Bætti við interrupt (pin D2) til að skoða encoder lestur, umb fyrir Part 1 í verkefni

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
     }
 }