Breytt Overlay fyrir Can stillingar, virkjað can í prj conf og test kóði búinn til fyrir CAN FRAME stöffið úr L4.4

.gitignore

@@ -3,6 +3,3 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
-scripts
-__pycache__/
-*.typ

README.md

@@ -1,3 +1,3 @@
 # ESP_Project4_H26
 
-A repository for project 4, done in the Embedded System Programming class in Reykjavík University in the Fall semester of 2026
+A repository for project 3, done in the Embedded System Programming class in Reykjavík University in the Fall semester of 2026

include/digital_in.h

@@ -4,28 +4,19 @@
 #include <stdint.h>
 #include <zephyr/drivers/gpio.h>
 
-class Digital_in {
-public:
+struct Digital_in {
     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

include/digital_out.h

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

include/initialization_state.h

@@ -5,9 +5,13 @@
 
 #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;

include/motor_controller.h

@@ -14,8 +14,9 @@ class State;
 class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 25.0;
+    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 constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
 
     State* current_state;

include/pre_operational_state.h

@@ -13,9 +13,12 @@ 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
     {

include/rotary_encoder_driver.h

@@ -3,9 +3,8 @@
 
 #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 {
@@ -26,10 +25,6 @@ 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
 
@@ -40,11 +35,12 @@ 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(
@@ -53,6 +49,28 @@ 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

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

include/stopped_state.h

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

include/timer_usec.h

@@ -1,9 +1,16 @@
 #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);

platformio.ini

@@ -18,6 +18,3 @@ monitor_speed = 115200
 upload_flags = 
     -c
     reset_config srst_only srst_nogate connect_assert_srst
-
-; CSV-útprentun í Operational fyrir step/load response (sjá capture_serial.py)
-; build_flags = -D LOG_CSV=1

src/CAN_FRAME_TEST.c

@@ -0,0 +1,47 @@
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+/* Devicetree node selected by zephyr,canbus in the overlay */
+#define CANBUS_NODE DT_CHOSEN(zephyr_canbus)
+
+int main(void)
+{
+    const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
+
+    if (!device_is_ready(dev)) {
+        printk("CAN device not ready\n");
+        return 0;
+    }
+
+    int err = can_set_bitrate(dev, 125000);
+    if (err != 0) {
+        printk("Error setting CAN bitrate (err %d)\n", err);
+        return 0;
+    }
+
+    err = can_start(dev);
+    if (err != 0) {
+        printk("Error starting CAN controller (err %d)\n", err);
+        return 0;
+    }
+
+    struct can_frame frame = {
+        .flags = 0,
+        .id = 0x123,
+        .dlc = 8,
+        .data = {1, 2, 3, 4, 5, 6, 7, 8},
+    };
+
+    while (1) {
+        k_msleep(10);
+
+        err = can_send(dev, &frame, K_MSEC(100), NULL, NULL);
+        if (err != 0) {
+            printk("Sending failed (err %d)\n", err);
+            return 0;
+        }
+    }
+}

src/digital_in.cpp

@@ -1,8 +1,17 @@
+//#include <avr/io.h>
 #include "digital_in.h"
 
-#include <errno.h>
 #include <zephyr/devicetree.h>
-#include <zephyr/sys/util.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(); }
 
 static const struct gpio_dt_spec encoder_c1_gpio =
     GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
@@ -53,22 +62,3 @@ bool Digital_in::is_lo()
     return !is_hi();
 }
 
-int Digital_in::enable_rising_edge_interrupt(
-    struct gpio_callback *callback,
-    gpio_callback_handler_t handler)
-{
-    if (gpio == nullptr || !gpio_is_ready_dt(gpio)) {
-        return -ENODEV;
-    }
-
-    gpio_init_callback(callback, handler, BIT(gpio->pin));
-
-    const int ret = gpio_add_callback(gpio->port, callback);
-    if (ret < 0) {
-        return ret;
-    }
-
-    // Physical rising edge, independent of the active level in the overlay.
-    return gpio_pin_interrupt_configure(
-        gpio->port, gpio->pin, GPIO_INT_EDGE_RISING);
-}

src/digital_out.cpp

@@ -1,7 +1,16 @@
 #include "digital_out.h"
 
+//#include <avr/io.h>
+
 #include <zephyr/devicetree.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; }
+
 static const struct gpio_dt_spec status_led_gpio =
     GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
 

src/gamla_m_ain.cpp

@@ -1,3 +1,8 @@
+// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+//#ifndef PIO_UNIT_TESTING
+
+//#include <Arduino.h>
+//#include <avr/interrupt.h>
 
