From edd5e40e1566079dc260cbdf405a8ece4692dba0 Mon Sep 17 00:00:00 2001
From: isakg22 <isakg22@ru.is>
Date: Thu, 8 Oct 2026 15:24:04 +0000
Subject: [PATCH] =?UTF-8?q?laga=C3=B0i=20villu,=20vanta=C3=B0i=20bil=20?=
 =?UTF-8?q?=C3=A1=20einum=20sta=C3=B0=20=C3=AD=20rotary=20encoder=20driver?=
 =?UTF-8?q?=20h=20og=20svo=20lag=C3=B0i=20a=C3=B0eins=20=C3=AD=20overlay?=
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---
 include/rotary_encoder_driver.h     |  2 +-
 zephyr/boards/nucleo_l432kc.overlay | 52 +++++++++++++++++++----------
 2 files changed, 36 insertions(+), 18 deletions(-)

diff --git a/include/rotary_encoder_driver.h b/include/rotary_encoder_driver.h
index ce1a5f3..f6006bd 100644
--- a/include/rotary_encoder_driver.h
+++ b/include/rotary_encoder_driver.h
@@ -44,7 +44,7 @@ private:
     Timer_usec timer;
 
     static void gpio_edge_handler(
-        const structdevice *dev,
+        const struct device *dev,
         struct gpio_callback *callback,
         uint32_t pins);
 
diff --git a/zephyr/boards/nucleo_l432kc.overlay b/zephyr/boards/nucleo_l432kc.overlay
index 0e90f33..5d27c9f 100644
--- a/zephyr/boards/nucleo_l432kc.overlay
+++ b/zephyr/boards/nucleo_l432kc.overlay
@@ -12,28 +12,46 @@
         motor-slp = &motor_slp;
     };
 
-    encoder_c1: encoder_c1 {
-        gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; /* D4, PB7 */
+    buttons {
+        compatible = "gpio-keys";
+
+        encoder_c1: encoder_c1 {
+            gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; /* D4, PB7 */
+            label = "Encoder C1";
+        };
+
+        encoder_c2: encoder_c2 {
+            gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>; /* D5, PB6 */
+            label = "Encoder C2";
+        };
+
+        motor_flt: motor_flt {
+            gpios = <&gpioa 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* A0, PA0 */
+            label = "Motor fault";
+        };
     };
 
-    encoder_c2: encoder_c2 {
-        gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>; /* D5, PB6 */
+    motor_gpio_outputs {
+        compatible = "gpio-leds";
+
+        motor_bin2: motor_bin2 {
+            gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>; /* D6, PB1 */
+            label = "Motor BIN2";
+        };
+
+        motor_slp: motor_slp {
+            gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
+            label = "Motor sleep";
+        };
     };
 
-    motor_bin1_pwm: motor_bin1_pwm {
-        pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
-    };
+    motor_pwm_outputs {
+        compatible = "pwm-leds";
 
-    motor_bin2: motor_bin2 {
-        gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>; /* D6, PB1 */
-    };
-
-    motor_flt: motor_flt {
-        gpios = <&gpioa 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* A0, PA0 */
-    };
-
-    motor_slp: motor_slp {
-        gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>; /* A1, PA1 */
+        motor_bin1_pwm: motor_bin1_pwm {
+            pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
+            label = "Motor BIN1 PWM";
+        };
     };
 };