From da220b21ba45770a1a79210fa14004945a1fe466 Mon Sep 17 00:00:00 2001 From: dadij <126593917+dadij@users.noreply.github.com> Date: Sat, 5 Sep 2026 22:47:50 +0000 Subject: [PATCH] finalized version --- .gitignore | 1 + LICENSE | 18 --- README.md | 3 - compile_commands.json | 200 +++++++++++++++++++++++++++++++ include/README | 37 ++++++ include/digital_in.h | 14 +++ include/digital_out.h | 15 +++ include/rotary_encoder_driver.h | 31 +++++ include/timer_usec.h | 9 ++ lib/README | 46 +++++++ platformio.ini | 14 +++ src/digital_in.cpp | 14 +++ src/digital_out.cpp | 9 ++ src/main.cpp | 23 ++++ src/part1_first_working_main.cpp | 50 ++++++++ src/part1part2.cpp | 65 ++++++++++ main.cpp => src/part3part1.cpp | 0 src/rotary_encoder_driver.cpp | 56 +++++++++ src/timer_usec.cpp | 12 ++ test/README | 11 ++ 20 files changed, 607 insertions(+), 21 deletions(-) create mode 100644 .gitignore delete mode 100644 LICENSE delete mode 100644 README.md create mode 100644 compile_commands.json create mode 100644 include/README create mode 100644 include/digital_in.h create mode 100644 include/digital_out.h create mode 100644 include/rotary_encoder_driver.h create mode 100644 include/timer_usec.h create mode 100644 lib/README create mode 100644 platformio.ini create mode 100644 src/digital_in.cpp create mode 100644 src/digital_out.cpp create mode 100644 src/main.cpp create mode 100644 src/part1_first_working_main.cpp create mode 100644 src/part1part2.cpp rename main.cpp => src/part3part1.cpp (100%) create mode 100644 src/rotary_encoder_driver.cpp create mode 100644 src/timer_usec.cpp create mode 100644 test/README diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..03f4a3c --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +.pio diff --git a/LICENSE b/LICENSE deleted file mode 100644 index ef36d5b..0000000 --- a/LICENSE +++ /dev/null @@ -1,18 +0,0 @@ -MIT License - -Copyright (c) 2026 helgie22 - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and -associated documentation files (the "Software"), to deal in the Software without restriction, including -without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the -following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial -portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT -LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO -EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER -IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE -USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/README.md b/README.md deleted file mode 100644 index a1adbcc..0000000 --- a/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# ESP_Projects_H26 - -A repository for projects done in the Embedded System Programming class in Reykjavík University in the Fall semester of 2026 \ No newline at end of file diff --git a/compile_commands.json b/compile_commands.json new file mode 100644 index 0000000..4c82cc5 --- /dev/null +++ b/compile_commands.json @@ -0,0 +1,200 @@ +[ + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/CDC.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections 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-I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_digital.c", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_digital.c", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_digital.c.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -mmcu=atmega328p -x assembler-with-cpp -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs -c -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.S.o /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.S", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.S", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.S.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.c", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.c", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.c.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_shift.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_shift.c", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_shift.c", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_shift.c.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/digital_in.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/digital_in.