 #include <zephyr/device.h>
 #include <zephyr/devicetree.h>
@@ -18,6 +23,7 @@
 #include "operational_state.h"
 #include "stopped_state.h"
 
+
 static RotaryEncoderDriver encoder;
 
 static MotorDriver motor;
@@ -50,34 +56,42 @@ static MotorController motor_controller(
 );
 
 
+// int main()
+// {
+//     init();
+//     Serial.begin(115200);
+//     cli();
+
+//     encoder.begin();
+//     motor.begin();
+
+//     sei();
+
+//     motor_controller.begin();
+
+//     while (true)
+//     {
+//         if (Serial.available() > 0)
+//         {
+//             char c = Serial.read();
+
+//             motor_controller.command(c);   
+
+//         }
+
+
+//         motor_controller.update();
+//     }
+
+
+//     return 0;
+// }
+
+// #endif 
+
 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)) {
@@ -85,9 +99,6 @@ extern "C" void motor_application_main(void)
         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);
@@ -98,18 +109,17 @@ extern "C" void motor_application_main(void)
     motor_controller.begin();
 
     while (true) {
-        char received_char;
+        unsigned 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);
+        // Read a command if a character is waiting.
+        if (uart_poll_in(console_dev, &received_char) == 0) {
+            motor_controller.command(
+                static_cast<char>(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));
+        // Give Zephyr's scheduler time to run other threads.
+        k_msleep(1);
     }
 }

src/initialization_state.cpp

@@ -1,11 +1,25 @@
 #include "initialization_state.h"
 #include "motor_controller.h"
 
+//#include <Arduino.h>
+
 #include <zephyr/kernel.h>
 #include <zephyr/sys/printk.h>
 
+
 void InitializationState::enter()
 {
+    // Serial.println();
+    // Serial.println("State: Initialization");
+
+    // context->led_off();
+
+    // context->stop_motor();
+
+    // context->reset_speed_measurement();
+
+    // enter_time_ms = millis();
+
     printk("\nState: Initialization\n");
 
     context->led_off();
@@ -18,10 +32,19 @@ void InitializationState::enter()
 
 void InitializationState::update()
 {
+    // // Non-blocking bið svo aðallykkjan haldi áfram að keyra
+    // if (millis() - enter_time_ms >= WAIT_MS)
+    // {
+    //     context->to_pre_operational();
+    //     // context->to_operational();
+    // }
+
+
     // Check the time without blocking the application.
     if ((k_uptime_get() - enter_time_ms) >= WAIT_MS) {
         context->to_pre_operational();
     }    
+
 }
 
 
@@ -33,5 +56,6 @@ void InitializationState::command(char c)
 
 void InitializationState::exit()
 {
+    //Serial.println("Boot-up");
     printk("Boot-up\n");
 }

src/main.c

@@ -1,9 +1,12 @@
-#include <zephyr/kernel.h>
+// #include <zephyr/kernel.h>
 
-void motor_application_main(void);
+// #ifndef PIO_UNIT_TESTING
 
-int main(void)
-{
-    motor_application_main();
-    return 0;
-}
+// void motor_application_main(void);
+
+// void main(void)
+// {
+//     motor_application_main();
+// }
+
+// #endif

src/motor_controller.cpp

@@ -1,6 +1,9 @@
 #include "motor_controller.h"
 #include "state.h"
 
+//#include <Arduino.h>
+
+
 MotorController::MotorController(
     RotaryEncoderDriver &encoder,
     MotorDriver &motor,
@@ -30,6 +33,18 @@ MotorController::MotorController(
 }
 
 
+// void MotorController::set_states(
+//     State* initialization,
+//     State* operational,
+//     State* stopped
+// )
+
+    // initialization_state = initialization;
+    // operational_state = operational;
+    // stopped_state = stopped;
+
+
+
 void MotorController::begin()
 {
     led.init();

src/motor_driver.cpp

@@ -1,14 +1,46 @@
 #include "motor_driver.h"
 
+//#include <avr/io.h>
+
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/drivers/pwm.h>
 
