diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a17f20c --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +.pio +venv +*.py +*.csv +scripts +*.typ \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..931738c --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,56 @@ +// +// !!! WARNING !!! AUTO-GENERATED FILE! +// PLEASE DO NOT MODIFY IT AND USE "platformio.ini": +// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags +// +{ + "configurations": [ + { + "name": "PlatformIO", + "includePath": [ + "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include", + "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src", + "" + ], + "browse": { + "limitSymbolsToIncludedHeaders": true, + "path": [ + "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include", + "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src", + "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src", + "" + ] + }, + "defines": [ + "PLATFORMIO=60200", + "ARDUINO_AVR_NANO", + "F_CPU=16000000L", + "ARDUINO_ARCH_AVR", + "ARDUINO=10808", + "__AVR_ATmega328P__", + "" + ], + "cStandard": "gnu11", + "cppStandard": "gnu++11", + "compilerPath": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe", + "compilerArgs": [ + "-mmcu=atmega328p", + "" + ] + } + ], + "version": 4 +} diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..a91ca8f --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,11 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack", + "pioarduino.pioarduino-ide" + ] +} diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..120fa44 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,44 @@ +// AUTOMATICALLY GENERATED FILE. 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/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/hooks.c", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/hooks.c", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/hooks.c.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/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 -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/main.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/main.cpp", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/main.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/new.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 -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/new.cpp", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/new.cpp", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/new.cpp.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring.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.c", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring.c", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring.c.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_analog.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_analog.c", + "directory": "/Users/dadi/embedded/proj1", + "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_analog.c", + "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_analog.c.o" + }, + { + "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_digital.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_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/motor_driver.h b/include/motor_driver.h new file mode 100644 index 0000000..d69cc6d --- /dev/null +++ b/include/motor_driver.h @@ -0,0 +1,18 @@ +#ifndef MOTOR_DRIVER_H +#define MOTOR_DRIVER_H + +class MotorDriver +{ +public: + MotorDriver(); + + void begin(); + + void forward(); + void reverse(); + void stop(); + + void set(double pwm); +}; + +#endif \ No newline at end of file diff --git a/include/p_controller.h b/include/p_controller.h new file mode 100644 index 0000000..2a6a802 --- /dev/null +++ b/include/p_controller.h @@ -0,0 +1,15 @@ +#ifndef P_CONTROLLER_H +#define P_CONTROLLER_H + +class P_controller +{ +private: + double Kp; + +public: + P_controller(double Kp); + + double update(double ref, double actual); +}; + +#endif \ No newline at end of file diff --git a/include/rotary_encoder_driver.h b/include/rotary_encoder_driver.h new file mode 100644 index 0000000..2b51f95 --- /dev/null +++ b/include/rotary_encoder_driver.h @@ -0,0 +1,43 @@ +#ifndef ROTARY_ENCODER_DRIVER_H +#define ROTARY_ENCODER_DRIVER_H + +#include + +#include "digital_in.h" +#include "digital_out.h" +#include "timer_usec.h" + +class RotaryEncoderDriver { + static const uint8_t HIST_LEN = 4; // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning + + volatile uint8_t cycle; + volatile int16_t count; + volatile int16_t prev_count; + volatile bool speed_ready; + + volatile int16_t history[HIST_LEN]; + volatile uint8_t hist_idx; + + 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(); + float rpm(); + + bool new_speed_available(); + void reset_speed_measurement(); + +}; +#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..96d263e --- /dev/null +++ b/platformio.ini @@ -0,0 +1,16 @@ +; 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 + +monitor_speed = 115200 \ No newline at end of file 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" +#include "motor_driver.h" +#include "p_controller.h" + +RotaryEncoderDriver encoder; +MotorDriver motor; + +P_controller controller(12.5); + +const double REF_RPM1 = 30.0; +const double REF_RPM2 = 50.0; + +const