Adding all files from Project 1 to start

src/digital_in.cpp

@@ -0,0 +1,14 @@
+#include <avr/io.h>
+#include "digital_in.h"
+
+Digital_in::Digital_in(uint8_t pin) : pin_mask(1<<pin) {}
+
+void Digital_in::init() {
+    DDRD  &= ~pin_mask;
+    PORTD |=  pin_mask;
+}
+
+bool Digital_in::is_hi() { return PIND & pin_mask; }
+bool Digital_in::is_lo() { return !is_hi(); }
+
+

src/digital_out.cpp

@@ -0,0 +1,9 @@
+#include "digital_out.h"
+#include <avr/io.h>
+
+Digital_out::Digital_out(uint8_t pin) : pin_mask(1<<pin) {}
+
+void Digital_out::init()   { DDRB  |=  pin_mask; }
+void Digital_out::toggle() { PORTB ^=  pin_mask; }
+void Digital_out::set_hi() { PORTB |=  pin_mask; }
+void Digital_out::set_lo() { PORTB &= ~pin_mask; }

src/main.cpp

@@ -0,0 +1,23 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <Arduino.h>
+
+#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;
+}

src/part1_first_working_main.cpp

@@ -0,0 +1,50 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <Arduino.h>
+
+#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;
+}

src/part1part2.cpp

@@ -0,0 +1,65 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <Arduino.h>
+
+#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;
+}

src/part3part1.cpp

@@ -0,0 +1,68 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <Arduino.h>
+
+#include "digital_in.h"
+#include "digital_out.h"
+
+class RotaryEncoderDriver {
+    volatile int count{0};
+
+    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();
+
+        EICRA |= (1<<ISC01) | (1<<ISC00);
+        EIMSK |= (1<<INT0);
+    }
+
+    void update() {
+        count += eB.is_hi() ? 1 : -1;
+        led.set_hi();
+    }
+
+    int position() {
+        led.set_lo();
+        return count;
+    } 
+
+};
+
+RotaryEncoderDriver encoder{2,5};
+
+int main() {
+    uint8_t cycle{0};
+
+    Serial.begin(9600);
+
+    int prev_pos = encoder.position();
+    sei();
+    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;
+}
+
+ISR(INT0_vect) {
+    encoder.update();
+}

src/rotary_encoder_driver.cpp

@@ -0,0 +1,56 @@
+#include "rotary_encoder_driver.h"
+#include <avr/interrupt.h>
+
+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<<ISC01) | (1<<ISC00);
+    EIMSK |= (1<<INT0);
+
+    timer.init(100);
+}
+
+void RotaryEncoderDriver::update() {
+    count += eB.is_hi() ? 1 : -1;
+    led.set_hi();
+}
+
+int RotaryEncoderDriver::position() {
+    led.set_lo();
+    return count;
+} 
+
+void RotaryEncoderDriver::update_delta() {
+    if (++cycle == 0) {
+        delta = count - prev_count;
+        prev_count = count;
+    }
+    led.set_lo();
+}
+
+float RotaryEncoderDriver::count_per_sec() {
+    return delta / (256.0f * 0.0001f);
+}
+
+
+ISR(INT0_vect) {
+    driver->update();
+}
+ISR(TIMER1_COMPA_vect) {
+    driver->update_delta();    
+}
+

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<<WGM12);
+    TIMSK1 |= (1<<OCIE1A);
+    TCCR1B |= (1<<CS11);
+}