From c7950d3ec6cf2d80e80cc3ac489d90dbe12e4df7 Mon Sep 17 00:00:00 2001
From: Richie <2837357W@student.gla.ac.uk>
Date: Sat, 21 Oct 2023 00:04:13 +0800
Subject: [PATCH] merged left and right speed sensor isr into one handler

---
 frtos/motor/motor_speed.h | 19 ++++++++++++-------
 frtos/motor/motor_test.c  |  6 ++----
 frtos/rtos_car.c          |  5 ++---
 3 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/frtos/motor/motor_speed.h b/frtos/motor/motor_speed.h
index cc989e0..3d4db12 100644
--- a/frtos/motor/motor_speed.h
+++ b/frtos/motor/motor_speed.h
@@ -27,29 +27,26 @@ set_wheel_speed(float speed, uint8_t side)
     }
 }
 
+/*!
+ * @brief Interrupt handler for the wheel sensor
+ */
 void
-h_left_wheel_sensor_isr_handler(void)
+h_wheel_sensor_isr_handler(void)
 {
     if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL)
     {
         gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
 
-        // printf("left motor sensor isr\n");
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
         xSemaphoreGiveFromISR(g_wheel_speed_sem_left,
                               &xHigherPriorityTaskWoken);
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
-}
 
-void
-h_right_wheel_sensor_isr_handler(void)
-{
     if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL)
     {
         gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
 
-        // printf("right motor sensor isr\n");
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
         xSemaphoreGiveFromISR(g_wheel_speed_sem_right,
                               &xHigherPriorityTaskWoken);
@@ -57,6 +54,14 @@ h_right_wheel_sensor_isr_handler(void)
     }
 }
 
+/*!
+ * @brief Compute the control signal using PID controller
+ * @param target_speed The target speed of the wheel
+ * @param current_speed The current speed of the wheel
+ * @param integral The integral term of the PID controller
+ * @param prev_error The previous error of the PID controller
+ * @return The control signal
+ */
 float
 compute_pid(float  target_speed,
             float  current_speed,
diff --git a/frtos/motor/motor_test.c b/frtos/motor/motor_test.c
index 7c58ee1..4a5e236 100644
--- a/frtos/motor/motor_test.c
+++ b/frtos/motor/motor_test.c
@@ -11,13 +11,11 @@ launch()
 {
     // isr to detect right motor slot
     gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
-    gpio_add_raw_irq_handler(SPEED_PIN_RIGHT,
-                             h_right_wheel_sensor_isr_handler);
+    gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, h_wheel_sensor_isr_handler);
 
     // isr to detect left motor slot
     gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
-    gpio_add_raw_irq_handler(SPEED_PIN_LEFT,
-                             h_left_wheel_sensor_isr_handler);
+    gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_wheel_sensor_isr_handler);
 
     irq_set_enabled(IO_IRQ_BANK0, true);
 
diff --git a/frtos/rtos_car.c b/frtos/rtos_car.c
index 2b9e283..56453dd 100644
--- a/frtos/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -24,12 +24,11 @@ launch()
     // isr to detect right motor slot
     gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
     gpio_add_raw_irq_handler(SPEED_PIN_RIGHT,
-                             h_right_wheel_sensor_isr_handler);
+                             h_wheel_sensor_isr_handler);
 
     // isr to detect left motor slot
     gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
-    gpio_add_raw_irq_handler(SPEED_PIN_LEFT,
-                             h_left_wheel_sensor_isr_handler);
+    gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_wheel_sensor_isr_handler);
 
     irq_set_enabled(IO_IRQ_BANK0, true);