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/digital_in.cpp", + "output": ".pio/build/nanoatmega328new/src/digital_in.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/digital_out.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/digital_out.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/digital_out.cpp", + "output": ".pio/build/nanoatmega328new/src/digital_out.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/main.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/main.cpp", + "output": ".pio/build/nanoatmega328new/src/main.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part1_first_working_main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part1_first_working_main.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/part1_first_working_main.cpp", + "output": ".pio/build/nanoatmega328new/src/part1_first_working_main.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part1part2.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part1part2.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/part1part2.cpp", + "output": ".pio/build/nanoatmega328new/src/part1part2.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part3part1.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part3part1.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/part3part1.cpp", + "output": ".pio/build/nanoatmega328new/src/part3part1.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/rotary_encoder_driver.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/rotary_encoder_driver.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/rotary_encoder_driver.cpp", + "output": ".pio/build/nanoatmega328new/src/rotary_encoder_driver.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/timer_usec.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/timer_usec.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "src/timer_usec.cpp", + "output": ".pio/build/nanoatmega328new/src/timer_usec.cpp.o" + } +] diff --git a/include/README b/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/include/README @@ -0,0 +1,37 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the convention is to give header files names that end with `.h'. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/include/digital_in.h b/include/digital_in.h new file mode 100644 index 0000000..0f62f9c --- /dev/null +++ b/include/digital_in.h @@ -0,0 +1,14 @@ +#ifndef DIGITAL_IN_H +#define DIGITAL_IN_H +#include + +struct Digital_in { + uint8_t pin_mask; + + Digital_in(uint8_t pin); + + void init(); + bool is_hi(); + bool is_lo(); +}; +#endif diff --git a/include/digital_out.h b/include/digital_out.h new file mode 100644 index 0000000..7ed8229 --- /dev/null +++ b/include/digital_out.h @@ -0,0 +1,15 @@ +#ifndef DIGITAL_OUT_H +#define DIGITAL_OUT_H +#include + +struct Digital_out { + uint8_t pin_mask; + + Digital_out(uint8_t pin); + + void init(); + void toggle(); + void set_hi(); + void set_lo(); +}; +#endif diff --git a/include/rotary_encoder_driver.h b/include/rotary_encoder_driver.h new file mode 100644 index 0000000..3fdcf4b --- /dev/null +++ b/include/rotary_encoder_driver.h @@ -0,0 +1,31 @@ +#ifndef ROTARY_ENCODER_DRIVER_H +#define ROTARY_ENCODER_DRIVER_H + +#include "digital_in.h" +#include "digital_out.h" +#include "timer_usec.h" + +class RotaryEncoderDriver { + volatile uint8_t cycle; + volatile int16_t count; + volatile int16_t prev_count; + + Digital_out led; + + Digital_in eA; + Digital_in eB; + + Timer_usec timer; + +public: + volatile int16_t delta; + + RotaryEncoderDriver(); + void begin(); + void update(); + int position(); + void update_delta(); + float count_per_sec(); + +}; +#endif diff --git a/include/timer_usec.h b/include/timer_usec.h new file mode 100644 index 0000000..660e9b0 --- /dev/null +++ b/include/timer_usec.h @@ -0,0 +1,9 @@ +#ifndef TIMER_USEC_H +#define TIMER_USEC_H +#include + +struct Timer_usec { + Timer_usec(); + void init(uint16_t period_us); +}; +#endif diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into the executable file. + +The source code of each library should be placed in a separate directory +("lib/your_library_name/[Code]"). + +For example, see the structure of the following example libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +Example contents of `src/main.c` using Foo and Bar: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +The PlatformIO Library Dependency Finder will find automatically dependent +libraries by scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..8ba220f --- /dev/null +++ b/platformio.ini @@ -0,0 +1,14 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:nanoatmega328new] +platform = atmelavr +board = nanoatmega328new +framework = arduino diff --git a/src/digital_in.cpp b/src/digital_in.cpp new file mode 100644 index 0000000..5735eaf --- /dev/null +++ b/src/digital_in.cpp @@ -0,0 +1,14 @@ +#include +#include "digital_in.h" + +Digital_in::Digital_in(uint8_t pin) : pin_mask(1< + +Digital_out::Digital_out(uint8_t pin) : pin_mask(1< +#include +#include + +#include "rotary_encoder_driver.h" + +RotaryEncoderDriver encoder; + +int main() { + init(); + Serial.begin(9600); + + cli(); + encoder.begin(); + sei(); + + while (true) { + _delay_ms(50); + Serial.print("Counts per second: "); + Serial.println(encoder.count_per_sec()); + } + return 0; +} diff --git a/src/part1_first_working_main.cpp b/src/part1_first_working_main.cpp new file mode 100644 index 0000000..54faf56 --- /dev/null +++ b/src/part1_first_working_main.cpp @@ -0,0 +1,50 @@ +#include +#include +#include + +#include "digital_in.h" +#include "digital_out.h" + + +int main() { + uint8_t cycle{0}; + int8_t counter{0}; + double ratio; + + bool last_lo = false; + + Digital_in encoderA{4}; + Digital_in encoderB{5}; + Digital_out led{5}; + + encoderA.init(); + encoderB.init(); + led.init(); + + Serial.begin(9600); + + while (true) { + _delay_us(100); + led.set_lo(); + + bool curr_hi = encoderA.is_hi(); + + if (last_lo && curr_hi) { + counter += encoderB.is_lo() ? -1 : 1; + led.set_hi(); + } + ++cycle; + + if (cycle == 255) { + ratio = counter / (0.0255 * 700); + counter = 0; + cycle = 0; + Serial.println(ratio); + } + + last_lo = !curr_hi; + } + + + return 0; +} diff --git a/src/part1part2.cpp b/src/part1part2.cpp new file mode 100644 index 0000000..6163131 --- /dev/null +++ b/src/part1part2.cpp @@ -0,0 +1,65 @@ +#include +#include +#include + +#include "digital_in.h" +#include "digital_out.h" + +class RotaryEncoderDriver { + int count{0}; + bool last_lo{false}; + + Digital_out led{5}; + + Digital_in eA; + Digital_in eB; + +public: + RotaryEncoderDriver(unsigned short pin_a = 4, unsigned short pin_b = 5) : eA(pin_a), eB(pin_b) { + led.init(); + eA.init(); + eB.init(); + last_lo = eA.is_lo(); + } + + int position() { + bool curr_hi = eA.is_hi(); + + if (last_lo && curr_hi) { + count += eB.is_hi() ? 1 : -1; + led.set_hi(); + } else { + led.set_lo(); + } + + last_lo = !curr_hi; + return count; + } + +}; + +int main() { + uint8_t cycle{0}; + + RotaryEncoderDriver encoder; + Serial.begin(9600); + + int prev_pos = encoder.position(); + while (true) { + _delay_us(100); + int curr_pos = encoder.position(); + + if (cycle++ == 255) { + int delta = curr_pos - prev_pos; + float rpm = delta * 60.0f / (700.0f * 0.0256f); + + Serial.print("Count: "); + Serial.print(delta); + Serial.print("\tRPM: "); + Serial.println(rpm); + + prev_pos = curr_pos; + } + } + return 0; +} diff --git a/main.cpp b/src/part3part1.cpp similarity index 100% rename from main.cpp rename to src/part3part1.cpp diff --git a/src/rotary_encoder_driver.cpp b/src/rotary_encoder_driver.cpp new file mode 100644 index 0000000..f7bf86e --- /dev/null +++ b/src/rotary_encoder_driver.cpp @@ -0,0 +1,56 @@ +#include "rotary_encoder_driver.h" +#include + +RotaryEncoderDriver* driver = nullptr; + +RotaryEncoderDriver::RotaryEncoderDriver() + : cycle(0) + , count(0) + , prev_count(0) + , led(5) + , eA(2) + , eB(5) {} + +void RotaryEncoderDriver::begin() { + driver = this; + + led.init(); + eA.init(); + eB.init(); + + EICRA |= (1<update(); +} +ISR(TIMER1_COMPA_vect) { + driver->update_delta(); +} + diff --git a/src/timer_usec.cpp b/src/timer_usec.cpp new file mode 100644 index 0000000..fe954ec --- /dev/null +++ b/src/timer_usec.cpp @@ -0,0 +1,12 @@ +#include "timer_usec.h" + +void Timer_usec::init(uint16_t period_us) { // for custom duty cycle duration in ms in part 1 + TCCR1A = 0; + TCCR1B = 0; + TCNT1 = 0; + + OCR1A = period_us * 2 - 1; + TCCR1B |= (1<