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

Allt virkar upp að vissu marki.

include/digital_in.h

@@ -1,14 +1,22 @@
 #ifndef DIGITAL_IN_H
 #define DIGITAL_IN_H
+
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
 
 struct Digital_in {
-    uint8_t pin_mask;
+    enum : uint8_t {
+        ENCODER_C1 = 0,
+        ENCODER_C2 = 1
+    };
+
+    const struct gpio_dt_spec *gpio;
+
+    explicit Digital_in(uint8_t pin_id);
 
-    Digital_in(uint8_t pin);
-    
     void init();
     bool is_hi();
     bool is_lo();
 };
-#endif
+
+#endif

include/digital_out.h

@@ -1,15 +1,27 @@
 #ifndef DIGITAL_OUT_H
 #define DIGITAL_OUT_H
+
 #include<stdint.h>
+#include <zephyr/drivers/gpio.h>
+
 
 struct Digital_out {
-    uint8_t pin_mask;
+    // uint8_t pin_mask;
 
-    Digital_out(uint8_t pin);
+    enum : uint8_t {
+        STATUS_LED = 0
+    };
+
+    explicit Digital_out(uint8_t pin_id);
 
     void init();
     void toggle();
     void set_hi();
     void set_lo();
+
+private:
+    const struct gpio_dt_spec *gpio;
+
 };
+
 #endif

include/initialization_state.h

@@ -1,15 +1,22 @@
 #ifndef INITIALIZATION_STATE_H
 #define INITIALIZATION_STATE_H
 
+#include <stdint.h>
+
 #include "state.h"
 
 
 class InitializationState : public State
 {
 private:
-    static const unsigned long WAIT_MS = 2000;
+    // static const unsigned long WAIT_MS = 2000;
+
+    // unsigned long enter_time_ms = 0;
+
+
+    static constexpr int64_t WAIT_MS = 2000;
+    int64_t enter_time_ms = 0;
 
-    unsigned long enter_time_ms = 0;
 
 public:
     void enter() override;

include/motor_controller.h

@@ -1,6 +1,8 @@
 #ifndef MOTOR_CONTROLLER_H
 #define MOTOR_CONTROLLER_H
 
+#include <stdint.h>
+
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
@@ -12,9 +14,10 @@ class State;
 class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
+    static constexpr double DEFAULT_REFERENCE_RPM = -40.0;
     static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
-    static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+    //static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+    static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
 
     State* current_state;
 
@@ -23,9 +26,9 @@ private:
     State& operational_state;
     State& stopped_state;
 
-    RotaryEncoderDriver& encoder;
+    RotaryEncoderDriver &encoder;
-    MotorDriver& motor;
+    MotorDriver &motor;
-    P_controller* controller;
+    P_controller *controller;
 
     Digital_out led;
 
@@ -38,13 +41,13 @@ private:
 
 public:
     MotorController(
-        RotaryEncoderDriver& encoder,
+        RotaryEncoderDriver &encoder,
-        MotorDriver& motor,
+        MotorDriver &motor,
-        P_controller& controller,
+        P_controller &controller,
-        State& initialization,
+        State &initialization,
-        State& pre_operational,
+        State &pre_operational,
-        State& operational,
+        State &operational,
-        State& stopped
+        State &stopped
     );
 
 
@@ -54,7 +57,7 @@ public:
 
     void command(char c);
 
-    void transition_to(State& new_state);
+    void transition_to(State &new_state);
 
 
     void to_initialization();
@@ -85,7 +88,7 @@ public:
 
     void set_Ti(double value);
 
-    void set_controller(P_controller& new_controller);
+    void set_controller(P_controller &new_controller);
 
     void led_on();
 

include/motor_driver.h

@@ -17,6 +17,9 @@ public:
     void set(double pwm);
 
     bool fault_active();   // Fault detection for part 2
+
+private:
+    bool initialized; // Flag that ignores motor commands if setup fails
 };
 
