Some fixes

AIO.h

@@ -16,7 +16,7 @@ namespace myRIO {
 		BO0 = AOB_0VAL,
 		BO1 = AOB_1VAL,
 		CO0 = AOC_0VAL,
-		CO1 = AOC_0VAL
+		CO1 = AOC_1VAL
 	};
 
 	/** Analog inputs ports */
@@ -30,7 +30,7 @@ namespace myRIO {
 		BI2 = AIB_2VAL,
 		BI3 = AIB_3VAL,
 		CI0 = AIC_0VAL,
-		CI1 = AIC_0VAL
+		CI1 = AIC_1VAL
 	};
 
 

Encoder.cpp

@@ -58,7 +58,7 @@ void Encoder::direction(bool &dir) {
  * Start a thread that will monitor the encoder register.
  * It will alert the user if a given threshold is reached, executing the given function.
  * The threshold is a variation since the last threshold reach (or 0 if none have been reached)
- * 1 increment ~ 0.58°, @see MotorPID.toAngularSpeed
+ * 1 increment ~ 0.58°, @see MotorPID::toAngularSpeed
  * @param func a function to execute when threshold is reached
  * @param threshold the number of increments before executing the function
 */

PWM.cpp

@@ -7,8 +7,9 @@ extern NiFpga_Session myrio_session;
 *@param out the pin where the PWM signal will be created (PWM0, PWM1)
 *@param frequency the frequency of the PWM signal
 *@param duty_cycle the duty cycle of the signal; for 50%, duty_cycle = 50
+*@param prescaler the clock prescaler. Must be a power of 2 between 1 and 64.
 */
-PWM::PWM(uint32_t out, long frequency, double duty_cycle) : out(out), dutyCycle(duty_cycle) {
+PWM::PWM(uint32_t out, double frequency, double duty_cycle, short prescaler) : out(out), dutyCycle(duty_cycle), frequency(frequency), prescaler(prescaler) {
 	uint8_t select, pin;
 	// Activate the PWM signals in the selected pin 
 	if(out == PWMA_0CNFG || out == PWMA_1CNFG || out == PWMA_2CNFG) {
@@ -42,8 +43,6 @@ PWM::PWM(uint32_t out, long frequency, double duty_cycle) : out(out), dutyCycle(
 		return;
 	}
 
-	max = (long)40e6/(32*frequency)-1; //Maximum value that the PWM counts
-
 	// Selection of the needed PWM registers (can be configured as needed)
 	if(out == PWMA_0CNFG){
 		outcs = PWMA_0CS;
@@ -93,20 +92,40 @@ PWM::PWM(uint32_t out, long frequency, double duty_cycle) : out(out), dutyCycle(
 			NiFpga_WriteU8(myrio_session, out, 0b100)); //PWM generation mode , not inverted (can be configured as needed)
 	NiFpga_MergeStatus(&status, 
 			NiFpga_WriteU8(myrio_session, outcs, 0b110)); // Clock divider : 32 (can be configured as needed)
-	NiFpga_MergeStatus(&status, 
-			NiFpga_WriteU16(myrio_session, outmax, max));
 
-	setDutyCycle(duty_cycle);
+
+	setPrescaler(prescaler); // will also set the frequency and the duty cycle
 }
 
-/** Set Duty Cycle
-*@param dutyCycle set the duty cycle
+/** Set the Duty Cycle
+*@param dutyCycle the duty cycle to set
 */
 void PWM::setDutyCycle(double dutyCycle) {
 	uint16_t cmp = round((double)max*dutyCycle/100.0);
 	status = NiFpga_WriteU16(myrio_session, outcmp, cmp);
 }
 
+/** Set the Frequency
+* Will try to keep the current duty cycle.
+*@param frequency the frequency to set
+*/
+void PWM::setFrequency(double frequency) {
+	this->frequency = frequency;
+	max = (long)40e6/(prescaler*frequency)-1; //Maximum value that the PWM counts
+	NiFpga_MergeStatus(&status, 
+		NiFpga_WriteU16(myrio_session, outmax, max));
+	setDutyCycle(dutyCycle);
+}
+
+/** Set the clock prescaler
+* Will try to keep the old frequency.
+*@param clockDiv the prescaler. Must be 1, 2, 4, 8, 16, 32 or 64
+*/
+void PWM::setPrescaler(short clockDiv) {
+	prescaler = clockDiv;
+	setFrequency(frequency);
+}
+
 /**Destructor
 * Desactivate the channel
 */

PWM.h

@@ -32,14 +32,18 @@ namespace myRIO {
  */
 class PWM {
 public:
-	PWM(uint32_t out, long frequency, double duty_cycle);
+	PWM(uint32_t out, double frequency, double duty_cycle, short prescaler = 1);
 	void setDutyCycle(double dutyCycle);
+	void setPrescaler(short prescaler);
+	void setFrequency(double frequency);
 	~PWM();
 private:
 	uint32_t out; /**< Pin PWM*/
 	uint16_t max; /**< Max value that the PWM counts
 	* the counter that generates the PWM signal counts up to the max value to  generate the signal that we want*/
 	double dutyCycle; /**< PWM Duty Cycle*/
+	double frequency; /**< PWM Frequency */
+	uint16_t prescaler; /**< PWM Clock prescaler */
 	uint32_t outcs; /**< PWM Clock Select register*/
 	uint32_t outmax; /**< PWM Max register*/
 	uint32_t outcmp; /**< PWM Compare register*/

Wifi.cpp

@@ -28,30 +28,36 @@ void Wifi::openServer() {
 	short val;
 	char buffer[2];
 
+	// opening a server : AF_INET (IPv4), SOCK_STREAM (TCP)
 	int err, opt = 1;
 	int server_fd = socket(AF_INET, SOCK_STREAM, 0);
 	if(server_fd==0) { perror("socket"); return; }
 
 	err = setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR | SO_KEEPALIVE, &opt, sizeof(opt));
 	if(err) { perror("setsockopt"); return; }
 
+	// defining server address and port
 	struct sockaddr_in server_addr;
 	server_addr.sin_family = AF_INET;
 	server_addr.sin_addr.s_addr = INADDR_ANY;
 	server_addr.sin_port = htons(50000);
 
+	// binding the server address
 	err = bind(server_fd, (struct sockaddr *)&server_addr, sizeof(server_addr));
 	if(err<0) { perror("bind"); return; }
 
+	// listening for incoming connections : blocking
 	err = listen(server_fd, 10);
 	if(err<0) { perror("listen"); return; }
 
 	do {
 		val = 0;
-
+		
 		struct sockaddr client_addr = {0};
 		socklen_t client_addr_size = sizeof(client_addr);
 		std::cout << "Wifi - Waiting for connection" << std::endl;
+
+		// wait for a client connection
 		_socket = accept(server_fd, &client_addr, &client_addr_size);
 		if(_socket==-1) { perror("accept"); return; }
 

main.cpp

@@ -8,6 +8,10 @@ int main() {
 	if(!myRIO_init()) {cout << "Error initializing myRIO"; return -1;}
 
 
+	PWM p(PWMA0, 10e3, 40);
+	Time::wait_s(10);
+
+
 	return 0;
 }