Heljarinnar breytingar til þess að laga nokkra hluti í part 1.

include/digital_in.h

@@ -4,19 +4,28 @@
 #include <stdint.h>
 #include <zephyr/drivers/gpio.h>
 
-struct Digital_in {
+class Digital_in {
+public:
     enum : uint8_t {
         ENCODER_C1 = 0,
         ENCODER_C2 = 1
     };
 
-    const struct gpio_dt_spec *gpio;
-
     explicit Digital_in(uint8_t pin_id);
 
     void init();
     bool is_hi();
     bool is_lo();
+
+    // Calls handler on every rising edge of the pin. The caller owns the
+    // gpio_callback struct so it can find its own object with CONTAINER_OF.
+    // Returns 0 on success, or a negative Zephyr error code.
+    int enable_rising_edge_interrupt(
+        struct gpio_callback *callback,
+        gpio_callback_handler_t handler);
+
+private:
+    const struct gpio_dt_spec *gpio;
 };
 
-#endif
+#endif

include/digital_out.h

@@ -4,10 +4,7 @@
 #include<stdint.h>
 #include <zephyr/drivers/gpio.h>
 
-
 struct Digital_out {
-    // uint8_t pin_mask;
-
     enum : uint8_t {
         STATUS_LED = 0
     };
@@ -21,7 +18,6 @@ struct Digital_out {
 
 private:
     const struct gpio_dt_spec *gpio;
-
 };
 
 #endif

include/initialization_state.h

@@ -5,13 +5,9 @@
 
 #include "state.h"
 
-
 class InitializationState : public State
 {
 private:
-    // static const unsigned long WAIT_MS = 2000;
-
-    // unsigned long enter_time_ms = 0;
 
 
     static constexpr int64_t WAIT_MS = 2000;
@@ -28,4 +24,4 @@ public:
     void exit() override;
 };
 
-#endif
+#endif

include/motor_controller.h

@@ -14,9 +14,8 @@ class State;
 class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
+    static constexpr double DEFAULT_REFERENCE_RPM = 25.0;
     static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
-    //static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
     static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
 
     State* current_state;

include/motor_driver.h

@@ -22,4 +22,4 @@ private:
     bool initialized; // Flag that ignores motor commands if setup fails
 };
 
-#endif
+#endif

include/operational_state.h

@@ -26,4 +26,4 @@ public:
     void exit() override;
 };
 
-#endif
+#endif

include/pre_operational_state.h

@@ -13,12 +13,9 @@ private:
     P_controller &pi_controller;
     bool pi_selected;
 
-    //unsigned long previous_time;
     int64_t previous_time;
     bool led_state;
 
-    //bool waiting_for_kp;
-    //bool waiting_for_ti;
 
     enum InputMode
     {
@@ -41,4 +38,4 @@ public:
     void exit() override;
 };
 
-#endif
+#endif

include/rotary_encoder_driver.h

@@ -3,8 +3,9 @@
 
 #include <stdint.h>
 #include <zephyr/drivers/gpio.h>
+#include <zephyr/kernel.h>
 
-//#include "digital_in.h"
+#include "digital_in.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
@@ -25,6 +26,10 @@ public:
     bool new_speed_available();
     void reset_speed_measurement();
 
+    // Blocks until the next speed sample, or until the timeout expires.
+    // Lets the main loop run in step with the 4 ms sampling.
+    void wait_for_sample(k_timeout_t timeout);
+
 private:
     static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
 
@@ -35,12 +40,11 @@ private:
     volatile int32_t history[HIST_LEN];
     volatile uint8_t hist_idx;
 
-
-
-    //Digital_in eA;
-    //Digital_in eB;
+    Digital_in eA;
+    Digital_in eB;
 
     struct gpio_callback encoder_c1_callback;
+    struct k_sem sample_sem;
     Timer_usec timer;
 
     static void gpio_edge_handler(
@@ -49,28 +53,6 @@ private:
         uint32_t pins);
 
     static void timer_expired(void *context);
-    
-
-// public:
-//     RotaryEncoderDriver();
-
-//     void begin();
-
-//     void update();
-
-//     int32_t position();
-
-//     void update_delta();
-
-//     float count_per_sec();
-
-//     float rpm();
-
-//     bool new_speed_available();
-
-//     void reset_speed_measurement();
-
-
-
 };
+
 #endif

include/state.h

@@ -11,7 +11,6 @@ protected:
 public:
     virtual ~State()
     {
-        
     }
 
     void set_context(MotorController* context)
@@ -26,7 +25,6 @@ public:
     virtual void command(char c) = 0;   // Listen for reset
 
     virtual void exit() = 0;  // Stop motor
-
 };
 
-#endif
+#endif

include/stopped_state.h

@@ -8,9 +8,8 @@
 class StoppedState : public State
 {
 private:
-    //unsigned long previous_time; // Used for blinking LED
     int64_t previous_time;
-    bool led_state;              // Ditto
+    bool led_state;
 
 public:
     StoppedState();
@@ -22,7 +21,6 @@ public:
     void command(char c) override;
 
     void exit() override;
-
 };
 
 #endif

include/timer_usec.h

@@ -1,16 +1,9 @@
 #ifndef TIMER_USEC_H
 #define TIMER_USEC_H
 
-//#include <avr/io.h>
-
 #include <stdint.h>
 #include <zephyr/kernel.h>
 
-// struct Timer_usec {
-//     Timer_usec();
-//     void init(uint16_t period_us);
-//};
-
 class Timer_usec {
 public:
     using callback_t = void (*)(void *context);