Breytt Overlay fyrir Can stillingar, virkjað can í prj conf og test kóði búinn til fyrir CAN FRAME stöffið úr L4.4

zephyr/boards/nucleo_l432kc.overlay

@@ -2,6 +2,10 @@
 #include <zephyr/dt-bindings/pwm/pwm.h>
 
 / {
+    chosen {
+        zephyr,canbus = &can1;
+    };
+
     aliases {
         encoder-c1 = &encoder_c1;
         encoder-c2 = &encoder_c2;
@@ -11,7 +15,6 @@
         motor-flt = &motor_flt;
         motor-slp = &motor_slp;
         fault-test-button = &fault_test_button;
-        encoder-isr-probe = &encoder_isr_probe;
     };
 
     buttons {
@@ -31,7 +34,7 @@
             gpios = <&gpioa 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* A0, PA0 */
             label = "Motor fault";
         };
-        
+
         fault_test_button: fault_test_button {
             gpios = <&gpiob 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* D3, PB0 */
             label = "Fault test button";
@@ -50,11 +53,6 @@
             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 {
@@ -65,9 +63,6 @@
             label = "Motor BIN1 PWM";
         };
     };
-        zephyr,user {
-        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
-    };
 };
 
 &timers1 {
@@ -79,4 +74,10 @@
         pinctrl-0 = <&tim1_ch1_pa8>;
         pinctrl-names = "default";
     };
+};
+
+&can1 {
+    pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
+    pinctrl-names = "default";
+    status = "okay";
 };