commiting code that didnt work properly on new branch

.vscode/c_cpp_properties.json

@@ -8,29 +8,29 @@
         {
             "name": "PlatformIO",
             "includePath": [
-                "C:/Users/isakt/Embedded/ESP_Project2_H26/include",
+                "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
-                "C:/Users/isakt/Embedded/ESP_Project2_H26/src",
+                "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
                 ""
             ],
             "browse": {
                 "limitSymbolsToIncludedHeaders": true,
                 "path": [
-                    "C:/Users/isakt/Embedded/ESP_Project2_H26/include",
+                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
-                    "C:/Users/isakt/Embedded/ESP_Project2_H26/src",
+                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
                     ""
                 ]
             },
@@ -45,7 +45,7 @@
             ],
             "cStandard": "gnu11",
             "cppStandard": "gnu++11",
-            "compilerPath": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
+            "compilerPath": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
             "compilerArgs": [
                 "-mmcu=atmega328p",
                 ""

.vscode/launch.json

@@ -12,9 +12,9 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug",
-            "executable": "C:/Users/isakt/Embedded/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
             "projectEnvName": "nanoatmega328new",
-            "toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
             "internalConsoleOptions": "openOnSessionStart",
             "preLaunchTask": {
                 "type": "PlatformIO",
@@ -25,18 +25,18 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (skip Pre-Debug)",
-            "executable": "C:/Users/isakt/Embedded/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
             "projectEnvName": "nanoatmega328new",
-            "toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
             "internalConsoleOptions": "openOnSessionStart"
         },
         {
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (without uploading)",
-            "executable": "C:/Users/isakt/Embedded/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
             "projectEnvName": "nanoatmega328new",
-            "toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
             "internalConsoleOptions": "openOnSessionStart",
             "loadMode": "manual"
         }

include/analog_out.h

@@ -0,0 +1,20 @@
+#ifndef ANALOG_OUT_H
+#define ANALOG_OUT_H
+
+#include <timer_msec.h>
+#include <digital_out.h>
+
+class Analog_out
+{
+public:
+    Analog_out(int pin);
+    void init(int period_ms = 1000);
+    void set(int duty_cycle);
+
+private:
+    Timer_msec timer;
+public:    
+    Digital_out pin;
+};
+
+#endif // ANALOG_OUT_H

include/motor_driver.h

@@ -1,16 +1,18 @@
 #ifndef MOTOR_DRIVER_H
 #define MOTOR_DRIVER_H
 
-class MotorDriver
+#include <stdint.h>
-{
+
+// Vélbúnaðar-PWM á Timer1: AIN1 = OC1A = PB1 (D9), AIN2 = OC1B = PB2 (D10)
+class Motor_driver {
 public:
-    MotorDriver();
+    Motor_driver();
+    void init(uint16_t top = 799);       // 
+    void set_duty_cycleA(int percent);   // 0-100%, AIN1
+    void set_duty_cycleB(int percent);   // 0-100%, AIN2
 
-    void begin();
+private:
-
+    uint16_t top_value;
-    void forward();
-    void reverse();
-    void stop();
 };
 
 #endif

include/rotary_encoder_driver.h

@@ -1,8 +1,6 @@
 #ifndef ROTARY_ENCODER_DRIVER_H
 #define ROTARY_ENCODER_DRIVER_H
 
-#include <stdint.h>
-
 #include "digital_in.h"
 #include "digital_out.h"
 #include "timer_usec.h"
@@ -11,7 +9,6 @@ class RotaryEncoderDriver {
     volatile uint8_t cycle;
     volatile int16_t count;
     volatile int16_t prev_count;
-    volatile bool speed_ready;
 
     Digital_out led;
 
@@ -31,8 +28,5 @@ public:
     float count_per_sec();
     float rpm();
 
-    bool new_speed_available();
-    void reset_speed_measurement();
-
 };
 #endif

include/timer_msec.h

@@ -0,0 +1,10 @@
+#pragma once
+
+class Timer_msec
+{
+public:
+    Timer_msec();
+    void init(int period_ms);
+    void init(int period_ms, int duty_cycle);
+    void set_duty_cycle(int duty_cycle);
+};

src/analog_out.cpp

@@ -0,0 +1,16 @@
+#include <analog_out.h>
+
+Analog_out::Analog_out(int pin_number) : pin(pin_number)
+{
+}
+
+void Analog_out::init(int period_ms)
+{
+    pin.init();
+    timer.init(period_ms, 0); // Here we can choose the default duty cycle
+}
+
+void Analog_out::set(int duty_cycle)
+{
+    timer.set_duty_cycle(duty_cycle);
+}

src/main.cpp

@@ -3,76 +3,23 @@
 #include <Arduino.h>
 
 #include "rotary_encoder_driver.h"
-#include "motor_driver.h"
 
