From b90b84d94c6ce287c71a0bb50ff9262647b95263 Mon Sep 17 00:00:00 2001
From: isakg22 <isakg22@ru.is>
Date: Wed, 14 Oct 2026 16:02:44 +0000
Subject: [PATCH] =?UTF-8?q?B=C3=A6tti=20vi=C3=B0=20interrupt=20(pin=20D2)?=
 =?UTF-8?q?=20til=20a=C3=B0=20sko=C3=B0a=20encoder=20lestur,=20umb=20fyrir?=
 =?UTF-8?q?=20Part=201=20=C3=AD=20verkefni?=
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---
 include/motor_controller.h          |  2 +-
 include/operational_state.h         |  2 +-
 src/rotary_encoder_driver.cpp       | 24 +++++++++++++++++++-----
 zephyr/boards/nucleo_l432kc.overlay | 11 ++++++++++-
 4 files changed, 31 insertions(+), 8 deletions(-)

diff --git a/include/motor_controller.h b/include/motor_controller.h
index 4923ec9..4115db4 100644
--- a/include/motor_controller.h
+++ b/include/motor_controller.h
@@ -14,7 +14,7 @@ class State;
 class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
+    static constexpr double DEFAULT_REFERENCE_RPM = -40.0;
     static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
     //static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
     static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
diff --git a/include/operational_state.h b/include/operational_state.h
index e56bde2..f213ce9 100644
--- a/include/operational_state.h
+++ b/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 1
+#define LOG_CSV 0
 #endif
 
 
diff --git a/src/rotary_encoder_driver.cpp b/src/rotary_encoder_driver.cpp
index b7b75d0..002fc5c 100644
--- a/src/rotary_encoder_driver.cpp
+++ b/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);
 
 static const struct gpio_dt_spec encoder_c1 =
     GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
@@ -24,11 +31,17 @@ RotaryEncoderDriver::RotaryEncoderDriver()
 int RotaryEncoderDriver::begin()
 {
     if (!gpio_is_ready_dt(&encoder_c1) ||
-        !gpio_is_ready_dt(&encoder_c2)) {
+        !gpio_is_ready_dt(&encoder_c2) ||
+        !gpio_is_ready_dt(&isr_probe)) {
         return -ENODEV;
     }
 
-    int ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
+    int ret = gpio_pin_configure_dt(&isr_probe, GPIO_OUTPUT_INACTIVE);
+    if (ret < 0) {
+        return ret;
+    }
+
+    ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
     if (ret < 0) {
         return ret;
     }
@@ -48,7 +61,6 @@ int RotaryEncoderDriver::begin()
         return ret;
     }
 
-    // C1 is active high, so “to active” means a rising edge.
     ret = gpio_pin_interrupt_configure_dt(
         &encoder_c1,
         GPIO_INT_EDGE_TO_ACTIVE);
@@ -58,8 +70,8 @@ int RotaryEncoderDriver::begin()
 
     timer.set_callback(timer_expired, this);
     timer.init(SAMPLE_PERIOD_US);
-
     reset_speed_measurement();
+
     return 0;
 }
 
@@ -76,7 +88,9 @@ void RotaryEncoderDriver::gpio_edge_handler(
         encoder_c1_callback);
 
     if ((pins & BIT(encoder_c1.pin)) != 0U) {
-        encoder->update();
+        encoder->update();                 // Reads C2 and updates the count
+        gpio_pin_set_dt(&isr_probe, 1);   // Marker rising edge
+        gpio_pin_set_dt(&isr_probe, 0);   // Reset for the next interrupt
     }
 }
 
diff --git a/zephyr/boards/nucleo_l432kc.overlay b/zephyr/boards/nucleo_l432kc.overlay
index bac38e6..cca7b88 100644
--- a/zephyr/boards/nucleo_l432kc.overlay
+++ b/zephyr/boards/nucleo_l432kc.overlay
@@ -11,6 +11,7 @@
         motor-flt = &motor_flt;
         motor-slp = &motor_slp;
         fault-test-button = &fault_test_button;
+        encoder-isr-probe = &encoder_isr_probe;
     };
 
     buttons {
@@ -36,7 +37,7 @@
             label = "Fault test button";
         };
     };
-    
+
     motor_gpio_outputs {
         compatible = "gpio-leds";
 
@@ -49,6 +50,11 @@
             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 {
@@ -59,6 +65,9 @@
             label = "Motor BIN1 PWM";
         };
     };
+        zephyr,user {
+        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
+    };
 };
 
 &timers1 {