Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

src/timer_usec.cpp

@@ -1,14 +1,43 @@
 #include "timer_usec.h"
 
-Timer_usec::Timer_usec() = default;
+Timer_usec::Timer_usec() //= default;
+    : callback(nullptr),
+      callback_context(nullptr)
 
-void Timer_usec::init(uint16_t period_us) { // for custom duty cycle duration in ms in part 1
-    TCCR1A = 0;
-    TCCR1B = 0;
-    TCNT1 = 0;
+{
 
-    OCR1A = period_us * 2 - 1;
-    TCCR1B |= (1<<WGM12);
-    TIMSK1 |= (1<<OCIE1A);
-    TCCR1B |= (1<<CS11);
 }
+
+// void Timer_usec::init(uint16_t period_us) { // for custom duty cycle duration in ms in part 1
+//     TCCR1A = 0;
+//     TCCR1B = 0;
+//     TCNT1 = 0;
+
+//     OCR1A = period_us * 2 - 1;
+//     TCCR1B |= (1<<WGM12);
+//     TIMSK1 |= (1<<OCIE1A);
+//     TCCR1B |= (1<<CS11);
+// }
+
+void Timer_usec::init(uint16_t period_us)
+{
+    if (period_us == 0) {
+        return;
+    }
+
+    k_timer_init(&timer, expiry_handler, nullptr);
+    k_timer_user_data_set(&timer, this);
+
+    // The timer fires first after period_us, then repeats every period_us.
+    k_timer_start(&timer, K_USEC(period_us), K_USEC(period_us));
+}
+
+void Timer_usec::expiry_handler(struct k_timer *expired_timer)
+{
+    auto *self =
+        static_cast<Timer_usec *>(k_timer_user_data_get(expired_timer));
+
+    if (self != nullptr && self->callback != nullptr) {
+        self->callback(self->callback_context);
+    }
+}