 RotaryEncoderDriver encoder;
-MotorDriver motor;
 
 int main() {
     init();
-    Serial.begin(115200);
+    Serial.begin(9600);
 
     cli();
     encoder.begin();
-    motor.begin();
-
-
-
-    
     sei();
 
-
-
-    // Make sure motor is stopped before starting test
-    motor.stop();
-
-    _delay_ms(2000);
-
-    Serial.println("time_ms,rpm");
-    Serial.println("0.0,0.0");
-
-    // Synchronize the RPM measurement window with the step input
-    encoder.reset_speed_measurement();
-
-    // Apply unit-step input
-    motor.forward();
-
-    uint16_t sample = 0;
-
     while (true) {
-
+        _delay_ms(50);
-        if (encoder.new_speed_available())
+        // Serial.print("Counts per second: ");
-        {
+        // Serial.println(encoder.count_per_sec());
-            sample++;
+        Serial.print("RPM: ");
-
+        Serial.println(encoder.rpm());
-            float time_ms = sample * 5.0f;
-            float speed = encoder.rpm();
-
-            Serial.print(time_ms, 1);
-            Serial.print(",");
-            Serial.println(speed, 2);
-
-
-            // Stop after about 8 seconds {2000 (<- input in sample >= xxxx) * 4 = 8 sec}
-            if (sample >= 400)
-            {
-                motor.stop();
-
-                while (true)
-                {
-
-                }
-            }
-        }
-        
-        //Serial.print("POSITION: ");
-        //Serial.print("RPM: ");
-        
-
-        //Serial.println(encoder.position());
-        //Serial.println(encoder.rpm());
-
-        //_delay_ms(50);
     }
     return 0;
 }

src/motor_driver.cpp

@@ -1,49 +1,34 @@
 #include "motor_driver.h"
-
 #include <avr/io.h>
 
+Motor_driver::Motor_driver() : top_value(0) {}
 
-MotorDriver::MotorDriver()
+void Motor_driver::init(uint16_t top) {
-{
+    top_value = top;
+
+    DDRB |= (1 << PB1) | (1 << PB2);   // AIN1, AIN2 
+
+    TCCR1A = 0;
+    TCCR1B = 0;
+
+    // Fast PWM, TOP = ICR1 (WGM13:10 = 1110)
+    TCCR1A |= (1 << WGM11);
+    TCCR1B |= (1 << WGM13) | (1 << WGM12);
+
+    // Non-inverting PWM (OC1A og OC1B)
+    TCCR1A |= (1 << COM1A1) | (1 << COM1B1);
+
+    ICR1  = top_value;
+    OCR1A = 0;
+    OCR1B = 0;
+
+    TCCR1B |= (1 << CS10);   // prescaler 1
 }
 
-
+void Motor_driver::set_duty_cycleA(int percent) {
-void MotorDriver::begin()
+    OCR1A = (uint16_t)((uint32_t)top_value * percent / 100);
-{
-    // Arduino D3  = PD3 = AIN1
-    // Arduino D11 = PB3 = AIN2
-
-    DDRD |= (1 << DDD3);
-    DDRB |= (1 << DDB3);
-
-    stop();
 }
 
-
+void Motor_driver::set_duty_cycleB(int percent) {
-void MotorDriver::forward()
+    OCR1B = (uint16_t)((uint32_t)top_value * percent / 100);
-{
-    // AIN1 / D3  = HIGH
-    // AIN2 / D11 = LOW
-
-    PORTD |= (1 << PORTD3);
-    PORTB &= ~(1 << PORTB3);
-}
-
-
-void MotorDriver::reverse()
-{
-    // AIN1 / D3  = LOW
-    // AIN2 / D11 = HIGH
-
-    PORTD &= ~(1 << PORTD3);
-    PORTB |= (1 << PORTB3);
-}
-
-
-void MotorDriver::stop()
-{
-    // Both LOW
-
-    PORTD &= ~(1 << PORTD3);
-    PORTB &= ~(1 << PORTB3);
 }

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 +1,66 @@
+/* #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 +1,69 @@
+/* #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

@@ -7,12 +7,10 @@ RotaryEncoderDriver::RotaryEncoderDriver()
     : cycle(0)
     , count(0)
     , prev_count(0)
-    , speed_ready(false)
     , led(5)
     , eA(2)
     , eB(5) {}
 
