Blinky added

blinky.c

+/*
+ * blinky.c
+ *
+ *  Created on: 12 mai 2022
+ *      Author: oliver
+ */
+// Standard includes
+#include <ch.h>
+#include <hal.h>
+#include <leds.h>
+
+// Project files includes
+#include "blinky.h"
+#include "check_collision.h"
+#include "compute_case.h"
+
+static THD_WORKING_AREA(waBlinky, 128);
+static THD_FUNCTION(Blinky, arg) {
+
+	chRegSetThreadName(__FUNCTION__);
+	(void)arg;
+
+	while(1){
+	// Blink the back LED when the robot moves backward
+		if( ((get_acc_case() == 2) | (get_acc_case() == 4)) &
+			 (get_wall_detection() != 2) ){
+
+			set_led(LED5, 1);
+			chThdSleepMilliseconds(300);
+			set_led(LED5, 0);
+			chThdSleepMilliseconds(200);
+		}else if( ((get_acc_case() == 0) | (get_acc_case() == 1) | (get_acc_case() == 3)) &
+				   (get_wall_detection() != 2) & (get_check_back_wall() == 1) ){
+
+			set_led(LED5, 0);
+			clear_check_back_wall();
+		}
+	    // 10Hz
+	    chThdSleepMilliseconds(100);
+	}
+}
+
+void blinky_start(void){
+	chThdCreateStatic(waBlinky, sizeof(waBlinky), NORMALPRIO, Blinky, NULL);
+}

blinky.h

+/*
+ * blinky.h
+ *
+ *  Created on: 12 mai 2022
+ *      Author: oliver
+ */
+
+#ifndef BLINKY_H_
+#define BLINKY_H_
+
+void blinky_start(void);
+
+
+
+#endif /* BLINKY_H_ */

check_collision.c

@@ -13,7 +13,7 @@
 #include <selector.h>
 #include <audio/audio_thread.h>
 
-// project files includes
+// Project files includes
 #include "check_collision.h"
 #include "compute_case.h"
 

compute_case.c

@@ -9,7 +9,7 @@
 #include <hal.h>
 #include <sensors/imu.h>
 
-// project files includes
+// Project files includes
 #include "compute_case.h"
 
 #define		XAXIS		0

main.c

+/*
+ * main.c
+ *
+ *  Created on: 14 avr. 2022
+ *      Author: Corentin Jossi
+ */
 // Standard includes
 #include <stdio.h>
 #include <stdlib.h>
@@ -15,11 +21,12 @@
 #include <audio/audio_thread.h>
 
 
-// project files includes
+// Project files includes
 #include "main.h"
 #include "compute_case.h"
 #include "check_collision.h"
 #include "motor_speed.h"
+#include "blinky.h"
 
 messagebus_t bus;
 MUTEX_DECL(bus_lock);
@@ -82,6 +89,7 @@ int main(void)
     check_collision_start();
     select_case_start();
     motor_speed_start();
+    blinky_start();
 
     // Front LED indicates that the calibration is completed
     for(uint8_t i = 0 ; i < 3; ++i){
@@ -95,22 +103,7 @@ int main(void)
 
     /* Infinite loop. */
     while (1) {
-    	// Blink the back LED when the robot moves backward
-    	if( ((get_acc_case() == 2) | (get_acc_case() == 4)) &
-    			  (get_wall_detection() != 2) ){
-
-    		set_led(LED5, 1);
-    		chThdSleepMilliseconds(300);
-    		set_led(LED5, 0);
-    		chThdSleepMilliseconds(200);
-    	}else if( ((get_acc_case() == 0) | (get_acc_case() == 1) | (get_acc_case() == 3)) &
-    			  (get_wall_detection() != 2) & (get_check_back_wall() == 1) ){
-
-    		set_led(LED5, 0);
-    		clear_check_back_wall();
-    	}
-    // 10Hz
-    chThdSleepMilliseconds(100);
+    	chThdSleepMilliseconds(1000);
     }
 }
 

main.h

+/*
+ * main.h
+ *
+ *  Created on: 14 avr. 2022
+ *      Author: Corentin Jossi
+ */
 #ifndef MAIN_H
 #define MAIN_H
 

makefile

@@ -13,6 +13,7 @@ CSRC += ./main.c \
 		./compute_case.c \
 		./motor_speed.c \
 		./check_collision.c \
+		./blinky.c \
 
 #Header folders to include
 INCDIR += 

motor_speed.c

@@ -11,7 +11,7 @@
 #include <motors.h>
 #include <selector.h>
 
-// project files includes
+// Project files includes
 #include "motor_speed.h"
 #include "compute_case.h"
 #include "check_collision.h"