Merge branch 'Isak_part1' of ssh://gitea.cs.ru.is:2222/helgie22/ESP_Project4_H26 into Isak_part1

src/motor_driver.cpp

@@ -125,6 +125,20 @@ 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()
 {
     if (!initialized) {

src/rotary_encoder_driver.cpp

@@ -3,6 +3,13 @@
 #include <errno.h>
 #include <zephyr/kernel.h>
 #include <zephyr/sys/util.h>
+#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);
 
 RotaryEncoderDriver::RotaryEncoderDriver()
     : count(0),
@@ -35,8 +42,8 @@ int RotaryEncoderDriver::begin()
 
     timer.set_callback(timer_expired, this);
     timer.init(SAMPLE_PERIOD_US);
-
     reset_speed_measurement();
+
     return 0;
 }
 

zephyr/boards/nucleo_l432kc.overlay

@@ -31,7 +31,7 @@
             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";
@@ -45,6 +45,11 @@
             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 {
@@ -63,6 +68,9 @@
             label = "Motor BIN2 PWM";
         };
     };
+        zephyr,user {
+        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
+    };
 };
 
 &timers1 {