+// Í Fast PWM gefur OCR = 0 samt einn stuttan púls í hverri lotu.
+// Til að pinni sé alveg LOW er hann aftengdur frá timernum (COM-bitar)
+// og keyrður LOW gegnum PORT-registerið.
+
+// static void ain1_off()   // D3 = PD3 = OC2B
+// {
+//     TCCR2A &= ~(1 << COM2B1);
+//     PORTD  &= ~(1 << PORTD3);
+//     OCR2B = 0;
+// }
+
+// static void ain2_off()   // D11 = PB3 = OC2A
+// {
+//     TCCR2A &= ~(1 << COM2A1);
+//     PORTB  &= ~(1 << PORTB3);
+//     OCR2A = 0;
+// }
+
+// static void ain1_pwm(uint8_t duty)
+// {
+//     OCR2B = duty;
+//     TCCR2A |= (1 << COM2B1);
+// }
+
+// static void ain2_pwm(uint8_t duty)
+// {
+//     OCR2A = duty;
+//     TCCR2A |= (1 << COM2A1);
+// }
+
 static const struct pwm_dt_spec bin1_pwm =
     PWM_DT_SPEC_GET(DT_ALIAS(motor_bin1_pwm));
 
-static const struct pwm_dt_spec bin2_pwm =
-    PWM_DT_SPEC_GET(DT_ALIAS(motor_bin2_pwm));
+static const struct gpio_dt_spec bin2 =
+    GPIO_DT_SPEC_GET(DT_ALIAS(motor_bin2), gpios);
 
 static const struct gpio_dt_spec motor_flt =
     GPIO_DT_SPEC_GET(DT_ALIAS(motor_flt), gpios);
@@ -20,6 +52,7 @@ static const struct gpio_dt_spec motor_slp =
     GPIO_DT_SPEC_GET(DT_ALIAS(motor_slp), gpios);
 
 
+
 MotorDriver::MotorDriver()
     : initialized(false)
 {
@@ -28,17 +61,42 @@ MotorDriver::MotorDriver()
 
 void MotorDriver::begin()
 {
+    // Arduino D3  = PD3 = AIN1
+    // Arduino D11 = PB3 = AIN2
+    // Arduino D4  = PD4 = FLT 
+
+    // DDRD |= (1 << DDD3);
+    // DDRB |= (1 << DDB3);
+
+    // DDRD &= ~(1 << DDD4); 
+
+    // PORTD |= (1 << PORTD4); // Enable pull-up resistor on D4 for part 2
+
+
+    // // Timer2 Fast PWM
+    // TCCR2A = 0;
+    // TCCR2B = 0;
+
+    // // Fast PWM mode
+    // TCCR2A |= (1 << WGM20);
+    // TCCR2A |= (1 << WGM21);
+
+    // // Timer2 prescaler = 32
+    // TCCR2B |= (1 << CS21);
+    // TCCR2B |= (1 << CS20);
+
     initialized = false;
 
     if (!pwm_is_ready_dt(&bin1_pwm) ||
-        !pwm_is_ready_dt(&bin2_pwm) ||
+        !gpio_is_ready_dt(&bin2) ||
         !gpio_is_ready_dt(&motor_flt) ||
         !gpio_is_ready_dt(&fault_test_button) ||
         !gpio_is_ready_dt(&motor_slp)) {
         return;
     }
 
-    if (gpio_pin_configure_dt(&motor_flt, GPIO_INPUT) < 0 ||
+    if (gpio_pin_configure_dt(&bin2, GPIO_OUTPUT_INACTIVE) < 0 ||
+        gpio_pin_configure_dt(&motor_flt, GPIO_INPUT) < 0 ||
         gpio_pin_configure_dt(&fault_test_button, GPIO_INPUT) < 0 ||
         gpio_pin_configure_dt(&motor_slp, GPIO_OUTPUT_INACTIVE) < 0) {
         return;
@@ -49,10 +107,10 @@ void MotorDriver::begin()
         return;
     }
 
-    if (pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0) < 0 ||
-        pwm_set_dt(&bin2_pwm, bin2_pwm.period, 0) < 0) {
+    if (pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0) < 0) {
         return;
     }
+    // PWM-úttök eru tengd í set() eftir þörfum
     initialized = true;
     stop();
 }
@@ -72,17 +130,22 @@ void MotorDriver::reverse()
 
 void MotorDriver::stop()
 {
+    // Both LOW
+    // ain1_off();
+    // ain2_off();
+
     if (!initialized) {
         return;
     }
 
     // BIN1 low and BIN2 low puts the DRV8833 in coast mode.
     pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0);
-    pwm_set_dt(&bin2_pwm, bin2_pwm.period, 0);
+    gpio_pin_set_dt(&bin2, 0);
 }
 
 void MotorDriver::set(double pwm)
 {
+
     if (!initialized) {
         return;
     }
@@ -101,27 +164,50 @@ void MotorDriver::set(double pwm)
     }
 
 
-    const double magnitude = pwm > 0.0 ? pwm : -pwm;
+    // uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
 
