Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

src/digital_in.cpp

@@ -1,14 +1,64 @@
-#include <avr/io.h>
+//#include <avr/io.h>
 #include "digital_in.h"
 
-Digital_in::Digital_in(uint8_t pin) : pin_mask(1<<pin) {}
+#include <zephyr/devicetree.h>
 
-void Digital_in::init() {
-    DDRD  &= ~pin_mask;
-    PORTD |=  pin_mask;
+// Digital_in::Digital_in(uint8_t pin) : pin_mask(1<<pin) {}
+
+// void Digital_in::init() {
+//     DDRD  &= ~pin_mask;
+//     PORTD |=  pin_mask;
+// }
+
+// bool Digital_in::is_hi() { return PIND & pin_mask; }
+// bool Digital_in::is_lo() { return !is_hi(); }
+
+static const struct gpio_dt_spec encoder_c1_gpio =
+    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
+
+static const struct gpio_dt_spec encoder_c2_gpio =
+    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c2), gpios);
+
+Digital_in::Digital_in(uint8_t pin_id)
+    : gpio(nullptr)
+{
+    switch (pin_id) {
+    case ENCODER_C1:
+        gpio = &encoder_c1_gpio;
+        break;
+
+    case ENCODER_C2:
+        gpio = &encoder_c2_gpio;
+        break;
+
+    default:
+        gpio = nullptr;
+        break;
+    }
 }
 
-bool Digital_in::is_hi() { return PIND & pin_mask; }
-bool Digital_in::is_lo() { return !is_hi(); }
+void Digital_in::init()
+{
+    if (gpio == nullptr || !gpio_is_ready_dt(gpio)) {
+        return;
+    }
 
+    // The overlay supplies the pin's GPIO flags.
+    gpio_pin_configure_dt(gpio, GPIO_INPUT);
+}
+
+bool Digital_in::is_hi()
+{
+    if (gpio == nullptr) {
+        return false;
+    }
+
+    // Read the physical pin level: high is true, low is false.
+    return gpio_pin_get_raw(gpio->port, gpio->pin) > 0;
+}
+
+bool Digital_in::is_lo()
+{
+    return !is_hi();
+}