project 2 pasted in to repo

.gitignore

@@ -0,0 +1,6 @@
+.pio
+venv
+*.py
+*.csv
+scripts
+*.typ

.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
+}

.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"
+    ]
+}

.vscode/launch.json

@@ -0,0 +1,44 @@
+// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
+//
+// PlatformIO Debugging Solution
+//
+// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
+// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
+
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "projectEnvName": "nanoatmega328new",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchTask": {
+                "type": "PlatformIO",
+                "task": "Pre-Debug"
+            }
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (skip Pre-Debug)",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "projectEnvName": "nanoatmega328new",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
+            "internalConsoleOptions": "openOnSessionStart"
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (without uploading)",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "projectEnvName": "nanoatmega328new",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "loadMode": "manual"
+        }
+    ]
+}

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 -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/CDC.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/CDC.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/CDC.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial.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/HardwareSerial.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial0.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/HardwareSerial0.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial0.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial0.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial1.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/HardwareSerial1.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial1.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial1.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial2.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/HardwareSerial2.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial2.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial2.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial3.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/HardwareSerial3.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial3.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial3.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/IPAddress.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/IPAddress.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/IPAddress.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/IPAddress.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/PluggableUSB.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/PluggableUSB.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/PluggableUSB.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/PluggableUSB.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/Print.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/Print.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Print.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/Print.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/Stream.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/Stream.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Stream.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/Stream.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/Tone.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/Tone.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Tone.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/Tone.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/USBCore.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/USBCore.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/USBCore.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/USBCore.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/WInterrupts.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/WInterrupts.c",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WInterrupts.c",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/WInterrupts.c.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/WMath.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/WMath.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WMath.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/WMath.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/WString.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/WString.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WString.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/WString.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/abi.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/abi.cpp",
+        "directory": "/Users/dadi/embedded/proj1",
+        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/abi.cpp",
+        "output": ".pio/build/nanoatmega328new/FrameworkArduino/abi.cpp.o"
+    },
+    {
+        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/hooks.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/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"
+    }
+]

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

include/digital_in.h

@@ -0,0 +1,14 @@
+#ifndef DIGITAL_IN_H
+#define DIGITAL_IN_H
+#include <stdint.h>
+
+struct Digital_in {
+    uint8_t pin_mask;
+
+    Digital_in(uint8_t pin);
+    
+    void init();
+    bool is_hi();
+    bool is_lo();
+};
+#endif

include/digital_out.h

@@ -0,0 +1,15 @@
+#ifndef DIGITAL_OUT_H
+#define DIGITAL_OUT_H
+#include<stdint.h>
+
+struct Digital_out {
+    uint8_t pin_mask;
+
+    Digital_out(uint8_t pin);
+
+    void init();
+    void toggle();
+    void set_hi();
+    void set_lo();
+};
+#endif

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

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

include/rotary_encoder_driver.h

@@ -0,0 +1,43 @@
+#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"
+
+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

include/timer_usec.h

@@ -0,0 +1,9 @@
+#ifndef TIMER_USEC_H
+#define TIMER_USEC_H
+#include <avr/io.h>
+
+struct Timer_usec {
+    Timer_usec();
+    void init(uint16_t period_us);
+};
+#endif

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 <Foo.h>
+#include <Bar.h>
+
+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

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

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 +1,87 @@
+#include <avr/io.h>
+#include <util/delay.h>
+#include <Arduino.h>
+
+#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;
+}

src/motor_driver.cpp

@@ -0,0 +1,110 @@
+#include "motor_driver.h"
+
+#include <avr/io.h>
+
+
+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();
+    }
+}

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;
+}

src/rotary_encoder_driver.cpp

@@ -0,0 +1,136 @@
+#include "rotary_encoder_driver.h"
+#include <avr/interrupt.h>
+
+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<<ISC01) | (1<<ISC00);
+    EIMSK |= (1<<INT0);
+
+    timer.init(4000);
+}
+
+void RotaryEncoderDriver::update() {
+    count += eB.is_hi() ? 1 : -1;
+    led.set_hi();
+}
+
+int RotaryEncoderDriver::position() {
+
+    uint8_t oldSREG = SREG;
+
+    cli();
+
+    int16_t local_count = count;
+
+    SREG = oldSREG;
+
+    led.set_lo();
+
+    return local_count;
+} 
+
+void RotaryEncoderDriver::update_delta() {
+
+    int16_t oldest = history[hist_idx];
+    history[hist_idx] = count;
+    hist_idx = (hist_idx + 1) % HIST_LEN;
+
+    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (40 ms) glugga
+
+    prev_count = count;
+
+    speed_ready = true;
+
+    led.set_lo();
+}
+
+float RotaryEncoderDriver::count_per_sec() {
+
+    uint8_t oldSREG = SREG;
+
+    cli();
+
+    int16_t local_delta = delta;
+
+    SREG = oldSREG;
+
+    return local_delta / (HIST_LEN * 0.004f);
+}
+
+
+float RotaryEncoderDriver::rpm()
+{
+    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;
+
+    for (uint8_t i = 0; i < HIST_LEN; i++) {
+        history[i] = count;
+    }
+    hist_idx = 0;
+
+    SREG = oldSREG;
+}
+
+ISR(INT0_vect) {
+    driver->update();
+}
+ISR(TIMER1_COMPA_vect) {
+    driver->update_delta();    
+}
+
+

src/rotary_encoder_driver_unused.cpp

@@ -0,0 +1,61 @@
+/* #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/temporary_main.cpp

@@ -0,0 +1,53 @@
+/* Óvirkt núna, "alvöru" main() er í main.cpp. Þessi skrá var notuð í undirbúning/prófun
+
+#include <Arduino.h>
+
+#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 <Arduino.h>
+#include <util/delay.h>
+
+#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);
+    }
+}
+*/

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

test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html