-    // Pulse width in nanoseconds, kept as a double until the end so the
-    // 4000-count timer resolution is not lost to integer truncation.
-    const uint32_t pulse = static_cast<uint32_t>(
-        static_cast<double>(bin1_pwm.period) * magnitude / 255.0);
+    // if (duty == 0)
+    // {
+    //     stop();
+    // }
+    // else if (pwm > 0)
+    // {
+    //     // Forward
+    //     ain2_off();
+    //     ain1_pwm(duty);
+    // }
+    // else
+    // {
+    //     // Reverse
+    //     ain1_off();
+    //     ain2_pwm(duty);
+    // }
 
-    // Same PWM scheme as Project 3: one input PWM, the other input low,
-    // so both directions use fast decay (coast during the off time).
-    // The idle input is set low first; both channels share TIM1 with
-    // preloaded compare registers, so the change takes effect together
-    // at the next timer update.
-    if (pwm > 0.0) {
-        // Forward: BIN1 PWM, BIN2 low.
-        pwm_set_dt(&bin2_pwm, bin2_pwm.period, 0);
-        pwm_set_dt(&bin1_pwm, bin1_pwm.period, pulse);
-    } else {
-        // Reverse: BIN1 low, BIN2 PWM.
+    const uint32_t magnitude =
+        static_cast<uint32_t>(pwm > 0.0 ? pwm : -pwm);
+
+    // PWM pulse width in nanoseconds. The overlay sets a 50 us period.
+    const uint32_t requested_pulse =
+        (bin1_pwm.period * magnitude) / 255U;
+
+    // First put BIN1 low so changing BIN2 does not switch direction
+    // while the previous PWM signal is still active.
     pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0);
-        pwm_set_dt(&bin2_pwm, bin2_pwm.period, pulse);
+
+    uint32_t bin1_pulse;
+
+    if (pwm > 0.0) {
+        // Forward: BIN2 low; BIN1 PWM duty equals the command magnitude.
+        gpio_pin_set_dt(&bin2, 0);
+        bin1_pulse = requested_pulse;
+    } else {
+        // Reverse: BIN2 high; BIN1 pulse is inverted for reverse PWM.
+        gpio_pin_set_dt(&bin2, 1);
+        bin1_pulse = bin1_pwm.period - requested_pulse;
     }
+
+    pwm_set_dt(&bin1_pwm, bin1_pwm.period, bin1_pulse);
+
 }
 
 
@@ -145,10 +231,11 @@ bool MotorDriver::fault_active()
         return true; // Fail safe if the driver did not initialize.
     }
 
-    // The overlay marks FLT as active low. gpio_pin_get_dt() returns
-    // the logical active state, so 1 means a fault is active.
     const int driver_fault = gpio_pin_get_dt(&motor_flt);
     const int button_fault = gpio_pin_get_dt(&fault_test_button);
+
+    // Negative values indicate a GPIO read error, so treat them as a fault.
+    // With GPIO_ACTIVE_LOW, a pressed button reads as logical 1.
     return driver_fault < 0 ||
            button_fault < 0 ||
            driver_fault != 0 ||

src/operational_state.cpp

@@ -1,10 +1,14 @@
 #include "operational_state.h"
 #include "motor_controller.h"
 
+//#include <Arduino.h>
+
 #include <zephyr/sys/printk.h>
 
+
 void OperationalState::enter()
 {
+    //Serial.println("State: Operational");
     printk("State: Operational\n");
 
     context->reset_controller();
@@ -14,15 +18,25 @@ void OperationalState::enter()
     sample_count = 0;
 
 #if LOG_CSV
+    //Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
     printk("time_ms,ref_rpm,actual_rpm,pwm\n");
 #endif
 }
 
+// Part 1 
+
+//void OperationalState::update()
+//{
+//    context->run_speed_controller();
+//}
+
+// Part 2
 
 void OperationalState::update()
 {
     if (context->fault_active())
     {
+        //Serial.println("Fault detected");
         printk("Fault detected\n");
 
         context->to_stopped();
@@ -36,6 +50,13 @@ void OperationalState::update()
 
