107 lines
2.8 KiB
C
107 lines
2.8 KiB
C
/**
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* @brief Program to read onboard temperature sensor and print out the average
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*/
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#include <stdio.h>
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// pico sdk libraries
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#include "pico/cyw43_arch.h"
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#include "pico/stdlib.h"
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// FreeRTOS libraries
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#include "FreeRTOS.h"
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#include "task.h"
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#include "motor_speed.h"
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#include "motor_direction.h"
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#include "line_sensor.h"
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#include "ultrasonic_sensor.h"
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#define READ_LEFT_WHEEL_SPEED_PRIO (tskIDLE_PRIORITY + 1UL)
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#define READ_RIGHT_WHEEL_SPEED_PRIO (tskIDLE_PRIORITY + 1UL)
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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 DIRECTION_TASK_PRIORITY (tskIDLE_PRIORITY + 3UL)
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#define DISTANCE_TASK_PRIORITY (tskIDLE_PRIORITY + 4UL)
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/* Common Car State Structure (TODO: TBC)*/
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//static car_state_t g_car_state;
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void
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launch()
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{
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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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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_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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TaskHandle_t h_monitor_distance_task;
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xTaskCreate(distance_task,
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"Monitor Distance Task",
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configMINIMAL_STACK_SIZE,
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NULL,
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DISTANCE_TASK_PRIORITY,
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&h_monitor_distance_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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motor_init();
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set_wheel_direction(DIRECTION_LEFT_FORWARD | DIRECTION_RIGHT_FORWARD);
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line_sensor_setup();
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init_ultrasonic();
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initialize_car_state(); // TODO: Could be common functionality, To confirm
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// during Integration
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launch();
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return (0);
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}
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/*** end of file ***/
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