uint16_t STEP1_AT_SAMPLE = 50; +const uint16_t STEP2_AT_SAMPLE = 500; + +const uint16_t STOP_AT_SAMPLE = 1000; + +int main() { + init(); + Serial.begin(115200); + + cli(); + encoder.begin(); + motor.begin(); + sei(); + + // Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst + motor.stop(); + _delay_ms(2000); + + Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual"); + Serial.println("0.0,0.0,0.0,0.0,0.0"); + + encoder.reset_speed_measurement(); + + uint16_t sample = 0; + double ref = 0.0; + + while (true) { + if (encoder.new_speed_available()) { + sample++; + + float time_ms = sample * 4.0f; + + // Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE + if (sample == STEP1_AT_SAMPLE) { + ref = REF_RPM1; + } + + if (sample == STEP2_AT_SAMPLE) { + ref = REF_RPM2; + } + + double actual = encoder.rpm(); + + double pwm_percent = controller.update(ref, actual); + double pwm_requested = pwm_percent * 2.55; + + double pwm_actual = pwm_requested; + if (pwm_actual > 255.0) pwm_actual = 255.0; + if (pwm_actual < -255.0) pwm_actual = -255.0; + + motor.set(pwm_actual); + + Serial.print(time_ms, 1); + Serial.print(","); + Serial.print(ref, 1); + Serial.print(","); + Serial.print(actual, 2); + Serial.print(","); + Serial.print(pwm_requested, 1); + Serial.print(","); + Serial.println(pwm_actual, 1); + + if (sample >= STOP_AT_SAMPLE) { + motor.stop(); + while (true) { + } + } + } + } + return 0; +} diff --git a/src/motor_driver.cpp b/src/motor_driver.cpp new file mode 100644 index 0000000..8dae91a --- /dev/null +++ b/src/motor_driver.cpp @@ -0,0 +1,110 @@ +#include "motor_driver.h" + +#include + + +MotorDriver::MotorDriver() +{ +} + + +void MotorDriver::begin() +{ + // Arduino D3 = PD3 = AIN1 + // Arduino D11 = PB3 = AIN2 + + DDRD |= (1 << DDD3); + DDRB |= (1 << DDB3); + + // Timer2 Fast PWM + TCCR2A = 0; + TCCR2B = 0; + + // Fast PWM mode + TCCR2A |= (1 << WGM20); + TCCR2A |= (1 << WGM21); + + // Non-inverting PWM on OC2A and OC2B + TCCR2A |= (1 << COM2A1); + TCCR2A |= (1 << COM2B1); + + + // Timer2 prescaler = 32 + TCCR2B |= (1 << CS21); + TCCR2B |= (1 << CS20); + + OCR2A = 0; + OCR2B = 0; + + //stop(); +} + + +void MotorDriver::forward() +{ + // AIN1 / D3 = HIGH + // AIN2 / D11 = LOW + + //PORTD |= (1 << PORTD3); + //PORTB &= ~(1 << PORTB3); + + OCR2A = 0; + OCR2B = 255; +} + + +void MotorDriver::reverse() +{ + // AIN1 / D3 = LOW + // AIN2 / D11 = HIGH + + //PORTD &= ~(1 << PORTD3); + //PORTB |= (1 << PORTB3); + + OCR2B = 0; + OCR2A = 255; +} + + +void MotorDriver::stop() +{ + // Both LOW + + //PORTD &= ~(1 << PORTD3); + //PORTB &= ~(1 << PORTB3); + + OCR2A = 0; + OCR2B = 0; +} + +void MotorDriver::set(double pwm) +{ + // Limit PWM command + if (pwm > 255.0) + { + pwm = 255.0; + } + + if (pwm < -255.0) + { + pwm = -255.0; + } + + + if (pwm > 0) + { + // Forward + OCR2A = 0; + OCR2B = (uint8_t)pwm; + } + else if (pwm < 0) + { + // Reverse + OCR2B = 0; + OCR2A = (uint8_t)(-pwm); + } + else + { + stop(); + } +} \ No newline at end of file diff --git a/src/p_controller.cpp b/src/p_controller.cpp new file mode 100644 index 0000000..616207b --- /dev/null +++ b/src/p_controller.cpp @@ -0,0 +1,13 @@ +#include "p_controller.h" + +P_controller::P_controller(double Kp) + : Kp(Kp) +{ +} + +double P_controller::update(double ref, double actual) +{ + double error = ref - actual; + + return Kp * error; +} \ No newline at end of file diff --git a/src/rotary_encoder_driver.cpp b/src/rotary_encoder_driver.cpp new file mode 100644 index 0000000..b247747 --- /dev/null +++ b/src/rotary_encoder_driver.cpp @@ -0,0 +1,136 @@ +#include "rotary_encoder_driver.h" +#include + +RotaryEncoderDriver* driver = nullptr; + +RotaryEncoderDriver::RotaryEncoderDriver() + : cycle(0) + , count(0) + , prev_count(0) + , speed_ready(false) + , hist_idx(0) + , led(5) + , eA(2) + , eB(5) +{ + for (uint8_t i = 0; i < HIST_LEN; i++) { + history[i] = 0; + } +} + + +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/rotary_encoder_driver_unused.cpp b/src/rotary_encoder_driver_unused.cpp new file mode 100644 index 0000000..9459537 --- /dev/null +++ b/src/rotary_encoder_driver_unused.cpp @@ -0,0 +1,61 @@ +/* #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(); +} + + */ \ No newline at end of file diff --git a/src/temporary_main.cpp b/src/temporary_main.cpp new file mode 100644 index 0000000..b51b730 --- /dev/null +++ b/src/temporary_main.cpp @@ -0,0 +1,53 @@ +/* Óvirkt núna, "alvöru" main() er í main.cpp. Þessi skrá var notuð í undirbúning/prófun + +#include + +#include "p_controller.h" + +P_controller controller(2.0); + +int main() +{ + init(); + + Serial.begin(115200); + + double result = controller.update(100.0, 70.0); + + Serial.print("PWM = "); + Serial.println(result); + + while (true) + { + } + + return 0; +} + + +#include +#include + +#include "motor_driver.h" + +MotorDriver motor; + +int main() +{ + init(); + + motor.begin(); + + while (true) + { + motor.set(60); + _delay_ms(3000); + + motor.set(120); + _delay_ms(3000); + + motor.set(240); + _delay_ms(3000); + } +} +*/ diff --git a/src/timer_usec.cpp b/src/timer_usec.cpp new file mode 100644 index 0000000..762359f --- /dev/null +++ b/src/timer_usec.cpp @@ -0,0 +1,14 @@ +#include "timer_usec.h" + +Timer_usec::Timer_usec() = default; + +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<