 #if LOG_CSV
         // 4 ms á milli sýna, tíminn byrjar á 0 við hverja innkomu í Operational
+        // Serial.print(sample_count * 4UL);
+        // Serial.print(',');
+        // Serial.print(context->get_reference_rpm(), 1);
+        // Serial.print(',');
+        // Serial.print(context->get_actual_rpm(), 2);
+        // Serial.print(',');
+        // Serial.println(context->get_pwm(), 1);
         printk("%u,%.1f,%.2f,%.1f\n",
             static_cast<unsigned int>(sample_count * 4U),
             context->get_reference_rpm(),
@@ -50,6 +71,7 @@ void OperationalState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
+        //Serial.println("Command: reset");
         printk("Command: reset\n");
 
         context->to_initialization();
@@ -57,6 +79,7 @@ void OperationalState::command(char c)
 
     else if (c == 'p' || c == 'P')
     {
+        //Serial.println("Command: set pre-operational");
          printk("Command: set pre-operational\n");
 
         context->to_pre_operational();

src/pi_controller.cpp

@@ -23,6 +23,7 @@ double PI_controller::update(double ref, double actual)
         integral = new_integral;
     }
     return u;
+    // return 0.0;
 }
 
 void PI_controller::reset()

src/pre_operational_state.cpp

@@ -3,16 +3,22 @@
 
 #include "p_controller.h"
 
+//#include <Arduino.h>
+
 #include <stdlib.h>
 #include <zephyr/kernel.h>
 #include <zephyr/sys/printk.h>
 
+
+
 PreOperationalState::PreOperationalState(P_controller &p_controller, P_controller &pi_controller)
     : p_controller(p_controller),
       pi_controller(pi_controller),
       pi_selected(true),
       previous_time(0),
       led_state(false),
+      //waiting_for_kp(false),
+      //waiting_for_ti(false),
       input_mode(NONE),
       input_index(0)
 {
@@ -20,22 +26,22 @@ PreOperationalState::PreOperationalState(P_controller &p_controller, P_controlle
 
 void PreOperationalState::enter()
 {
+    //Serial.println("State: Pre-operational");
     printk("State: Pre-operational\n");
 
-    // The selection survives a reset, so report it (used by capture_serial.py).
-    printk("Controller: %s\n", pi_selected ? "PI" : "P");
-
     context->stop_motor();
 
     context->led_off();
 
     led_state = false;
 
+    //previous_time = millis();
     previous_time = k_uptime_get();
 }
 
 void PreOperationalState::update()
 {
+    //unsigned long current_time = millis();
     const int64_t current_time = k_uptime_get();
 
     if (current_time - previous_time >= 500)
@@ -75,13 +81,17 @@ void PreOperationalState::command(char c)
                 {
                     context->set_Kp(value);
 
-                    printk("Kp set to: %.4f\n", value);
+                    // Serial.print("Kp set to: ");
+                    // Serial.println(value);
+                    printk("Kp updated\n");
                 }
                 else if (input_mode == ENTER_TI)
                 {
                     context->set_Ti(value);
 
-                    printk("Ti set to: %.4f\n", value);
+                    // Serial.print("Ti set to: ");
+                    // Serial.println(value);
+                    printk("Ti updated\n");
                 }
             }
 
@@ -100,6 +110,7 @@ void PreOperationalState::command(char c)
             if (input_index < sizeof(input_buffer) - 1)
             {
                 input_buffer[input_index++] = c;
+                //input_index++;
             }
         }
 
@@ -110,6 +121,7 @@ void PreOperationalState::command(char c)
     // Normal state commands
     if (c == 'o' || c == 'O')
     {
+        //Serial.println("Command: set operational");
         printk("Command: set operational\n");
 
         context->to_operational();
@@ -117,6 +129,7 @@ void PreOperationalState::command(char c)
 
     else if (c == 'r' || c == 'R')
     {
+        //Serial.println("Command: reset");
          printk("Command: reset\n");
 
         context->to_initialization();
@@ -127,6 +140,7 @@ void PreOperationalState::command(char c)
         input_mode = ENTER_KP;
         input_index = 0;
 
+        //Serial.println("Enter Kp and press Enter:");
         printk("Enter Kp and press Enter:\n");
     }
 
@@ -135,6 +149,7 @@ void PreOperationalState::command(char c)
         input_mode = ENTER_TI;
         input_index = 0;
 
+        //Serial.println("Enter Ti and press Enter:");
         printk("Enter Ti and press Enter:\n");
     }
 
@@ -146,11 +161,13 @@ void PreOperationalState::command(char c)
         if (pi_selected)
         {
             context->set_controller(pi_controller);
+            //Serial.println("Controller: PI");
             printk("Controller: PI\n");
         }
         else
         {
             context->set_controller(p_controller);
+            //Serial.println("Controller: P");
             printk("Controller: P\n");
         }
     }

src/rotary_encoder_driver.cpp

@@ -6,18 +6,18 @@
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
 
-//#define ISR_PROBE_NODE DT_PATH(zephyr_user)
 
-static const struct gpio_dt_spec isr_probe =
-    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_isr_probe), gpios);
+static const struct gpio_dt_spec encoder_c1 =
+    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
+
+static const struct gpio_dt_spec encoder_c2 =
+    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c2), gpios);
 
