81 lines
1.8 KiB
C
81 lines
1.8 KiB
C
/**
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* @file line_sensor_init.h
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* @brief Initialise the line sensor
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* @author Woon Jun Wei
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*/
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#ifndef LINE_SENSOR_INIT_H
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#define LINE_SENSOR_INIT_H
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include "hardware/adc.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "message_buffer.h"
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#include "semphr.h"
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#include "line_sensor_config.h"
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#include "car_config.h"
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// Semaphore
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SemaphoreHandle_t g_left_sensor_sem = NULL;
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/**
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* @brief Setup the Line Sensor
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*
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* This function will setup the Line Sensor by initializing it as an input
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*/
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static inline void
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line_sensor_init() {
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// obs_t obs = {0, 0};
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//
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// p_car->obs = &obs;
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g_left_sensor_sem = xSemaphoreCreateBinary();
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uint mask = (1 << LEFT_SENSOR_PIN) | (1 << RIGHT_SENSOR_PIN);
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// Initialise 3 GPIO pins and set them to input
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gpio_init_mask(mask);
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gpio_set_dir_in_masked(mask);
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}
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/**
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* @brief Timer Interrupt Handler for the left sensor
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* @param rt
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* @return True (To keep the timer running)
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*/
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bool h_left_sensor_timer_handler(repeating_timer_t *repeatingTimer) {
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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xSemaphoreGiveFromISR(g_left_sensor_sem,
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&xHigherPriorityTaskWoken);
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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return true;
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}
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void
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monitor_left_sensor_task(void *pvParameters) {
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volatile obs_t *p_obs = NULL;
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p_obs = (obs_t *) pvParameters;
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for (;;)
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{
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// if (xSemaphoreTake(g_left_sensor_sem, portMAX_DELAY) == pdTRUE)
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// {
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// Set the flag to notify the task
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p_obs->line_detected = gpio_get(LEFT_SENSOR_PIN);
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printf("Left Sensor: %d\n", p_obs->line_detected);
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vTaskDelay(pdMS_TO_TICKS(LINE_SENSOR_READ_DELAY));
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// }
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}
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}
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#endif /* LINE_SENSOR_INIT_H */
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