Add Controller class & code updates to work with it

SW/CMakeLists.txt

@@ -35,6 +35,8 @@ set(SOURCE_FILES
         Potenciometr.h
         servo.cpp
         servo.h
+        Controller.cpp
+        Controller.h
 )
 
 include_directories(libs/src)

SW/Controller.cpp

+
+#include "Controller.h"
+
+#include <stdint.h>
+
+#include "usart.h"
+#include "servo.h"
+
+
+Controller controller;
+
+static usart_regs registers
+{
+        &UCSRA,
+        &UCSRB,
+        &UCSRC,
+        &UDR,
+        &UBRRL,
+        &UBRRH,
+};
+
+static servo_data blue_servo_data
+{
+        220,	//0°
+        2200,	//180°
+
+        10000,	//ICR_value
+        20000	//Pulse_duration
+};
+
+Controller::Controller():   potenciometr(),
+                            servoL(&DDRB, PB1, &OCR1A, blue_servo_data),
+                            servoR(&DDRB, PB2, &OCR1B, blue_servo_data),
+                            uart(registers)
+{
+    uart.set_operating_mode(uart.ASYNCHRONOUS_NORMAL);
+    uart.set_baudrate(115200);
+    uart.set_data_bits(8);
+    uart.set_stop_bits(1);
+    uart.set_parity(uart.PARITY_NONE);
+    uart.enable_trasmitter();
+    //uart.enable_RX_complete_interrupt();
+
+    uart.transmit_string("\nServo headlight control\n");
+
+    Ldata = {163, 820, 85, 113};
+    Rdata = {163, 820, 85, 113};
+
+    L_k = (Ldata.pot_max-Ldata.pot_min)/(Ldata.angle_max-Ldata.angle_min);
+    R_k = (Rdata.pot_max-Rdata.pot_min)/(Rdata.angle_max-Rdata.angle_min);
+
+    servo_ini();
+}
+
+void Controller::servo_ini()
+{
+    TCCR1A |= (1<<COM1A1) | (1<<COM1B1) | (1<<WGM11);	//Fast PWM non-inverted
+    TCCR1B |= (1<<WGM13)  | (1<<WGM12)  | (1<<CS11);	//Prescaler 8 -> 7.03Hz
+
+    ICR1 = 10000;	//Top value -> 46.04Hz
+
+    servoL.set_angle(113);
+    servoR.set_angle(113);
+
+}
+
+void Controller::L_handler()
+{
+    uint8_t angle = ((potenciometr.adc_value+1963)/L_k)-30;
+    servoL.set_angle(angle);
+}
+
+void Controller::R_handler()
+{
+    uint8_t angle = ((potenciometr.adc_value+1963)/R_k)-7;
+    servoR.set_angle(angle);
+}
+
+void Controller::send_debug()
+{
+    uart.transmit_string("Pot:\t");
+    uart.transmit_dec32(potenciometr.adc_value);
+    uart.transmit_string("\t\t");
+    uart.transmit_string("L:\t");
+    uart.transmit_dec32(servoL.get_angle());
+    uart.transmit_string("\t\t");
+    uart.transmit_string("R:\t");
+    uart.transmit_dec32(servoR.get_angle());
+    uart.transmit_new_line();
+}

SW/Controller.h

+#pragma once
+
+#include <stdint.h>
+
+#include "Potenciometr.h"
+#include "servo.h"
+#include "usart.h"
+
+
+class Controller
+{
+    private:
+        struct
+        {
+            uint16_t pot_min;
+            uint16_t pot_max;
+
+            uint8_t angle_min;
+            uint8_t angle_max;
+        }Ldata, Rdata;
+
+        uint8_t L_k;
+        uint8_t R_k;
+
+    public:
+        Potenciometr potenciometr;
+        servo_class servoL;
+        servo_class servoR;
+        usart uart;
+
+        Controller();
+
+        void servo_ini();
+
+        void L_handler();
+        void R_handler();
+
+        void send_debug();
+};
+
+extern Controller controller;

