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INF2004_Project
mirror of https://github.com/L4ncelot-R/freeRTOS-car.git
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test

This commit is contained in:
Richie 2023-11-27 16:51:36 +08:00
parent c7b9625983
commit c2230ae9f9
9 changed files with 371 additions and 486 deletions
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2
frtos/CMakeLists.txt
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@ -6,6 +6,7 @@ add_subdirectory(car)
add_subdirectory(ultrasonic_sensor) add_subdirectory(ultrasonic_sensor)
add_subdirectory(magnetometer) add_subdirectory(magnetometer)
add_subdirectory(frontend) add_subdirectory(frontend)
add_subdirectory(barcode_sensor)
add_executable(rtos_car rtos_car.c) add_executable(rtos_car rtos_car.c)
@ -24,6 +25,7 @@ target_include_directories(rtos_car PRIVATE
${CMAKE_CURRENT_LIST_DIR}/ultrasonic_sensor ${CMAKE_CURRENT_LIST_DIR}/ultrasonic_sensor
${CMAKE_CURRENT_LIST_DIR}/frontend ${CMAKE_CURRENT_LIST_DIR}/frontend
${CMAKE_CURRENT_LIST_DIR}/magnetometer ${CMAKE_CURRENT_LIST_DIR}/magnetometer
${CMAKE_CURRENT_LIST_DIR}/barcode_sensor
) )
target_link_libraries(rtos_car target_link_libraries(rtos_car
pico_cyw43_arch_lwip_sys_freertos pico_cyw43_arch_lwip_sys_freertos

2
frtos/barcode_sensor/barcode_sensor_init.h
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@ -13,7 +13,7 @@
#include "message_buffer.h" #include "message_buffer.h"
#include "semphr.h" #include "semphr.h"
#include "barcode_sensor_config.h" #include "line_sensor_config.h"
#include "line_sensor_init.h" #include "line_sensor_init.h"
// Set barcode time to 0 // Set barcode time to 0

2
frtos/config/line_sensor_config.h
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@ -8,4 +8,6 @@
#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 )
#endif //CONFIG_H #endif //CONFIG_H

23
frtos/config/motor_config.h
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@ -9,11 +9,11 @@
#define SLICE_NUM 0U #define SLICE_NUM 0U
// IN1, IN2, IN3, IN4 on the L298N // IN1, IN2, IN3, IN4 on the L298N
#define DIRECTION_PIN_RIGHT_IN1 11U #define DIRECTION_PIN_RIGHT_IN1 7U //11
#define DIRECTION_PIN_RIGHT_IN2 12U #define DIRECTION_PIN_RIGHT_IN2 6U //12
#define DIRECTION_PIN_LEFT_IN3 19U #define DIRECTION_PIN_LEFT_IN3 3U //19
#define DIRECTION_PIN_LEFT_IN4 20U #define DIRECTION_PIN_LEFT_IN4 2U //20
// to turn one side // to turn one side
#define DIRECTION_RIGHT_FORWARD (1U << DIRECTION_PIN_RIGHT_IN2) #define DIRECTION_RIGHT_FORWARD (1U << DIRECTION_PIN_RIGHT_IN2)
@ -102,23 +102,8 @@ typedef struct
} motor_t; } motor_t;
typedef struct
{
float starting_distance_cm;
float distance_to_travel_cm;
volatile bool is_running;
} distance_to_stop_t;
SemaphoreHandle_t g_left_sem; SemaphoreHandle_t g_left_sem;
SemaphoreHandle_t g_right_sem; SemaphoreHandle_t g_right_sem;
// for testing
// typedef struct
//{
// motor_t * p_left_motor;
// motor_t * p_right_motor;
// motor_pid_t * p_pid;
//
//} car_struct_t;
#endif /* MOTOR_CONFIG_H */ #endif /* MOTOR_CONFIG_H */

641
frtos/frontend/htmldata.c
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const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }}; const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }};

BIN
frtos/frontend/makefsdata.exe Normal file → Executable file
View File

Binary file not shown.

24
frtos/motor/motor_speed.h
View File

@ -75,6 +75,28 @@ monitor_wheel_speed_task(void *ppp_motor)
} }
} }
void
motor_monitoring(motor_t *p_motor, uint64_t *curr_time, uint64_t *prev_time,
uint64_t *elapsed_time)
{
if ((xSemaphoreTake(*p_motor->p_sem, pdMS_TO_TICKS(100))
== pdTRUE) && (*p_motor->use_pid == true))
{
*curr_time = time_us_64();
*elapsed_time = *curr_time - *prev_time;
*prev_time = *curr_time;
p_motor->speed.current_cms
= (float) (SLOT_DISTANCE_CM_MODIFIED / *elapsed_time);
p_motor->speed.distance_cm += SLOT_DISTANCE_CM;
}
else
{
p_motor->speed.current_cms = 0.f;
}
}
/*! /*!
* @brief Set the speed of the wheels * @brief Set the speed of the wheels
* @param pwm_level The pwm_level of the wheels, from 0 to 99 * @param pwm_level The pwm_level of the wheels, from 0 to 99
@ -102,7 +124,7 @@ set_wheel_speed(uint32_t pwm_level, motor_t *p_motor)
void void
set_wheel_speed_synced(uint32_t pwm_level, car_struct_t *pp_car_strut) set_wheel_speed_synced(uint32_t pwm_level, car_struct_t *pp_car_strut)
{ {
set_wheel_speed(MAX_PWM_LEVEL, pp_car_strut->p_left_motor); set_wheel_speed(pwm_level, pp_car_strut->p_left_motor);
set_wheel_speed(pwm_level, pp_car_strut->p_right_motor); set_wheel_speed(pwm_level, pp_car_strut->p_right_motor);
} }