 #endif

include/pre_operational_state.h

@@ -9,11 +9,12 @@ class P_controller;
 class PreOperationalState : public State
 {
 private:
-    P_controller& p_controller;
+    P_controller &p_controller;
-    P_controller& pi_controller;
+    P_controller &pi_controller;
     bool pi_selected;
 
-    unsigned long previous_time;
+    //unsigned long previous_time;
+    int64_t previous_time;
     bool led_state;
 
     //bool waiting_for_kp;

include/rotary_encoder_driver.h

@@ -2,8 +2,9 @@
 #define ROTARY_ENCODER_DRIVER_H
 
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
 
-#include "digital_in.h"
+//#include "digital_in.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
@@ -11,6 +12,19 @@ public:
     static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
     static constexpr float COUNTS_PER_REV = 1050.0f;
 
+    RotaryEncoderDriver();
+
+    // Returns 0 on success, or a negative Zephyr error code.
+    int begin();
+
+    void update();
+    int32_t position();
+    void update_delta();
+    float count_per_sec();
+    float rpm();
+    bool new_speed_available();
+    void reset_speed_measurement();
+
 private:
     static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
 
@@ -21,29 +35,42 @@ private:
     volatile int32_t history[HIST_LEN];
     volatile uint8_t hist_idx;
 
-    Digital_in eA;
-    Digital_in eB;
 
+
+    //Digital_in eA;
+    //Digital_in eB;
+
+    struct gpio_callback encoder_c1_callback;
     Timer_usec timer;
 
-public:
+    static void gpio_edge_handler(
-    RotaryEncoderDriver();
+        const struct device *dev,
+        struct gpio_callback *callback,
+        uint32_t pins);
 
-    void begin();
+    static void timer_expired(void *context);
+    
 
-    void update();
+// public:
+//     RotaryEncoderDriver();
 
-    int32_t position();
+//     void begin();
 
-    void update_delta();
+//     void update();
 
-    float count_per_sec();
+//     int32_t position();
 
-    float rpm();
+//     void update_delta();
+
+//     float count_per_sec();
+
+//     float rpm();
+
+//     bool new_speed_available();
+
+//     void reset_speed_measurement();
 
-    bool new_speed_available();
 
-    void reset_speed_measurement();
 
 };
 #endif

include/stopped_state.h

@@ -1,12 +1,15 @@
 #ifndef STOPPED_STATE_H
 #define STOPPED_STATE_H
 
+#include <stdint.h>
+
 #include "state.h"
 
 class StoppedState : public State
 {
 private:
-    unsigned long previous_time; // Used for blinking LED
+    //unsigned long previous_time; // Used for blinking LED
+    int64_t previous_time;
     bool led_state;              // Ditto
 
 public:

include/timer_usec.h

@@ -1,9 +1,31 @@
 #ifndef TIMER_USEC_H
 #define TIMER_USEC_H
-#include <avr/io.h>
 
-struct Timer_usec {
+//#include <avr/io.h>
+
+#include <stdint.h>
+#include <zephyr/kernel.h>
+
+// struct Timer_usec {
+//     Timer_usec();
+//     void init(uint16_t period_us);
+//};
+
+class Timer_usec {
+public:
+    using callback_t = void (*)(void *context);
+
     Timer_usec();
+
+    void set_callback(void (*callback)(void *), void *user_data);
     void init(uint16_t period_us);
+
+private:
+    struct k_timer timer;
+    callback_t callback;
+    void *callback_context;
+
+    static void expiry_handler(struct k_timer *timer);
 };
+
 #endif

platformio.ini

@@ -13,6 +13,8 @@ platform = ststm32
 board = nucleo_l432kc
 framework = zephyr
 
+monitor_speed = 115200
+
 upload_flags = 
     -c
     reset_config srst_only srst_nogate connect_assert_srst

