Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

include/rotary_encoder_driver.h

@@ -2,8 +2,9 @@
 #define ROTARY_ENCODER_DRIVER_H
 
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
 
-#include "digital_in.h"
+//#include "digital_in.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
@@ -11,6 +12,19 @@ public:
     static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
     static constexpr float COUNTS_PER_REV = 1050.0f;
 
+    RotaryEncoderDriver();
+
+    // Returns 0 on success, or a negative Zephyr error code.
+    int begin();
+
+    void update();
+    int32_t position();
+    void update_delta();
+    float count_per_sec();
+    float rpm();
+    bool new_speed_available();
+    void reset_speed_measurement();
+
 private:
     static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
 
@@ -21,29 +35,42 @@ 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;
     Timer_usec timer;
 
-public:
-    RotaryEncoderDriver();
+    static void gpio_edge_handler(
+        const structdevice *dev,
+        struct gpio_callback *callback,
+        uint32_t pins);
 
-    void begin();
+    static void timer_expired(void *context);
+    
 
-    void update();
+// public:
+//     RotaryEncoderDriver();
 
-    int32_t position();
+//     void begin();
 
-    void update_delta();
+//     void update();
 
-    float count_per_sec();
+//     int32_t position();
 
-    float rpm();
+//     void update_delta();
+
+//     float count_per_sec();
+
+//     float rpm();
+
+//     bool new_speed_available();
+
+//     void reset_speed_measurement();
 
-    bool new_speed_available();
 
-    void reset_speed_measurement();
 
 };
 #endif