 RotaryEncoderDriver::RotaryEncoderDriver()
     : count(0),
       delta(0),
       speed_ready(false),
-      hist_idx(0),
-      eA(Digital_in::ENCODER_C1),
-      eB(Digital_in::ENCODER_C2)
+      hist_idx(0)
 {
     for (uint8_t i = 0; i < HIST_LEN; ++i) {
         history[i] = 0;
@@ -26,16 +26,35 @@ RotaryEncoderDriver::RotaryEncoderDriver()
 
 int RotaryEncoderDriver::begin()
 {
-    eA.init();
-    eB.init();
+    if (!gpio_is_ready_dt(&encoder_c1) ||
+        !gpio_is_ready_dt(&encoder_c2)) {
+        return -ENODEV;
+    }
 
-    // Max count 1: the main loop only needs to know that a new sample
-    // exists, not how many it missed.
-    k_sem_init(&sample_sem, 0, 1);
+    int ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
+    if (ret < 0) {
+        return ret;
+    }
 
-    const int ret = eA.enable_rising_edge_interrupt(
+    ret = gpio_pin_configure_dt(&encoder_c2, GPIO_INPUT);
+    if (ret < 0) {
+        return ret;
+    }
+
+
+    gpio_init_callback(
         &encoder_c1_callback,
-        gpio_edge_handler);
+        gpio_edge_handler,
+        BIT(encoder_c1.pin));
+
+    ret = gpio_add_callback(encoder_c1.port, &encoder_c1_callback);
+    if (ret < 0) {
+        return ret;
+    }
+
+    ret = gpio_pin_interrupt_configure_dt(
+        &encoder_c1,
+        GPIO_INT_EDGE_TO_ACTIVE);
     if (ret < 0) {
         return ret;
     }
@@ -52,16 +71,17 @@ void RotaryEncoderDriver::gpio_edge_handler(
     struct gpio_callback *callback,
     uint32_t pins)
 {
-    // Zephyr only calls this handler for C1, the one pin in the callback.
-    (void)dev;
-    (void)pins;
+    (void)dev; // This handler does not need the device pointer.
 
     auto *encoder = CONTAINER_OF(
         callback,
         RotaryEncoderDriver,
         encoder_c1_callback);
 
-    encoder->update();
+    if ((pins & BIT(encoder_c1.pin)) != 0U) {
+        encoder->update();                 // Reads C2 and updates the count
+
+    }
 }
 
 void RotaryEncoderDriver::timer_expired(void *context)
@@ -73,10 +93,13 @@ void RotaryEncoderDriver::timer_expired(void *context)
 void RotaryEncoderDriver::update()
 {
     // C2's level at the C1 edge tells us the direction.
-    const bool forward = eB.is_hi();
+    const int direction = gpio_pin_get_dt(&encoder_c2);
+    if (direction < 0) {
+        return;
+    }
 
     const unsigned int key = irq_lock();
-    count += forward ? 1 : -1;
+    count += direction ? 1 : -1;
     irq_unlock(key);
 }
 
@@ -103,14 +126,6 @@ void RotaryEncoderDriver::update_delta()
     speed_ready = true;
 
     irq_unlock(key);
-
-    // Wake the main loop so the controller runs right after the sample.
-    k_sem_give(&sample_sem);
-}
-
-void RotaryEncoderDriver::wait_for_sample(k_timeout_t timeout)
-{
-    (void)k_sem_take(&sample_sem, timeout);
 }
 
 float RotaryEncoderDriver::count_per_sec()