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/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() {
+// Digital_in::Digital_in(uint8_t pin) : pin_mask(1<<pin) {}
-    DDRD  &= ~pin_mask;
+
-    PORTD |=  pin_mask;
+// 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; }
+void Digital_in::init()
-bool Digital_in::is_lo() { return !is_hi(); }
+{
+    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();
+}
 

src/digital_out.cpp

@@ -1,9 +1,50 @@
 #include "digital_out.h"
-#include <avr/io.h>
 
-Digital_out::Digital_out(uint8_t pin) : pin_mask(1<<pin) {}
+//#include <avr/io.h>
 
-void Digital_out::init()   { DDRB  |=  pin_mask; }
+#include <zephyr/devicetree.h>
-void Digital_out::toggle() { PORTB ^=  pin_mask; }
+
-void Digital_out::set_hi() { PORTB |=  pin_mask; }
+// Digital_out::Digital_out(uint8_t pin) : pin_mask(1<<pin) {}
-void Digital_out::set_lo() { PORTB &= ~pin_mask; }
+
+// void Digital_out::init()   { DDRB  |=  pin_mask; }
+// void Digital_out::toggle() { PORTB ^=  pin_mask; }
+// void Digital_out::set_hi() { PORTB |=  pin_mask; }
+// void Digital_out::set_lo() { PORTB &= ~pin_mask; }
+
+static const struct gpio_dt_spec status_led_gpio =
+    GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
+
+Digital_out::Digital_out(uint8_t pin_id)
+    : gpio(pin_id == STATUS_LED ? &status_led_gpio : nullptr)
+{
+}
+
+void Digital_out::init()
+{
+    if (gpio == nullptr || !gpio_is_ready_dt(gpio)) {
+        return;
+    }
+
+    gpio_pin_configure_dt(gpio, GPIO_OUTPUT_INACTIVE);
+}
+
+void Digital_out::toggle()
+{
+    if (gpio != nullptr) {
+        gpio_pin_toggle_dt(gpio);
+    }
+}
+
+void Digital_out::set_hi()
+{
+    if (gpio != nullptr) {
+        gpio_pin_set_dt(gpio, 1);
+    }
+}
+
+void Digital_out::set_lo()
+{
+    if (gpio != nullptr) {
+        gpio_pin_set_dt(gpio, 0);
+    }
+}

src/gamla_m_ain.cpp

@@ -0,0 +1,125 @@
+// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+//#ifndef PIO_UNIT_TESTING
+
+//#include <Arduino.h>
+//#include <avr/interrupt.h>
+
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/uart.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+#include "rotary_encoder_driver.h"
+#include "motor_driver.h"
+#include "pi_controller.h"
+#include "p_controller.h"
+#include "motor_controller.h"
+
+#include "initialization_state.h"
+
+#include "pre_operational_state.h"
+
+#include "operational_state.h"
+#include "stopped_state.h"
+
+
+static RotaryEncoderDriver encoder;
+
+static MotorDriver motor;
+
+const double Kp_P = 10.0;     // P-controller from Project 2
+
+const double Kp = 10.125;     // Ziegler-Nichols PI
+const double Ti = 0.0334;
+const double T = 0.004;
+
+static P_controller p_controller(Kp_P);
+static PI_controller pi_controller(Kp, Ti, T);
+
+
+static InitializationState initialization_state;
+// Pre-operational velur á milli stýringanna með 'c'
+static PreOperationalState pre_operational_state(p_controller, pi_controller);
+static OperationalState operational_state;
+static StoppedState stopped_state;
+
+// Stöðurnar verða að vera skilgreindar á undan motor_controller
+static MotorController motor_controller(
+    encoder,
+    motor,
+    pi_controller,      // Sjálfgefin stýring
+    initialization_state,
+    pre_operational_state,
+    operational_state,
+    stopped_state
+);
+
+
+// int main()
+// {
+//     init();
+//     Serial.begin(115200);
+//     cli();
+
+//     encoder.begin();
+//     motor.begin();
+
+//     sei();
+
+//     motor_controller.begin();
+
+//     while (true)
+//     {
+//         if (Serial.available() > 0)
+//         {
+//             char c = Serial.read();
+
+//             motor_controller.command(c);   
+
+//         }
+
+
+//         motor_controller.update();
+//     }
+
+
+//     return 0;
+// }
+
+// #endif 
+
+static const struct device *const console_dev =
+    DEVICE_DT_GET(DT_CHOSEN(zephyr_console));
+
+extern "C" void motor_application_main(void)
+{
+    if (!device_is_ready(console_dev)) {
+        printk("Console UART is not ready\n");
+        return;
+    }
+
+    const int encoder_result = encoder.begin();
+    if (encoder_result < 0) {
+        printk("Encoder setup failed: %d\n", encoder_result);
+        return;
+    }
+
+    motor.begin();
+    motor_controller.begin();
+
+    while (true) {
+        unsigned char received_char;
+
+        // Read a command if a character is waiting.
+        if (uart_poll_in(console_dev, &received_char) == 0) {
+            motor_controller.command(
+                static_cast<char>(received_char));
+        }
+
+        motor_controller.update();
+
+        // Give Zephyr's scheduler time to run other threads.
+        k_msleep(1);
+    }
+}

