Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

include/digital_in.h

@@ -1,14 +1,22 @@
 #ifndef DIGITAL_IN_H
 #define DIGITAL_IN_H
+
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
 
 struct Digital_in {
-    uint8_t pin_mask;
+    enum : uint8_t {
+        ENCODER_C1 = 0,
+        ENCODER_C2 = 1
+    };
+
+    const struct gpio_dt_spec *gpio;
+
+    explicit Digital_in(uint8_t pin_id);
 
-    Digital_in(uint8_t pin);
-    
     void init();
     bool is_hi();
     bool is_lo();
 };
-#endif
+
+#endif

include/digital_out.h

@@ -1,15 +1,27 @@
 #ifndef DIGITAL_OUT_H
 #define DIGITAL_OUT_H
+
 #include<stdint.h>
+#include <zephyr/drivers/gpio.h>
+
 
 struct Digital_out {
-    uint8_t pin_mask;
+    // uint8_t pin_mask;
 
-    Digital_out(uint8_t pin);
+    enum : uint8_t {
+        STATUS_LED = 0
+    };
+
+    explicit Digital_out(uint8_t pin_id);
 
     void init();
     void toggle();
     void set_hi();
     void set_lo();
+
+private:
+    const struct gpio_dt_spec *gpio;
+
 };
+
 #endif

include/initialization_state.h

@@ -1,15 +1,22 @@
 #ifndef INITIALIZATION_STATE_H
 #define INITIALIZATION_STATE_H
 
+#include <stdint.h>
+
 #include "state.h"
 
 
 class InitializationState : public State
 {
 private:
-    static const unsigned long WAIT_MS = 2000;
+    // static const unsigned long WAIT_MS = 2000;
+
+    // unsigned long enter_time_ms = 0;
+
+
+    static constexpr int64_t WAIT_MS = 2000;
+    int64_t enter_time_ms = 0;
 
-    unsigned long enter_time_ms = 0;
 
 public:
     void enter() override;

include/motor_controller.h

@@ -1,6 +1,8 @@
 #ifndef MOTOR_CONTROLLER_H
 #define MOTOR_CONTROLLER_H
 
+#include <stdint.h>
+
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
@@ -14,7 +16,8 @@ class MotorController
 private:
     static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
     static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
-    static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+    //static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+    static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
 
     State* current_state;
 
@@ -23,9 +26,9 @@ private:
     State& operational_state;
     State& stopped_state;
 
-    RotaryEncoderDriver& encoder;
-    MotorDriver& motor;
-    P_controller* controller;
+    RotaryEncoderDriver &encoder;
+    MotorDriver &motor;
+    P_controller *controller;
 
     Digital_out led;
 
@@ -38,13 +41,13 @@ private:
 
 public:
     MotorController(
-        RotaryEncoderDriver& encoder,
-        MotorDriver& motor,
-        P_controller& controller,
-        State& initialization,
-        State& pre_operational,
-        State& operational,
-        State& stopped
+        RotaryEncoderDriver &encoder,
+        MotorDriver &motor,
+        P_controller &controller,
+        State &initialization,
+        State &pre_operational,
+        State &operational,
+        State &stopped
     );
 
 
@@ -54,7 +57,7 @@ public:
 
     void command(char c);
 
-    void transition_to(State& new_state);
+    void transition_to(State &new_state);
 
 
     void to_initialization();
@@ -85,7 +88,7 @@ public:
 
     void set_Ti(double value);
 
-    void set_controller(P_controller& new_controller);
+    void set_controller(P_controller &new_controller);
 
     void led_on();
 

include/motor_driver.h

@@ -17,6 +17,9 @@ public:
     void set(double pwm);
 
     bool fault_active();   // Fault detection for part 2
+
+private:
+    bool initialized; // Flag that ignores motor commands if setup fails
 };
 
 #endif

include/pre_operational_state.h

@@ -9,11 +9,12 @@ class P_controller;
 class PreOperationalState : public State
 {
 private:
-    P_controller& p_controller;
-    P_controller& pi_controller;
+    P_controller &p_controller;
+    P_controller &pi_controller;
     bool pi_selected;
 
-    unsigned long previous_time;
+    //unsigned long previous_time;
+    int64_t previous_time;
     bool led_state;
 
     //bool waiting_for_kp;

include/rotary_encoder_driver.h

@@ -2,8 +2,9 @@
 #define ROTARY_ENCODER_DRIVER_H
 
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
 
-#include "digital_in.h"
+//#include "digital_in.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
@@ -11,6 +12,19 @@ public:
     static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
     static constexpr float COUNTS_PER_REV = 1050.0f;
 
+    RotaryEncoderDriver();
+
+    // Returns 0 on success, or a negative Zephyr error code.
+    int begin();
+
+    void update();
+    int32_t position();
+    void update_delta();
+    float count_per_sec();
+    float rpm();
+    bool new_speed_available();
+    void reset_speed_measurement();
+
 private:
     static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
 
@@ -21,29 +35,42 @@ 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;
     Timer_usec timer;
 
-public:
-    RotaryEncoderDriver();
+    static void gpio_edge_handler(
+        const structdevice *dev,
+        struct gpio_callback *callback,
+        uint32_t pins);
 
-    void begin();
+    static void timer_expired(void *context);
+    
 
-    void update();
+// public:
+//     RotaryEncoderDriver();
 
-    int32_t position();
+//     void begin();
 
-    void update_delta();
+//     void update();
 
-    float count_per_sec();
+//     int32_t position();
 
-    float rpm();
+//     void update_delta();
+
+//     float count_per_sec();
+
+//     float rpm();
+
+//     bool new_speed_available();
+
+//     void reset_speed_measurement();
 
-    bool new_speed_available();
 
-    void reset_speed_measurement();
 
 };
 #endif

include/stopped_state.h

@@ -1,12 +1,15 @@
 #ifndef STOPPED_STATE_H
 #define STOPPED_STATE_H
 
+#include <stdint.h>
+
 #include "state.h"
 
 class StoppedState : public State
 {
 private:
-    unsigned long previous_time; // Used for blinking LED
+    //unsigned long previous_time; // Used for blinking LED
+    int64_t previous_time;
     bool led_state;              // Ditto
 
 public:

include/timer_usec.h

@@ -1,9 +1,31 @@
 #ifndef TIMER_USEC_H
 #define TIMER_USEC_H
-#include <avr/io.h>
 
-struct Timer_usec {
+//#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);
+
     Timer_usec();
+
+    void set_callback(callback_t callback, void *context);
     void init(uint16_t period_us);
+
+private:
+    struct k_timer timer;
+    callback_t callback;
+    void *callback_context;
+
+    static void expiry_handler(struct k_timer *timer);
 };
+
 #endif