SW/Potenciometr.cpp

 
 #include "Potenciometr.h"
 
-Potenciometr potenciometr;

SW/Potenciometr.h

@@ -59,5 +59,3 @@ class Potenciometr
             ADCSRA |= (1<<ADSC);
         };
 };
-
-extern Potenciometr potenciometr;

SW/irq.cpp

@@ -3,19 +3,22 @@
 
 #include <avr/io.h>
 #include <avr/interrupt.h>
-#include "Potenciometr.h"
+
+#include "Controller.h"
 
 ISR(ADC_vect)
 {
-    potenciometr.irq_handler();
+    controller.potenciometr.irq_handler();
 }
 
 ISR(TIMER0_OVF_vect)
 {
-    potenciometr.start_conversion();
+    controller.potenciometr.start_conversion();
 }
 
 ISR(USART_RXC_vect)
 {
-
+    uint8_t angle = UDR;
+    controller.servoL.set_angle(angle);
+    controller.servoR.set_angle(angle);
 }

SW/main.cpp

@@ -2,76 +2,32 @@
 #include <avr/interrupt.h>
 #include <util/delay.h>
 
-#include "usart.h"
-
 #include "Potenciometr.h"
 #include "servo.h"
+#include "Controller.h"
 
-static usart_regs registers
-{
-        &UCSRA,
-        &UCSRB,
-        &UCSRC,
-        &UDR,
-        &UBRRL,
-        &UBRRH,
-};
-
-usart uart(registers);
-
-static servo_data blue_servo_data
-{
-        220,	//0°
-        2200,	//180°
-
-        10000,	//ICR_value
-        20000	//Pulse_duration
-};
-
-servo_class servoL(&DDRB, PB1, &OCR1A, blue_servo_data);
-servo_class servoR(&DDRB, PB2, &OCR1B, blue_servo_data);
 
-void servo_ini()
-{
-    TCCR1A |= (1<<COM1A1) | (1<<COM1B1) | (1<<WGM11);	//Fast PWM non-inverted
-    TCCR1B |= (1<<WGM13)  | (1<<WGM12)  | (1<<CS11);	//Prescaler 8 -> 7.03Hz
+//Pot min 163
+//Pot max 820
 
-    ICR1 = 10000;	//Top value -> 46.04Hz
+//L max - 113°
+//L min - 86°
 
-    servoL.set_angle(120);
-    servoR.set_angle(30);
-}
+//P max - 113°
+//P min - 86°
 
 int main(void)
+
 {
     sei();
 
-    uart.set_operating_mode(uart.ASYNCHRONOUS_NORMAL);
-    uart.set_baudrate(115200);
-    uart.set_data_bits(8);
-    uart.set_stop_bits(1);
-    uart.set_parity(uart.PARITY_NONE);
-    uart.enable_trasmitter();
-
-    uart.transmit_string("\nServo headlight control\n");
-
-    servo_ini();
-
-    char angle;
-
     for(;;)
     {
-        angle = potenciometr.adc_value/5;
-
-        uart.transmit_dec32(potenciometr.adc_value);
-        uart.transmit_char('\t');
-        uart.transmit_dec32(angle);
-        uart.transmit_char(248);
-        uart.transmit_new_line();
+        controller.L_handler();
+        controller.R_handler();
 
-        servoL.set_angle(angle);
-        servoR.set_angle(angle);
+        controller.send_debug();
 
-        _delay_ms(50);
+        _delay_ms(20);
     }
 }
\ No newline at end of file

SW/servo.h

@@ -29,7 +29,7 @@ class servo_class
 		volatile uint8_t *ddr;
 				 uint8_t  bit;
 		volatile uint16_t *ocr;
-				 uint8_t  current_angle;
+				 volatile uint8_t  current_angle;
 				 
 				 servo_data &data;
 				 uint8_t one_step;