src/initialization_state.cpp

@@ -1,41 +1,61 @@
 #include "initialization_state.h"
 #include "motor_controller.h"
 
-#include <Arduino.h>
+//#include <Arduino.h>
+
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
 
 
 void InitializationState::enter()
 {
-    Serial.println();
+    // Serial.println();
-    Serial.println("State: Initialization");
+    // Serial.println("State: Initialization");
+
+    // context->led_off();
+
+    // context->stop_motor();
+
+    // context->reset_speed_measurement();
+
+    // enter_time_ms = millis();
+
+    printk("\nState: Initialization\n");
 
     context->led_off();
-
     context->stop_motor();
-
     context->reset_speed_measurement();
 
-    enter_time_ms = millis();
+    enter_time_ms = k_uptime_get();  
 }
 
 
 void InitializationState::update()
 {
-    // Non-blocking bið svo aðallykkjan haldi áfram að keyra
+    // // Non-blocking bið svo aðallykkjan haldi áfram að keyra
-    if (millis() - enter_time_ms >= WAIT_MS)
+    // if (millis() - enter_time_ms >= WAIT_MS)
-    {
+    // {
+    //     context->to_pre_operational();
+    //     // context->to_operational();
+    // }
+
+
+    // Check the time without blocking the application.
+    if ((k_uptime_get() - enter_time_ms) >= WAIT_MS) {
         context->to_pre_operational();
-        // context->to_operational();
+    }    
-    }
+
 }
 
 
 void InitializationState::command(char c)
 {
+    (void)c;
 }
 
 
 void InitializationState::exit()
 {
-    Serial.println("Boot-up");
+    //Serial.println("Boot-up");
+    printk("Boot-up\n");
 }

src/main.c

@@ -1,5 +1,12 @@
-#include <zephyr/kernel.h>
+// #include <zephyr/kernel.h>
 
-void main(void)
+// #ifndef PIO_UNIT_TESTING
-{
+
-}
+// void motor_application_main(void);
+
+// void main(void)
+// {
+//     motor_application_main();
+// }
+
+// #endif

