88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
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#include "line_sensor.h"
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#define READ_LEFT_SENSOR_PRIO (tskIDLE_PRIORITY + 2UL)
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#define READ_RIGHT_SENSOR_PRIO (tskIDLE_PRIORITY + 2UL)
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#define READ_RIGHT_SENSOR_PRIO (tskIDLE_PRIORITY + 2UL)
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#define DIRECTION_TASK_PRIORITY (tskIDLE_PRIORITY + 3UL)
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void
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launch()
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{
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// isr to detect left line sensor
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gpio_set_irq_enabled(LEFT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(LEFT_SENSOR_PIN, h_line_sensor_handler);
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// isr to detect right line sensor
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gpio_set_irq_enabled(RIGHT_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(RIGHT_SENSOR_PIN, h_line_sensor_handler);
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// isr to detect barcode line sensor
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gpio_set_irq_enabled(BARCODE_SENSOR_PIN, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(BARCODE_SENSOR_PIN, h_line_sensor_handler);
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irq_set_enabled(IO_IRQ_BANK0, true);
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// struct repeating_timer g_left_sensor_timer;
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// add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
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// h_left_sensor_timer_handler,
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// NULL,
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// &g_left_sensor_timer);
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//
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// struct repeating_timer g_right_sensor_timer;
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// add_repeating_timer_ms(LINE_SENSOR_READ_DELAY,
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// h_right_sensor_timer_handler,
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// NULL,
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// &g_right_sensor_timer);
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TaskHandle_t h_monitor_left_sensor_task;
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xTaskCreate(monitor_left_sensor_task,
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"Monitor Left Sensor Task",
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configMINIMAL_STACK_SIZE,
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NULL,
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READ_LEFT_SENSOR_PRIO,
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&h_monitor_left_sensor_task);
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TaskHandle_t h_monitor_right_sensor_task;
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xTaskCreate(monitor_right_sensor_task,
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"Monitor Right Sensor Task",
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configMINIMAL_STACK_SIZE,
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NULL,
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READ_RIGHT_SENSOR_PRIO,
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&h_monitor_right_sensor_task);
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TaskHandle_t h_monitor_barcode_sensor_task;
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xTaskCreate(monitor_barcode_sensor_task,
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"Monitor Barcode Sensor Task",
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configMINIMAL_STACK_SIZE,
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NULL,
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READ_RIGHT_SENSOR_PRIO,
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&h_monitor_right_sensor_task);
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// TaskHandle_t h_monitor_direction_task;
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// xTaskCreate(monitor_direction_task,
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// "Monitor Direction Task",
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// configMINIMAL_STACK_SIZE,
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// NULL,
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// DIRECTION_TASK_PRIORITY,
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// &h_monitor_direction_task);
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vTaskStartScheduler();
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}
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int
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main (void)
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{
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stdio_usb_init();
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// sleep_ms(2000);
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printf("Test started!\n");
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line_sensor_setup();
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initialize_car_state();
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launch();
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return (0);
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} |