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README.md

freeRTOS-car

This project is a car that uses the Raspberry Pi Pico and FreeRTOS to move around a maze.

Configurations

All Configurations are in the folder frtos/config, the file frtos/config/car_config.h contains the main configurations for the car.

Build

Configure your Pico SDK and FreeRTOS Kernel Path in your local environment

mkdir build
cd build
cmake ..
make

Flash

cd build
cp freeRTOS-car.uf2 /media/$USER/RPI-RP2

Components

Motors

Ultrasonic Sensor

Line Sensor

Magnetometer

The magnetometer used is the LSM303DLHC from STMicroelectronics.

Magnetometer package is in frtos/magnetometer, and its configuration is in frtos/config/magnetometer_config.h. It contains the drivers and FreeRTOS tasks to read the magnetometer data.

All the magnetometer data (roll, pitch, yaw) calculated is stored in the direction_t struct, which is defined in frtos/config/magnetometer_config.h.

Filtering

The magnetometer initially used a complementary filter (with the accelerometer) to calculate the Yaw, and the temperature, sensor was used to perform an offset correction. But raw data was accurate enough to use it directly.

An initial calibration method for the magnetometer was implemented, with the use of 100 initial samples, and then a bias calculation. This method was not used in the final version, because the raw data was accurate enough.

The final version of the magnetometer uses a moving average filter to smooth the data and a bias of 0 degrees.