src/rotary_encoder_driver_gamli.cpp

@@ -0,0 +1,132 @@
+// #include "rotary_encoder_driver.h"
+// #include <avr/interrupt.h>
+
+// static RotaryEncoderDriver* driver = nullptr;
+
+// RotaryEncoderDriver::RotaryEncoderDriver()
+//     : count(0)
+//     , delta(0)
+//     , speed_ready(false)
+//     , hist_idx(0)
+//     , eA(2)
+//     , eB(5)
+// {
+//     for (uint8_t i = 0; i < HIST_LEN; i++)
+//     {
+//         history[i] = 0;
+//     }
+// }
+
+
+// void RotaryEncoderDriver::begin()
+// {
+//     driver = this;
+
+//     eA.init();
+//     eB.init();
+
+//     EICRA |= (1<<ISC01) | (1<<ISC00);
+//     EIMSK |= (1<<INT0);
+
+//     timer.init(SAMPLE_PERIOD_US);
+// }
+
+// void RotaryEncoderDriver::update()
+// {
+//     count += eB.is_hi() ? 1 : -1;
+// }
+
+// int32_t RotaryEncoderDriver::position()
+// {
+
+//     uint8_t oldSREG = SREG;
+
+//     cli();
+
+//     int32_t local_count = count;
+
+//     SREG = oldSREG;
+
+//     return local_count;
+// }
+
+// void RotaryEncoderDriver::update_delta()
+// {
+
+//     int32_t oldest = history[hist_idx];
+
+//     history[hist_idx] = count;
+
+//     hist_idx = (hist_idx + 1) % HIST_LEN;
+
+//     delta = (int16_t)(count - oldest);   // breyting yfir HIST_LEN * Ts (16 ms) glugga
+
+//     speed_ready = true;
+// }
+
+// float RotaryEncoderDriver::count_per_sec()
+// {
+
+//     uint8_t oldSREG = SREG;
+
+//     cli();
+
+//     int16_t local_delta = delta;
+
+//     SREG = oldSREG;
+
+//     return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
+// }
+
+
+// float RotaryEncoderDriver::rpm()
+// {
+//     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();
+
+//     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/stopped_state.cpp

@@ -1,9 +1,12 @@
 #include "stopped_state.h"
 #include "motor_controller.h"
 
+//#include <Arduino.h>
+
 #include <zephyr/kernel.h>
 #include <zephyr/sys/printk.h>
 
+
 StoppedState::StoppedState()
     : previous_time(0),
       led_state(false)
@@ -13,6 +16,8 @@ StoppedState::StoppedState()
 
 void StoppedState::enter()
 {
+    //Serial.println("State: Stopped");
+
     printk("State: Stopped\n");
 
     context->stop_motor();
@@ -21,6 +26,7 @@ void StoppedState::enter()
 
     context->led_off();
 
+    //previous_time = millis();
     previous_time = k_uptime_get();
 }
 
@@ -28,6 +34,7 @@ void StoppedState::enter()
 
 void StoppedState::update()
 {
+    //unsigned long current_time = millis();
     const int64_t current_time = k_uptime_get();
 
     if (current_time - previous_time >= 250)
@@ -54,6 +61,7 @@ void StoppedState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
+        //Serial.println("Command: reset");
         printk("Command: reset\n");
 
         context->to_initialization();
@@ -61,6 +69,7 @@ void StoppedState::command(char c)
 
     else if (c == 'o' || c == 'O')
     {
+        //Serial.println("Command: set operational");
         printk("Command: set operational\n");
 
         context->to_operational();
@@ -68,6 +77,7 @@ void StoppedState::command(char c)
 
     else if (c == 'p' || c == 'P')
     {
+        //Serial.println("Command: set pre-operational");
         printk("Command: set pre-operational\n");
 
         context->to_pre_operational();

src/timer_usec.cpp

@@ -1,9 +1,11 @@
 #include "timer_usec.h"
 
-Timer_usec::Timer_usec()
+Timer_usec::Timer_usec() //= default;
     : callback(nullptr),
       callback_context(nullptr)
+
 {
+
 }
 
 void Timer_usec::set_callback(
@@ -15,6 +17,17 @@ void Timer_usec::set_callback(
 }
 
 
+// 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);
+// }
+
 void Timer_usec::init(uint16_t period_us)
 {
     if (period_us == 0) {

