95 lines
2.5 KiB
C
95 lines
2.5 KiB
C
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#include "motor_speed.h"
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#include "motor_direction.h"
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#include "motor_pid.h"
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void
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motor_control_task(void *params)
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{
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car_struct_t *car_struct = (car_struct_t *)params;
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for (;;)
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{
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set_wheel_direction(DIRECTION_FORWARD);
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set_wheel_speed_synced(90u, car_struct);
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vTaskDelay(pdMS_TO_TICKS(10000));
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revert_wheel_direction();
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set_wheel_speed_synced(90u, car_struct);
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vTaskDelay(pdMS_TO_TICKS(10000));
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}
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}
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void
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launch(car_struct_t *car_struct, void *isr_handler)
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{
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// Left wheel
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//
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TaskHandle_t h_monitor_left_wheel_speed_task_handle = NULL;
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xTaskCreate(monitor_wheel_speed_task,
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"monitor_left_wheel_speed_task",
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configMINIMAL_STACK_SIZE,
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(void *)car_struct->p_left_motor,
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WHEEL_SPEED_PRIO,
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&h_monitor_left_wheel_speed_task_handle);
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// Right wheel
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//
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TaskHandle_t h_monitor_right_wheel_speed_task_handle = NULL;
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xTaskCreate(monitor_wheel_speed_task,
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"monitor_wheel_speed_task",
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configMINIMAL_STACK_SIZE,
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(void *)car_struct->p_right_motor,
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WHEEL_SPEED_PRIO,
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&h_monitor_right_wheel_speed_task_handle);
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// control task
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TaskHandle_t h_motor_turning_task_handle = NULL;
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xTaskCreate(motor_control_task,
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"motor_turning_task",
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configMINIMAL_STACK_SIZE,
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(void *)car_struct,
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WHEEL_CONTROL_PRIO,
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&h_motor_turning_task_handle);
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// isr to detect right motor slot
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gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, isr_handler);
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// isr to detect left motor slot
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gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
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gpio_add_raw_irq_handler(SPEED_PIN_LEFT, isr_handler);
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irq_set_enabled(IO_IRQ_BANK0, true);
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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(4000);
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printf("Test started!\n");
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motor_t g_motor_right;
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motor_t g_motor_left;
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motor_pid_t g_pid;
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car_struct_t car_struct = { .p_right_motor = &g_motor_right,
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.p_left_motor = &g_motor_left,
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.p_pid = &g_pid };
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motor_init(&car_struct);
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launch(&car_struct, &h_wheel_sensor_isr_handler);
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// PID timer
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struct repeating_timer pid_timer;
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add_repeating_timer_ms(-50, repeating_pid_handler, &car_struct, &pid_timer);
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vTaskStartScheduler();
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return (0);
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} |