can send test bætt við

zephyr/boards/nucleo_l432kc.overlay

@@ -45,11 +45,6 @@
             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 {
@@ -68,9 +63,6 @@
             label = "Motor BIN2 PWM";
         };
     };
-        zephyr,user {
-        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
-    };
 };
 
 &timers1 {
@@ -83,4 +75,12 @@
         pinctrl-0 = <&tim1_ch1_pa8 &tim1_ch3n_pb1>;
         pinctrl-names = "default";
     };
-};
+};
+
+/* CAN1 to the transceiver: RX on D10 (PA11), TX on D2 (PA12).
+ * The bitrate is set in the code with can_set_bitrate(). */
+&can1 {
+    pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
+    pinctrl-names = "default";
+    status = "okay";
+};

zephyr/prj.conf

@@ -8,4 +8,5 @@ CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_PRINTK=y
-CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_CAN=y