src/main.cpp

@@ -1,84 +0,0 @@
-// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
-#ifndef PIO_UNIT_TESTING
-
-#include <Arduino.h>
-#include <avr/interrupt.h>
-
-#include "rotary_encoder_driver.h"
-#include "motor_driver.h"
-#include "pi_controller.h"
-
-#include "motor_controller.h"
-
-#include "initialization_state.h"
-
-#include "pre_operational_state.h"
-
-#include "operational_state.h"
-#include "stopped_state.h"
-
-
-RotaryEncoderDriver encoder;
-
-MotorDriver motor;
-
-const double Kp_P = 10.0;     // P-controller from Project 2
-
-const double Kp = 10.125;     // Ziegler-Nichols PI
-const double Ti = 0.0334;
-const double T = 0.004;
-
-P_controller p_controller(Kp_P);
-PI_controller pi_controller(Kp, Ti, T);
-
-
-InitializationState initialization_state;
-// Pre-operational velur á milli stýringanna með 'c'
-PreOperationalState pre_operational_state(p_controller, pi_controller);
-OperationalState operational_state;
-StoppedState stopped_state;
-
-// Stöðurnar verða að vera skilgreindar á undan motor_controller
-MotorController motor_controller(
-    encoder,
-    motor,
-    pi_controller,      // Sjálfgefin stýring
-    initialization_state,
-    pre_operational_state,
-    operational_state,
-    stopped_state
-);
-
-
-int main()
-{
-    init();
-    Serial.begin(115200);
-    cli();
-
-    encoder.begin();
-    motor.begin();
-
-    sei();
-
-    motor_controller.begin();
-
-    while (true)
-    {
-        if (Serial.available() > 0)
-        {
-            char c = Serial.read();
-
-            motor_controller.command(c);   
-
-        }
-
-
-        motor_controller.update();
-    }
-
-
-    return 0;
-}
-
-#endif 

src/motor_controller.cpp

@@ -1,17 +1,17 @@
 #include "motor_controller.h"
 #include "state.h"
 
-#include <Arduino.h>
+//#include <Arduino.h>
 
 
 MotorController::MotorController(
-    RotaryEncoderDriver& encoder,
+    RotaryEncoderDriver &encoder,
-    MotorDriver& motor,
+    MotorDriver &motor,
-    P_controller& controller,
+    P_controller &controller,
-    State& initialization,
+    State &initialization,
-    State& pre_operational,
+    State &pre_operational,
-    State& operational,
+    State &operational,
-    State& stopped
+    State &stopped
 )
     : current_state(nullptr),
       initialization_state(initialization),
@@ -54,15 +54,13 @@ void MotorController::begin()
 }
 
 
-void MotorController::transition_to(State& new_state)
+void MotorController::transition_to(State &new_state)
 {
-    if (current_state != nullptr)
+    if (current_state != nullptr) {
-    {
         current_state->exit();
     }
 
     current_state = &new_state;
-
     current_state->enter();
 }
 
@@ -109,9 +107,9 @@ bool MotorController::run_speed_controller()
         return false;
     }
 
-    double actual = encoder.rpm();
+    const double actual = encoder.rpm();
 
-    double pwm_percent =
+    const double pwm_percent =
         controller->update(reference_rpm, actual);
 
     double pwm =

src/motor_driver.cpp

@@ -1,40 +1,60 @@
 #include "motor_driver.h"
 
-#include <avr/io.h>
+//#include <avr/io.h>
 
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/pwm.h>
 
 // Í Fast PWM gefur OCR = 0 samt einn stuttan púls í hverri lotu.
 // Til að pinni sé alveg LOW er hann aftengdur frá timernum (COM-bitar)
 // og keyrður LOW gegnum PORT-registerið.
 
-static void ain1_off()   // D3 = PD3 = OC2B
+// static void ain1_off()   // D3 = PD3 = OC2B
-{
+// {
-    TCCR2A &= ~(1 << COM2B1);
+//     TCCR2A &= ~(1 << COM2B1);
-    PORTD  &= ~(1 << PORTD3);
+//     PORTD  &= ~(1 << PORTD3);
-    OCR2B = 0;
+//     OCR2B = 0;
-}
+// }
 
-static void ain2_off()   // D11 = PB3 = OC2A
+// static void ain2_off()   // D11 = PB3 = OC2A
-{
+// {
-    TCCR2A &= ~(1 << COM2A1);
+//     TCCR2A &= ~(1 << COM2A1);
-    PORTB  &= ~(1 << PORTB3);
+//     PORTB  &= ~(1 << PORTB3);
-    OCR2A = 0;
+//     OCR2A = 0;
-}
+// }
 
