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

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;

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
 
 

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
     }
 }
 

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 {
@@ -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 {