test/test_pi_controller/test_main.cpp

@@ -0,0 +1,150 @@
+#include <unity.h>
+
+// #ifdef ARDUINO
+#include <Arduino.h>
+// #endif
+
+#include "p_controller.h"
+#include "pi_controller.h"
+
+static const double KP = 2.0;
+static const double TI = 1.0;
+static const double T = 0.1;
+static const double TOL = 1e-4;  // double er 32-bita float a AVR
+
+// void setUp(void) {}
+// void tearDown(void) {}
+
+// Normal flow: engin villa -> ekkert úttak
+void test_zero_error_gives_zero_output(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+}
+
+// Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
+void test_first_step(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
+void test_integral_accumulates(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    double u = 0.0;
+    for (int n = 1; n <= 5; n++)
+    {
+        u = c.update(e, 0.0);
+        TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
+    }
+}
+
+// Normal flow: þegar villan er orðin 0 heldur integralið úttakinu uppi
+void test_output_held_when_error_zero(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(e, 0.0);
+    }
+    double E = 5 * e * T;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
+}
+
+// Alt flow: villa langt utan getu -> mettun í +100 %
+void test_saturates_high(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
+}
+
+// Alt flow: mettun í -100 %
+void test_saturates_low(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
+}
+
+// Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
+// strax að gefa úttak undir mettun (integralið óx ekki)
+void test_no_integral_windup(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 1000; n++)
+    {
+        c.update(10000.0, 0.0);
+    }
+    double u = c.update(0.0, 1.0);  // e = -1
+    TEST_ASSERT_TRUE(u < 0.0);
+}
+
+// Alt flow: reset (stopped -> operational) hreinsar integralið
+void test_reset_clears_integral(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(5.0, 0.0);
+    }
+    c.reset();
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
+}
+
+// Polymorphism: kall í gegnum P_controller& gefur PI hegðun
+void test_polymorphic_update(void)
+{
+    PI_controller pi(KP, TI, T);
+    P_controller& c = pi;
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// P_controller hegðar sér óbreytt
+void test_p_controller_unchanged(void)
+{
+    P_controller c(KP);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
+}
+
+void setup()
+{
+    // init();
+    delay(2000);
+    UNITY_BEGIN();
+    RUN_TEST(test_zero_error_gives_zero_output);
+    RUN_TEST(test_first_step);
+    RUN_TEST(test_integral_accumulates);
+    RUN_TEST(test_output_held_when_error_zero);
+    RUN_TEST(test_saturates_high);
+    RUN_TEST(test_saturates_low);
+    RUN_TEST(test_no_integral_windup);
+    RUN_TEST(test_reset_clears_integral);
+    RUN_TEST(test_polymorphic_update);
+    RUN_TEST(test_p_controller_unchanged);
+    // return UNITY_END();
+    UNITY_END();
+}
+
+void loop() {}
+
+// #ifdef ARDUINO
+// void setup()
+// {
+//     delay(2000);  // bida eftir serial tengingu eftir reset
+//     run_tests();
+// }
+
+// void loop()
+// {
+// }
+// #else
+// int main(int argc, char** argv)
+// {
+//     return run_tests();
+// }
+// #endif

zephyr/boards/nucleo_l432kc.overlay

@@ -1,14 +1,17 @@
 #include <zephyr/dt-bindings/gpio/gpio.h>
 #include <zephyr/dt-bindings/pwm/pwm.h>
-#include <zephyr/dt-bindings/pwm/stm32_pwm.h>
 
 / {
+    chosen {
+        zephyr,canbus = &can1;
+    };
+
     aliases {
         encoder-c1 = &encoder_c1;
         encoder-c2 = &encoder_c2;
 
         motor-bin1-pwm = &motor_bin1_pwm;
-        motor-bin2-pwm = &motor_bin2_pwm;
+        motor-bin2 = &motor_bin2;
         motor-flt = &motor_flt;
         motor-slp = &motor_slp;
         fault-test-button = &fault_test_button;
@@ -41,15 +44,15 @@
     motor_gpio_outputs {
         compatible = "gpio-leds";
 
+        motor_bin2: motor_bin2 {
+            gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>; /* D6, PB1 */
+            label = "Motor BIN2";
+        };
+
         motor_slp: motor_slp {
             gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
             label = "Motor sleep";
         };
-
-        encoder_isr_probe: encoder_isr_probe {
-            gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
-            label = "Encoder ISR probe";
-        };
     };
 
     motor_pwm_outputs {
@@ -59,28 +62,22 @@
             pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
             label = "Motor BIN1 PWM";
         };
-
-        /* PB1 has no regular TIM1 channel, only the complementary output
-         * TIM1_CH3N. With CH3 itself disabled, CH3N outputs the
-         * non-inverted CH3 reference, so it behaves like a normal channel. */
-        motor_bin2_pwm: motor_bin2_pwm {
-            pwms = <&pwm1 3 PWM_USEC(50) (PWM_POLARITY_NORMAL | STM32_PWM_COMPLEMENTARY)>; /* D6, PB1; 20 kHz */
-            label = "Motor BIN2 PWM";
-        };
-    };
-        zephyr,user {
-        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
     };
 };
 
 &timers1 {
     status = "okay";
-    /* No prescaler: 80 MHz timer clock, so a 50 us period is 4000 counts. */
-    st,prescaler = <0>;
+    st,prescaler = <79>;
 
     pwm1: pwm {
         status = "okay";
-        pinctrl-0 = <&tim1_ch1_pa8 &tim1_ch3n_pb1>;
+        pinctrl-0 = <&tim1_ch1_pa8>;
         pinctrl-names = "default";
     };
 };
+
+&can1 {
+    pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
+    pinctrl-names = "default";
+    status = "okay";
+};

zephyr/prj.conf

@@ -6,6 +6,7 @@ CONFIG_PWM=y
 CONFIG_SERIAL=y
 CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
-CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_PRINTK=y
 CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_CAN=y