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INF2004_Project
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extract interrupt handler in for rtos_car

This commit is contained in:
Richie 2023-11-10 10:01:14 +08:00
parent ba2234d380
commit cb80e7f883
1 changed files with 25 additions and 1 deletions
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26
frtos/rtos_car.c
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@ -41,6 +41,30 @@ motor_control_task(void *params)
}
}
void
h_main_irq_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);
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_left_sem,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL)
{
gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_right_sem,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
int
main(void)
{
@ -72,7 +96,7 @@ main(void)
//motor
motor_init(&car_struct);
motor_tasks_init(&car_struct, &h_wheel_sensor_isr_handler);
motor_tasks_init(&car_struct, &h_main_irq_handler);
printf("Motor initialized!\n");
// Magnetometer