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Line sensor update for integration

This commit is contained in:
Devoalda 2023-11-09 12:28:38 +08:00
parent 8a89239362
commit b36e4c93a3
4 changed files with 89 additions and 341 deletions
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14
frtos/config/line_sensor_config.h
View File

@ -7,11 +7,17 @@
#define LEFT_SENSOR_PIN ( 26 )
#define RIGHT_SENSOR_PIN ( 27 )
#define BARCODE_SENSOR_PIN ( 22 )
typedef struct s_obs_struct {
uint8_t line_detected;
bool ultrasonic_detected;
} obs_t;
/* Map */
#define MAP_START_SYMBOL ( 5 )
#define MAP_SIZE 20
typedef struct
{
obs_t *obs;
} line_car_struct_t;
#endif //CONFIG_H

175
frtos/line_sensor/line_sensor.h
View File

@ -4,58 +4,11 @@
* @author Woon Jun Wei
*/
#ifndef LINE_SENSOR_H
#define LINE_SENSOR_H
#include "line_sensor_init.h"
/**
* @brief Monitor the left sensor
*
* This function will monitor the left sensor and send the state to the
* left sensor message buffer, used to calculate the direction of the car
*
* @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)
{
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);
}
}
}
/**
* @brief Monitor the right sensor
*
@ -85,59 +38,25 @@ monitor_left_sensor_task(__unused void *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
printf("right sensor triggered\n");
// Get Current State
state_t state = gpio_get(RIGHT_SENSOR_PIN);
//void
//monitor_right_sensor_task(void *pvParameters) {
//
// volatile
// for (;;) {
// if (xSemaphoreTake(g_right_sensor_sem, portMAX_DELAY) == pdTRUE) {
// // Check the flag or receive the message
// 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);
// }
// }
//}
xMessageBufferSend(right_sensor_msg_buffer,
&state,
sizeof(state_t),
0);
}
}
}
/**
* @brief Monitor the barcode sensor
*
* This function will monitor the barcode sensor and send the state to the
* barcode sensor message buffer, used to scan the barcode below the car
*
* @param params
*/
void monitor_barcode_sensor_task(void *params) {
for (;;) {
if (xSemaphoreTake(g_barcode_sensor_sem, portMAX_DELAY) == pdTRUE) {
// Check the flag or receive the message
if (barcode_sensor_triggered == pdTRUE) {
uint32_t barcode_data = 0;
for (int i = 0; i < 9; i++) {
sleep_ms(100); // Wait for a segment of the barcode
if (gpio_get(BARCODE_SENSOR_PIN)) {
barcode_data |= (1u << i);
} else {
barcode_data &= ~(1u << i);
}
}
printf("Barcode Data (binary): %09b\n", barcode_data);
// Send or process the barcode data
xMessageBufferSend(barcode_sensor_msg_buffer, &barcode_data, sizeof(uint32_t), 0);
// Reset the flag
barcode_sensor_triggered = pdFALSE;
}
}
}
}
/**
* @brief Monitor the direction and Oritentation of the car
*
@ -146,29 +65,29 @@ void monitor_barcode_sensor_task(void *params) {
*
* @param params
*/
void
monitor_direction_task(__unused void *params) {
state_t left_state;
state_t right_state;
state_t barcode_state;
for (;;)
{
// Receive from Buffer
xMessageBufferReceive(left_sensor_msg_buffer,
&left_state,
sizeof(state_t),
portMAX_DELAY);
xMessageBufferReceive(right_sensor_msg_buffer,
&right_state,
sizeof(state_t),
portMAX_DELAY);
xMessageBufferReceive(barcode_sensor_msg_buffer,
&barcode_state,
sizeof(state_t),
portMAX_DELAY);
//void
//monitor_direction_task(__unused void *params) {
// state_t left_state;
// state_t right_state;
// state_t barcode_state;
//
// for (;;)
// {
// // Receive from Buffer
// xMessageBufferReceive(left_sensor_msg_buffer,
// &left_state,
// sizeof(state_t),
// portMAX_DELAY);
//
// xMessageBufferReceive(right_sensor_msg_buffer,
// &right_state,
// sizeof(state_t),
// portMAX_DELAY);
//
// xMessageBufferReceive(barcode_sensor_msg_buffer,
// &barcode_state,
// sizeof(state_t),
// portMAX_DELAY);
// g_car_state.current_direction = (left_state << 1) | right_state;
@ -220,5 +139,7 @@ monitor_direction_task(__unused void *params) {
// printf("Orientation: Error\n");
// break;
// }
}
}
// }
//}
#endif /* LINE_SENSOR_H */