-
 void RotaryEncoderDriver::begin() {
     driver = this;
 
@@ -23,7 +21,7 @@ void RotaryEncoderDriver::begin() {
     EICRA |= (1<<ISC01) | (1<<ISC00);
     EIMSK |= (1<<INT0);
 
-    timer.init(5000);
+    timer.init(100);
 }
 
 void RotaryEncoderDriver::update() {
@@ -32,84 +30,26 @@ void RotaryEncoderDriver::update() {
 }
 
 int RotaryEncoderDriver::position() {
-
-    uint8_t oldSREG = SREG;
-
-    cli();
-
-    int16_t local_count = count;
-
-    SREG = oldSREG;
-
     led.set_lo();
-
+    return count;
-    return local_count;
 } 
 
 void RotaryEncoderDriver::update_delta() {
-    
+    if (++cycle == 0) {
         delta = count - prev_count;
-
         prev_count = count;
-
+    }
-        speed_ready = true;
-    
     led.set_lo();
 }
 
 float RotaryEncoderDriver::count_per_sec() {
-
+    return delta / (256.0f * 0.0001f);
-    uint8_t oldSREG = SREG;
-
-    cli();
-
-    int16_t local_delta = delta;
-
-    SREG = oldSREG;
-
-    return local_delta / 0.005f;
 } 
 
-
+float RotaryEncoderDriver::rpm() {
-float RotaryEncoderDriver::rpm()
+    return (count_per_sec() * 60) / 1050.0;
-{
-    const float COUNTS_PER_REV = 1050.0f;
-
-    return count_per_sec() * 60.0f / COUNTS_PER_REV;
 }
 
-bool RotaryEncoderDriver::new_speed_available()
-{
-    uint8_t oldSREG = SREG;
-
-    cli();
-
-    bool ready = speed_ready;
-
-    if (ready)
-    {
-        speed_ready = false;
-    }
-
-    SREG = oldSREG;
-
-    return ready;
-}
-
-
-void RotaryEncoderDriver::reset_speed_measurement()
-{
-    uint8_t oldSREG = SREG;
-
-    cli();
-
-    cycle = 0;
-    prev_count = count;
-    delta = 0;
-    speed_ready = false;
-
-    SREG = oldSREG;
-}
 
 ISR(INT0_vect) {
     driver->update();
@@ -118,4 +58,3 @@ ISR(TIMER1_COMPA_vect) {
     driver->update_delta();    
 }
 
-

src/rotary_encoder_driver_unused.cpp

@@ -1,61 +0,0 @@
-/* #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);
-} 
-
-float RotaryEncoderDriver::rpm() {
-    return (count_per_sec() * 60) / 1050.0;
-}
-
-
-ISR(INT0_vect) {
-    driver->update();
-}
-ISR(TIMER1_COMPA_vect) {
-    driver->update_delta();    
-}
-
- */

src/timer_msec.cpp

@@ -0,0 +1,33 @@
+#include <timer_msec.h>
+#include <avr/io.h>
+#include <stdint.h>
+
+Timer_msec::Timer_msec()
+{
+
+}
+
+void Timer_msec::init(int period_ms)
+{
+    init(period_ms, 50);   // calls the next function with 50% duty cycle
+}
+
+void Timer_msec::init(int period_ms, int duty_cycle)
+{
+    // this code sets up timer1 for a 1s @ 16Mhz Clock (mode 4)
+    // counting 16000000/1024 cycles of a clock prescaled by 1024
+    TCCR1A = 0; // set timer1 to normal operation (all bits in control registers A and B set to zero)
+    TCCR1B = 0; //
+    TCNT1 = 0; // initialize counter value to 0
+    OCR1A = (uint32_t {16000} * period_ms / 1024) - 1; // assign target count to compare register A (must be less than 65536)
+    OCR1B = OCR1A * (duty_cycle / 100.0); // assign target count to compare register B (should not exceed value of OCR1A)
+    TCCR1B |= (1 << WGM12); // clear the timer on compare match A
+    TIMSK1 |= (1 << OCIE1A); // set interrupt on compare match A
+    TIMSK1 |= (1 << OCIE1B); // set interrupt on compare match B
+    TCCR1B |= (1 << CS12) | (1 << CS10); // set prescaler to 1024 and start the timer
+}
+
+void Timer_msec::set_duty_cycle(int duty_cycle)
+{
+    OCR1B = OCR1A * (duty_cycle / 100.0);
+}