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

src/app.cpp

@@ -0,0 +1,115 @@
+
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/uart.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+#include "rotary_encoder_driver.h"
+#include "motor_driver.h"
+#include "pi_controller.h"
+#include "p_controller.h"
+#include "motor_controller.h"
+
+#include "initialization_state.h"
+
+#include "pre_operational_state.h"
+
+#include "operational_state.h"
+#include "stopped_state.h"
+
+static RotaryEncoderDriver encoder;
+
+static MotorDriver motor;
+
+const double Kp_P = 10.0;     // P-controller from Project 2
+
+const double Kp = 10.125;     // Ziegler-Nichols PI
+const double Ti = 0.0334;
+const double T = 0.004;
+
+static P_controller p_controller(Kp_P);
+static PI_controller pi_controller(Kp, Ti, T);
+
+
+static InitializationState initialization_state;
+// Pre-operational velur á milli stýringanna með 'c'
+static PreOperationalState pre_operational_state(p_controller, pi_controller);
+static OperationalState operational_state;
+static StoppedState stopped_state;
+
+// Stöðurnar verða að vera skilgreindar á undan motor_controller
+static MotorController motor_controller(
+    encoder,
+    motor,
+    pi_controller,      // Sjálfgefin stýring
+    initialization_state,
+    pre_operational_state,
+    operational_state,
+    stopped_state
+);
+
+
+static const struct device *const console_dev =
+    DEVICE_DT_GET(DT_CHOSEN(zephyr_console));
+
+// Received characters are queued by the UART ISR, like the RX buffer that
+// Arduino's Serial had. The USART has a single receive register, so
+// polling it from the main loop loses characters that arrive in a burst.
+K_MSGQ_DEFINE(rx_queue, sizeof(char), 64, 1);
+
+static void uart_rx_isr(const struct device *dev, void *user_data)
+{
+    (void)user_data;
+
+    if (!uart_irq_update(dev)) {
+        return;
+    }
+
+    while (uart_irq_rx_ready(dev)) {
+        unsigned char c;
+
+        if (uart_fifo_read(dev, &c, 1) != 1) {
+            break;
+        }
+
+        // Drop the character if the queue is full.
+        (void)k_msgq_put(&rx_queue, &c, K_NO_WAIT);
+    }
+}
+
+extern "C" void motor_application_main(void)
+{
+    if (!device_is_ready(console_dev)) {
+        printk("Console UART is not ready\n");
+        return;
+    }
+
+    uart_irq_callback_user_data_set(console_dev, uart_rx_isr, nullptr);
+    uart_irq_rx_enable(console_dev);
+
+    const int encoder_result = encoder.begin();
+    if (encoder_result < 0) {
+        printk("Encoder setup failed: %d\n", encoder_result);
+        return;
+    }
+
+    motor.begin();
+    motor_controller.begin();
+
+    while (true) {
+        char received_char;
+
+        // Handle every character the ISR has queued since the last pass.
+        while (k_msgq_get(&rx_queue, &received_char, K_NO_WAIT) == 0) {
+            motor_controller.command(received_char);
+        }
+
+        motor_controller.update();
+
+        // Sleep until the encoder has a new speed sample (every 4 ms), so
+        // the controller runs right after sampling. The timeout only
+        // matters if the timer stops; the thread is idle while it waits.
+        encoder.wait_for_sample(K_MSEC(10));
+    }
+}