Heljarinnar breytingar til þess að laga nokkra hluti í part 1.

include/rotary_encoder_driver.h

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