUT); - gpio_set_dir(DIRECTION_PIN_RIGHT_IN2, GPIO_OUT); - gpio_set_dir(DIRECTION_PIN_LEFT_IN3, GPIO_OUT); - gpio_set_dir(DIRECTION_PIN_LEFT_IN4, GPIO_OUT); - // Initialise PWM - gpio_set_function(PWM_PIN_LEFT, GPIO_FUNC_PWM); - gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM); + static uint64_t prev_time_left = 0u; + static uint64_t elapsed_time_left = 0u; - g_slice_num_left = pwm_gpio_to_slice_num(PWM_PIN_LEFT); - g_slice_num_right = pwm_gpio_to_slice_num(PWM_PIN_RIGHT); + elapsed_time_left = curr_time_left - prev_time_left; - // NOTE: PWM clock is 125MHz for raspberrypi pico w by default + printf("time elapsed: %llu\n", elapsed_time_left); - // 125MHz / 250 = 500kHz - pwm_set_clkdiv(g_slice_num_left, PWM_CLK_DIV); - pwm_set_clkdiv(g_slice_num_right, PWM_CLK_DIV); + prev_time_left = curr_time_left; - // have them to be 500kHz / 5000 = 100Hz - pwm_set_wrap(g_slice_num_left, (PWM_WRAP - 1U)); - pwm_set_wrap(g_slice_num_right, (PWM_WRAP - 1U)); + } + + } + +} + +void +monitor_right_wheel_speed_task (__unused void *pvParameters) +{ + for (;;) + { + if (xSemaphoreTake(g_wheel_speed_sem_right, portMAX_DELAY) == pdTRUE) + { + static uint64_t curr_time_right = 0u; + curr_time_right = time_us_64(); + + static uint64_t prev_time_right = 0u; + static uint64_t elapsed_time_right = 0u; + + elapsed_time_right = curr_time_right - prev_time_right; + + printf("time elapsed: %llu\n", elapsed_time_right); + + prev_time_right = curr_time_right; + } + + } - pwm_set_enabled(g_slice_num_left, true); - pwm_set_enabled(g_slice_num_right, true); } \ No newline at end of file