167
frtos/line_sensor/line_sensor_init.h
View File

@ -19,63 +19,8 @@
#include "line_sensor_config.h"
#define DEBOUNCE_DELAY_MS 100
static TickType_t lastEdgeTimeLeft = 0;
static TickType_t lastEdgeTimeRight = 0;
static TickType_t lastBarcodeTime = 0;
typedef enum { // Unused, useful for readability
LINE_DETECTED = 0,
LINE_NOT_DETECTED = 1,
} state_t;
//typedef enum {
// ERROR = 0,
// RIGHT = 1,
// LEFT = 2,
// FORWARD = 3
//} direction_t;
//typedef enum {
// NORTH = 0,
// EAST = 1,
// SOUTH = 2,
// WEST = 3,
//} orientation_t;
//typedef struct {
// uint8_t x; // Current x coordinate
// uint8_t y; // Current y coordinate
// direction_t current_direction; // Current direction (forward, left, right)
// orientation_t orientation; // Current orientation (N, E, S, W)
//} car_state_t;
// Semaphore
SemaphoreHandle_t g_left_sensor_sem = NULL;
SemaphoreHandle_t g_right_sensor_sem = NULL;
SemaphoreHandle_t g_barcode_sensor_sem = NULL;
// Queue
static MessageBufferHandle_t left_sensor_msg_buffer; // Left Sensor Buffer
static MessageBufferHandle_t right_sensor_msg_buffer; // Right Sensor Buffer
static MessageBufferHandle_t barcode_sensor_msg_buffer; // Barcode Sensor Buffer
static volatile BaseType_t right_sensor_triggered = pdFALSE;
static volatile BaseType_t left_sensor_triggered = pdFALSE;
static volatile BaseType_t barcode_sensor_triggered = pdFALSE;
//// Car State Struct
//static car_state_t g_car_state;
//
//static car_state_t initialize_car_state() {
// g_car_state.x = MAP_SIZE >> 1;
// g_car_state.y = MAP_SIZE >> 1;
// g_car_state.current_direction = FORWARD;
// g_car_state.orientation = NORTH;
//
// return g_car_state;
//}
/**
* @brief Setup the Line Sensor
@ -83,21 +28,19 @@ static volatile BaseType_t barcode_sensor_triggered = pdFALSE;
* This function will setup the Line Sensor by initializing it as an input
*/
static inline void
line_sensor_setup() {
g_left_sensor_sem = xSemaphoreCreateBinary();
g_right_sensor_sem = xSemaphoreCreateBinary();
g_barcode_sensor_sem = xSemaphoreCreateBinary();
line_sensor_init(line_car_struct_t *p_car) {
obs_t obs = {1, 0};
uint mask = (1 << LEFT_SENSOR_PIN) | (1 << RIGHT_SENSOR_PIN) | (1 << BARCODE_SENSOR_PIN);
p_car->obs = &obs;
g_left_sensor_sem = xSemaphoreCreateBinary();
uint mask = (1 << LEFT_SENSOR_PIN) | (1 << RIGHT_SENSOR_PIN);
// Initialise 3 GPIO pins and set them to input
gpio_init_mask(mask);
gpio_set_dir_in_masked(mask);
left_sensor_msg_buffer = xMessageBufferCreate(30);
right_sensor_msg_buffer = xMessageBufferCreate(30);
barcode_sensor_msg_buffer = xMessageBufferCreate(30);
}
/**
@ -114,100 +57,22 @@ bool h_left_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
return true;
}
/**
* @brief Timer Interrupt Handler for the right sensor
*
* @param repeatingTimer
* @return True (To keep the timer running)
*/
bool h_right_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_right_sensor_sem,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
void
monitor_left_sensor_task(void *pvParameters) {
volatile obs_t *p_obs = NULL;
p_obs = (obs_t *) pvParameters;
return true;
}
/**
* @brief Timer Interrupt Handler for the barcode sensor
*
* @param repeatingTimer
* @return True (To keep the timer running)
*/
bool h_barcode_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_barcode_sensor_sem,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
return true;
}
void h_line_sensor_handler(void) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
TickType_t currentTicks = xTaskGetTickCount();
printf("Interrupt triggered\n");
if (gpio_get_irq_event_mask(LEFT_SENSOR_PIN) & GPIO_IRQ_EDGE_FALL)
for (;;)
{
if ((currentTicks - lastEdgeTimeLeft) >=
pdMS_TO_TICKS(DEBOUNCE_DELAY_MS))
if (xSemaphoreTake(g_left_sensor_sem, portMAX_DELAY) == pdTRUE)
{
lastEdgeTimeLeft = currentTicks;
gpio_acknowledge_irq(LEFT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL);
left_sensor_triggered = pdTRUE;
xSemaphoreGiveFromISR(g_left_sensor_sem, &xHigherPriorityTaskWoken);
}
else
{
// Reset the timer to the currentTicks if the edge is ignored
lastEdgeTimeLeft = currentTicks;
}
}
if (gpio_get_irq_event_mask(RIGHT_SENSOR_PIN) & GPIO_IRQ_EDGE_FALL)
{
if ((currentTicks - lastEdgeTimeRight) >=
pdMS_TO_TICKS(DEBOUNCE_DELAY_MS))
{
lastEdgeTimeRight = currentTicks;
gpio_acknowledge_irq(RIGHT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL);
// Set the flag to notify the task
right_sensor_triggered = pdTRUE;
xSemaphoreGiveFromISR(g_right_sensor_sem,
&xHigherPriorityTaskWoken);
}
else
{
// Reset the timer to the currentTicks if the edge is ignored
lastEdgeTimeRight = currentTicks;
p_obs->line_detected = gpio_get(LEFT_SENSOR_PIN);
printf("Left Sensor: %d\n", p_obs->line_detected);
}
}
if (gpio_get_irq_event_mask(BARCODE_SENSOR_PIN) & GPIO_IRQ_EDGE_FALL)
{
if ((currentTicks - lastBarcodeTime) >=
pdMS_TO_TICKS(DEBOUNCE_DELAY_MS))
{
lastBarcodeTime = currentTicks;
gpio_acknowledge_irq(BARCODE_SENSOR_PIN, GPIO_IRQ_EDGE_FALL);
// Set the flag to notify the task
barcode_sensor_triggered = pdTRUE;
xSemaphoreGiveFromISR(g_barcode_sensor_sem,
&xHigherPriorityTaskWoken);
}
else
{
// Reset the timer to the currentTicks if the edge is ignored
lastBarcodeTime = currentTicks;
}
}
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
#endif /* LINE_SENSOR_INIT_H */