-static void ain1_pwm(uint8_t duty)
+// static void ain1_pwm(uint8_t duty)
-{
+// {
-    OCR2B = duty;
+//     OCR2B = duty;
-    TCCR2A |= (1 << COM2B1);
+//     TCCR2A |= (1 << COM2B1);
-}
+// }
+
+// static void ain2_pwm(uint8_t duty)
+// {
+//     OCR2A = duty;
+//     TCCR2A |= (1 << COM2A1);
+// }
+
+static const struct pwm_dt_spec bin1_pwm =
+    PWM_DT_SPEC_GET(DT_ALIAS(motor_bin1_pwm));
+
+static const struct gpio_dt_spec bin2 =
+    GPIO_DT_SPEC_GET(DT_ALIAS(motor_bin2), gpios);
+
+static const struct gpio_dt_spec motor_flt =
+    GPIO_DT_SPEC_GET(DT_ALIAS(motor_flt), gpios);
+
+static const struct gpio_dt_spec fault_test_button =
+    GPIO_DT_SPEC_GET(DT_ALIAS(fault_test_button), gpios);
+
+static const struct gpio_dt_spec motor_slp =
+    GPIO_DT_SPEC_GET(DT_ALIAS(motor_slp), gpios);
 
-static void ain2_pwm(uint8_t duty)
-{
-    OCR2A = duty;
-    TCCR2A |= (1 << COM2A1);
-}
 
 
 MotorDriver::MotorDriver()
+    : initialized(false)
 {
 }
 
@@ -45,27 +65,53 @@ void MotorDriver::begin()
     // Arduino D11 = PB3 = AIN2
     // Arduino D4  = PD4 = FLT 
 
-    DDRD |= (1 << DDD3);
+    // DDRD |= (1 << DDD3);
-    DDRB |= (1 << DDB3);
+    // DDRB |= (1 << DDB3);
 
-    DDRD &= ~(1 << DDD4); 
+    // DDRD &= ~(1 << DDD4); 
 
-    PORTD |= (1 << PORTD4); // Enable pull-up resistor on D4 for part 2
+    // PORTD |= (1 << PORTD4); // Enable pull-up resistor on D4 for part 2
 
 
-    // Timer2 Fast PWM
+    // // Timer2 Fast PWM
-    TCCR2A = 0;
+    // TCCR2A = 0;
-    TCCR2B = 0;
+    // TCCR2B = 0;
 
-    // Fast PWM mode
+    // // Fast PWM mode
-    TCCR2A |= (1 << WGM20);
+    // TCCR2A |= (1 << WGM20);
-    TCCR2A |= (1 << WGM21);
+    // TCCR2A |= (1 << WGM21);
 
-    // Timer2 prescaler = 32
+    // // Timer2 prescaler = 32
-    TCCR2B |= (1 << CS21);
+    // TCCR2B |= (1 << CS21);
-    TCCR2B |= (1 << CS20);
+    // TCCR2B |= (1 << CS20);
 
+    initialized = false;
+
+    if (!pwm_is_ready_dt(&bin1_pwm) ||
+        !gpio_is_ready_dt(&bin2) ||
+        !gpio_is_ready_dt(&motor_flt) ||
+        !gpio_is_ready_dt(&fault_test_button) ||
+        !gpio_is_ready_dt(&motor_slp)) {
+        return;
+    }
+
+    if (gpio_pin_configure_dt(&bin2, GPIO_OUTPUT_INACTIVE) < 0 ||
+        gpio_pin_configure_dt(&motor_flt, GPIO_INPUT) < 0 ||
+        gpio_pin_configure_dt(&fault_test_button, GPIO_INPUT) < 0 ||
+        gpio_pin_configure_dt(&motor_slp, GPIO_OUTPUT_INACTIVE) < 0) {
+        return;
+    }
+
+    // SLP is active high, so drive it high to enable the DRV8833.
+    if (gpio_pin_set_dt(&motor_slp, 1) < 0) {
+        return;
+    }
+
+    if (pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0) < 0) {
+        return;
+    }
     // PWM-úttök eru tengd í set() eftir þörfum
+    initialized = true;
     stop();
 }
 