5
frtos/motor/motor_test.c
View File

@ -5,9 +5,12 @@ void
motor_control_task(void *params) motor_control_task(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
car_struct->p_pid->use_pid= false;
for (;;) for (;;)
{ {
turn_by_10_degree(RIGHT, 90u, car_struct); // turn_by_10_degree(RIGHT, 90u, car_struct);
vTaskDelay(pdMS_TO_TICKS(1000)); vTaskDelay(pdMS_TO_TICKS(1000));
} }
} }

158
frtos/rtos_car.c
View File

@ -4,116 +4,20 @@
#include "car_config.h" #include "car_config.h"
#include "motor_init.h" #include "motor_init.h"
/*! /*!
* @brief Check if the car is on the line * @brief Interrupt handler for the wheel sensor
* @param params
* @return
*/ */
uint8_t
check_line_touch(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
return (car_struct->obs->left_sensor_detected << 1)
| (car_struct->obs->right_sensor_detected);
}
bool
check_collision(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
// return ((car_struct->obs->left_sensor_detected << 1)
// | (car_struct->obs->right_sensor_detected))
// || car_struct->obs->ultrasonic_detected;
return check_line_touch(car_struct) ||
car_struct->obs->ultrasonic_detected;
}
void void
motor_control_task(void *params) h_isr_handler(void)
{
car_struct_t *car_struct = (car_struct_t *)params;
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
for (;;)
{
uint8_t temp = check_line_touch(car_struct);
switch (temp)
{
default:
break;
case 0b01:
car_struct->p_right_motor->speed.distance_cm
-= SLOT_DISTANCE_CM;
break;
case 0b10:
car_struct->p_right_motor->speed.distance_cm
+= SLOT_DISTANCE_CM;
break;
case 0b11:
turn(DIRECTION_LEFT, 90u, 90u, car_struct);
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
break;
}
vTaskDelay(pdMS_TO_TICKS(25));
}
}
void
obs_task(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
for (;;)
{
if (car_struct->obs->ultrasonic_detected)
{
// turn(DIRECTION_LEFT, 130u, 90u, car_struct);
// set_wheel_direction(DIRECTION_FORWARD);
// set_wheel_speed_synced(90u, car_struct);
//
revert_wheel_direction();
distance_to_stop(car_struct, 20.f);
}
vTaskDelay(pdMS_TO_TICKS(50));
}
}
void
turn_task(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
for (;;)
{
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(89u, car_struct);
distance_to_stop(car_struct, 20.f);
vTaskDelay(pdMS_TO_TICKS(1000));
// turn_to_yaw(DIRECTION_LEFT, 230.f, 80u, car_struct);
turn(DIRECTION_RIGHT, 80.f, 90u, car_struct);
vTaskDelay(pdMS_TO_TICKS(1000));
}
}
void
h_main_irq_handler(void)
{ {
if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL) if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL)
{ {
gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL); gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_left_sem, &xHigherPriorityTaskWoken); xSemaphoreGiveFromISR(g_left_sem,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
@ -122,7 +26,8 @@ h_main_irq_handler(void)
gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL); gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_right_sem, &xHigherPriorityTaskWoken); xSemaphoreGiveFromISR(g_right_sem,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
} }
@ -148,61 +53,40 @@ main(void)
// Magnetometer // Magnetometer
magnetometer_init(&car_struct); magnetometer_init(&car_struct);
// magnetometer_tasks_init(&car_struct);
// updateDirection(car_struct.p_direction);
printf("Magnetometer initialized!\n"); printf("Magnetometer initialized!\n");
// sleep_ms(1000);
// ultra // ultra
ultrasonic_init(&car_struct); ultrasonic_init(&car_struct);
ultrasonic_task_init(&car_struct);
printf("Ultrasonic sensor initialized!\n"); printf("Ultrasonic sensor initialized!\n");
// line // line
line_sensor_init(&car_struct); line_sensor_init(&car_struct);
line_tasks_init(&car_struct);
printf("Line sensor initialized!\n"); printf("Line sensor initialized!\n");
// motor // motor
motor_init(&car_struct); motor_init(&car_struct);
motor_tasks_init(&car_struct, &h_main_irq_handler);
printf("Motor initialized!\n"); printf("Motor initialized!\n");
sleep_ms(1000u); sleep_ms(1000u);
// control task
// TaskHandle_t h_motor_turning_task_handle = NULL;
// xTaskCreate(motor_control_task,
// "motor_turning_task",
// configMINIMAL_STACK_SIZE,
// (void *)&car_struct,
// PRIO,
// &h_motor_turning_task_handle);
// obs task
// TaskHandle_t h_obs_task_handle = NULL;
// xTaskCreate(obs_task,
// "obs_task",
// configMINIMAL_STACK_SIZE,
// (void *)&car_struct,
// PRIO,
// &h_obs_task_handle);
// turn task
TaskHandle_t h_turn_task_handle = NULL;
xTaskCreate(turn_task,
"turn_task",
configMINIMAL_STACK_SIZE,
(void *)&car_struct,
PRIO,
&h_turn_task_handle);
// PID timer // PID timer
struct repeating_timer pid_timer; struct repeating_timer pid_timer;
add_repeating_timer_ms(-50, repeating_pid_handler, &car_struct, &pid_timer); add_repeating_timer_ms(-50, repeating_pid_handler, &car_struct, &pid_timer);
vTaskStartScheduler(); // wheel encoder
gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, h_isr_handler);
gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_isr_handler);
irq_set_enabled(IO_IRQ_BANK0, true);
for (;;)
{
// motor monitoring
}
return (0); return (0);
} }