72
frtos/line_sensor/line_sensor_test.c
View File

@ -1,88 +1,44 @@
#include "line_sensor.h"
#include "line_sensor_init.h"
#define READ_LEFT_SENSOR_PRIO (tskIDLE_PRIORITY + 2UL)
#define READ_RIGHT_SENSOR_PRIO (tskIDLE_PRIORITY + 2UL)
#define READ_RIGHT_SENSOR_PRIO (tskIDLE_PRIORITY + 2UL)
#define DIRECTION_TASK_PRIORITY (tskIDLE_PRIORITY + 3UL)
void
launch()
launch(line_car_struct_t *car_struct)
{
// 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);
// isr to detect barcode line sensor
gpio_set_irq_enabled(BARCODE_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(BARCODE_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;
TaskHandle_t h_monitor_left_sensor_task = NULL;
xTaskCreate(monitor_left_sensor_task,
"Monitor Left Sensor Task",
"read_left_sensor_task",
configMINIMAL_STACK_SIZE,
NULL,
(void *)car_struct->obs,
READ_LEFT_SENSOR_PRIO,
&h_monitor_left_sensor_task);
TaskHandle_t h_monitor_right_sensor_task;
xTaskCreate(monitor_right_sensor_task,
"Monitor Right Sensor Task",
configMINIMAL_STACK_SIZE,
NULL,
READ_RIGHT_SENSOR_PRIO,
&h_monitor_right_sensor_task);
TaskHandle_t h_monitor_barcode_sensor_task;
xTaskCreate(monitor_barcode_sensor_task,
"Monitor Barcode Sensor Task",
configMINIMAL_STACK_SIZE,
NULL,
READ_RIGHT_SENSOR_PRIO,
&h_monitor_right_sensor_task);
// TaskHandle_t h_monitor_direction_task;
// xTaskCreate(monitor_direction_task,
// "Monitor Direction Task",
// configMINIMAL_STACK_SIZE,
// NULL,
// DIRECTION_TASK_PRIORITY,
// &h_monitor_direction_task);
vTaskStartScheduler();
}
int
main (void)
main(void)
{
stdio_usb_init();
// sleep_ms(2000);
obs_t obs = { 0, 0 };
line_car_struct_t car_struct = { .obs = &obs };
sleep_ms(2000);
printf("Test started!\n");
line_sensor_setup();
initialize_car_state();
line_sensor_init(&car_struct);
launch();
launch(&car_struct);
return (0);
}