Uppfærði kóðann til að virkja Fault takka

include/operational_state.h

@@ -7,7 +7,7 @@
 // Sett á 1 til að prenta CSV (time_ms,ref_rpm,actual_rpm,pwm) í Operational,
 // t.d. fyrir step og load response. Einnig hægt með build_flags = -D LOG_CSV=1
 #ifndef LOG_CSV
-#define LOG_CSV 0
+#define LOG_CSV 1
 #endif
 
 

src/motor_driver.cpp

@@ -45,6 +45,9 @@ static const struct gpio_dt_spec bin2 =
 static const struct gpio_dt_spec motor_flt =
     GPIO_DT_SPEC_GET(DT_ALIAS(motor_flt), gpios);
 
+static const struct gpio_dt_spec fault_test_button =
+    GPIO_DT_SPEC_GET(DT_ALIAS(fault_test_button), gpios);
+
 static const struct gpio_dt_spec motor_slp =
     GPIO_DT_SPEC_GET(DT_ALIAS(motor_slp), gpios);
 
@@ -87,12 +90,14 @@ void MotorDriver::begin()
     if (!pwm_is_ready_dt(&bin1_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(&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;
     }
@@ -206,16 +211,33 @@ void MotorDriver::set(double pwm)
 }
 
 
+// bool MotorDriver::fault_active()
+// {
+//     //return !(PIND & (1 << PIND4));
+
+//     if (!initialized) {
+//         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 fault = gpio_pin_get_dt(&motor_flt);
+//     return fault < 0 || fault != 0;
+// }
+
 bool MotorDriver::fault_active()
 {
-    //return !(PIND & (1 << PIND4));
-
     if (!initialized) {
         return true; // Fail safe if the driver did not initialize.
     }
 
-    // The overlay marks FLT as active low. gpio_pin_get_dt() returns
+    const int driver_fault = gpio_pin_get_dt(&motor_flt);
-    // the logical active state, so 1 means a fault is active.
+    const int button_fault = gpio_pin_get_dt(&fault_test_button);
-    const int fault = gpio_pin_get_dt(&motor_flt);
+
-    return fault < 0 || fault != 0;
+    // 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 ||
+           button_fault != 0;
 }

zephyr/boards/nucleo_l432kc.overlay

@@ -10,6 +10,7 @@
         motor-bin2 = &motor_bin2;
         motor-flt = &motor_flt;
         motor-slp = &motor_slp;
+        fault-test-button = &fault_test_button;
     };
 
     buttons {
@@ -29,6 +30,11 @@
             gpios = <&gpioa 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* A0, PA0 */
             label = "Motor fault";
         };
+        
+        fault_test_button: fault_test_button {
+            gpios = <&gpiob 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* D3, PB0 */
+            label = "Fault test button";
+        };
     };
     
     motor_gpio_outputs {