@@ -85,46 +131,113 @@ void MotorDriver::reverse()
 void MotorDriver::stop()
 {
     // Both LOW
-    ain1_off();
+    // ain1_off();
-    ain2_off();
+    // ain2_off();
+
+    if (!initialized) {
+        return;
+    }
+
+    // BIN1 low and BIN2 low puts the DRV8833 in coast mode.
+    pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0);
+    gpio_pin_set_dt(&bin2, 0);
 }
 
 void MotorDriver::set(double pwm)
 {
+
+    if (!initialized) {
+        return;
+    }
+
     // Limit PWM command
     if (pwm > 255.0)
     {
         pwm = 255.0;
-    }
+    } else if (pwm < -255.0) {
-
-    if (pwm < -255.0)
-    {
         pwm = -255.0;
     }
 
-
+    if (pwm == 0.0) {
-    uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
-
-    if (duty == 0)
-    {
         stop();
+        return;
     }
-    else if (pwm > 0)
+
-    {
+
-        // Forward
+    // uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
-        ain2_off();
+
-        ain1_pwm(duty);
+    // if (duty == 0)
-    }
+    // {
-    else
+    //     stop();
-    {
+    // }
-        // Reverse
+    // else if (pwm > 0)
-        ain1_off();
+    // {
-        ain2_pwm(duty);
+    //     // Forward
+    //     ain2_off();
+    //     ain1_pwm(duty);
+    // }
+    // else
+    // {
+    //     // Reverse
+    //     ain1_off();
+    //     ain2_pwm(duty);
+    // }
+
+    const uint32_t magnitude =
+        static_cast<uint32_t>(pwm > 0.0 ? pwm : -pwm);
+
+    // PWM pulse width in nanoseconds. The overlay sets a 50 us period.
+    const uint32_t requested_pulse =
+        (bin1_pwm.period * magnitude) / 255U;
+
+    // First put BIN1 low so changing BIN2 does not switch direction
+    // while the previous PWM signal is still active.
+    pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0);
+
+    uint32_t bin1_pulse;
+
+    if (pwm > 0.0) {
+        // Forward: BIN2 low; BIN1 PWM duty equals the command magnitude.
+        gpio_pin_set_dt(&bin2, 0);
+        bin1_pulse = requested_pulse;
+    } else {
+        // Reverse: BIN2 high; BIN1 pulse is inverted for reverse PWM.
+        gpio_pin_set_dt(&bin2, 1);
+        bin1_pulse = bin1_pwm.period - requested_pulse;
     }
+
+    pwm_set_dt(&bin1_pwm, bin1_pwm.period, bin1_pulse);
+
 }
 
 
+// bool MotorDriver::fault_active()
+// {
+//     //return !(PIND & (1 << PIND4));
+
+//     if (!initialized) {
+//         return true; // Fail safe if the driver did not initialize.
+//     }
+
+//     // The overlay marks FLT as active low. gpio_pin_get_dt() returns
+//     // the logical active state, so 1 means a fault is active.
+//     const int fault = gpio_pin_get_dt(&motor_flt);
+//     return fault < 0 || fault != 0;
+// }
+
 bool MotorDriver::fault_active()
 {
-    return !(PIND & (1 << PIND4));
+    if (!initialized) {
-}
+        return true; // Fail safe if the driver did not initialize.
+    }
+
+    const int driver_fault = gpio_pin_get_dt(&motor_flt);
+    const int button_fault = gpio_pin_get_dt(&fault_test_button);
+
+    // Negative values indicate a GPIO read error, so treat them as a fault.
+    // With GPIO_ACTIVE_LOW, a pressed button reads as logical 1.
+    return driver_fault < 0 ||
+           button_fault < 0 ||
+           driver_fault != 0 ||
+           button_fault != 0;
+}

src/operational_state.cpp

@@ -1,12 +1,15 @@
 #include "operational_state.h"
 #include "motor_controller.h"
 
