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

src/CAN_FRAME_TEST.c

@@ -0,0 +1,47 @@
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+/* Devicetree node selected by zephyr,canbus in the overlay */
+#define CANBUS_NODE DT_CHOSEN(zephyr_canbus)
+
+int main(void)
+{
+    const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
+
+    if (!device_is_ready(dev)) {
+        printk("CAN device not ready\n");
+        return 0;
+    }
+
+    int err = can_set_bitrate(dev, 125000);
+    if (err != 0) {
+        printk("Error setting CAN bitrate (err %d)\n", err);
+        return 0;
+    }
+
+    err = can_start(dev);
+    if (err != 0) {
+        printk("Error starting CAN controller (err %d)\n", err);
+        return 0;
+    }
+
+    struct can_frame frame = {
+        .flags = 0,
+        .id = 0x123,
+        .dlc = 8,
+        .data = {1, 2, 3, 4, 5, 6, 7, 8},
+    };
+
+    while (1) {
+        k_msleep(10);
+
+        err = can_send(dev, &frame, K_MSEC(100), NULL, NULL);
+        if (err != 0) {
+            printk("Sending failed (err %d)\n", err);
+            return 0;
+        }
+    }
+}

src/main.c

@@ -1,12 +1,12 @@
-#include <zephyr/kernel.h>
+// #include <zephyr/kernel.h>
 
-#ifndef PIO_UNIT_TESTING
+// #ifndef PIO_UNIT_TESTING
 
-void motor_application_main(void);
+// void motor_application_main(void);
 
-void main(void)
-{
-    motor_application_main();
-}
+// void main(void)
+// {
+//     motor_application_main();
+// }
 
-#endif
+// #endif

src/rotary_encoder_driver.cpp

@@ -6,10 +6,6 @@
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
 
-//#define ISR_PROBE_NODE DT_PATH(zephyr_user)
-
-static const struct gpio_dt_spec isr_probe =
-    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_isr_probe), gpios);
 
 static const struct gpio_dt_spec encoder_c1 =
     GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
@@ -31,17 +27,11 @@ RotaryEncoderDriver::RotaryEncoderDriver()
 int RotaryEncoderDriver::begin()
 {
     if (!gpio_is_ready_dt(&encoder_c1) ||
-        !gpio_is_ready_dt(&encoder_c2) ||
-        !gpio_is_ready_dt(&isr_probe)) {
+        !gpio_is_ready_dt(&encoder_c2)) {
         return -ENODEV;
     }
 
-    int ret = gpio_pin_configure_dt(&isr_probe, GPIO_OUTPUT_INACTIVE);
-    if (ret < 0) {
-        return ret;
-    }
-
-    ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
+    int ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
     if (ret < 0) {
         return ret;
     }
@@ -51,6 +41,7 @@ int RotaryEncoderDriver::begin()
         return ret;
     }
 
+
     gpio_init_callback(
         &encoder_c1_callback,
         gpio_edge_handler,
@@ -89,8 +80,7 @@ void RotaryEncoderDriver::gpio_edge_handler(
 
     if ((pins & BIT(encoder_c1.pin)) != 0U) {
         encoder->update();                 // Reads C2 and updates the count
-        gpio_pin_set_dt(&isr_probe, 1);   // Marker rising edge
-        gpio_pin_set_dt(&isr_probe, 0);   // Reset for the next interrupt
+
     }
 }
 

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";
 };

zephyr/prj.conf

@@ -7,4 +7,6 @@ CONFIG_SERIAL=y
 CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
 CONFIG_PRINTK=y
-CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_CAN=y