-#include <Arduino.h>
+//#include <Arduino.h>
+
+#include <zephyr/sys/printk.h>
 
 
 void OperationalState::enter()
 {
-    Serial.println("State: Operational");
+    //Serial.println("State: Operational");
+    printk("State: Operational\n");
 
     context->reset_controller();
 
@@ -15,7 +18,8 @@ void OperationalState::enter()
     sample_count = 0;
 
 #if LOG_CSV
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    //Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    printk("time_ms,ref_rpm,actual_rpm,pwm\n");
 #endif
 }
 
@@ -32,7 +36,8 @@ void OperationalState::update()
 {
     if (context->fault_active())
     {
-        Serial.println("Fault detected");
+        //Serial.println("Fault detected");
+        printk("Fault detected\n");
 
         context->to_stopped();
 
@@ -41,17 +46,22 @@ void OperationalState::update()
 
     if (context->run_speed_controller())
     {
-        sample_count++;
+        ++sample_count;
 
 #if LOG_CSV
         // 4 ms á milli sýna, tíminn byrjar á 0 við hverja innkomu í Operational
-        Serial.print(sample_count * 4UL);
+        // Serial.print(sample_count * 4UL);
-        Serial.print(',');
+        // Serial.print(',');
-        Serial.print(context->get_reference_rpm(), 1);
+        // Serial.print(context->get_reference_rpm(), 1);
-        Serial.print(',');
+        // Serial.print(',');
-        Serial.print(context->get_actual_rpm(), 2);
+        // Serial.print(context->get_actual_rpm(), 2);
-        Serial.print(',');
+        // Serial.print(',');
-        Serial.println(context->get_pwm(), 1);
+        // Serial.println(context->get_pwm(), 1);
+        printk("%u,%.1f,%.2f,%.1f\n",
+            static_cast<unsigned int>(sample_count * 4U),
+            context->get_reference_rpm(),
+            context->get_actual_rpm(),
+            context->get_pwm());
 #endif
     }
 }
@@ -61,14 +71,16 @@ void OperationalState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
-        Serial.println("Command: reset");
+        //Serial.println("Command: reset");
+        printk("Command: reset\n");
 
         context->to_initialization();
     }
 
     else if (c == 'p' || c == 'P')
     {
-        Serial.println("Command: set pre-operational");
+        //Serial.println("Command: set pre-operational");
+         printk("Command: set pre-operational\n");
 
         context->to_pre_operational();
     }

src/pre_operational_state.cpp

@@ -1,10 +1,17 @@
 #include "pre_operational_state.h"
 #include "motor_controller.h"
 
-#include <Arduino.h>
+#include "p_controller.h"
-#include <stdlib.h>
 
-PreOperationalState::PreOperationalState(P_controller& p_controller, P_controller& pi_controller)
+//#include <Arduino.h>
+
+#include <stdlib.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+
+
+PreOperationalState::PreOperationalState(P_controller &p_controller, P_controller &pi_controller)
     : p_controller(p_controller),
       pi_controller(pi_controller),
       pi_selected(true),
@@ -19,7 +26,8 @@ PreOperationalState::PreOperationalState(P_controller& p_controller, P_controlle
 
 void PreOperationalState::enter()
 {
-    Serial.println("State: Pre-operational");
+    //Serial.println("State: Pre-operational");
+    printk("State: Pre-operational\n");
 
     context->stop_motor();
 
@@ -27,12 +35,14 @@ void PreOperationalState::enter()
 
     led_state = false;
 
-    previous_time = millis();
+    //previous_time = millis();
+    previous_time = k_uptime_get();
 }
 
 void PreOperationalState::update()
 {
-    unsigned long current_time = millis();
+    //unsigned long current_time = millis();
+    const int64_t current_time = k_uptime_get();
 
     if (current_time - previous_time >= 500)
     {
@@ -65,21 +75,23 @@ void PreOperationalState::command(char c)
                 input_buffer[input_index] = '\0';
 
                 // Convert text to a number
-                double value = atof(input_buffer);
+                const double value = atof(input_buffer);
 
                 if (input_mode == ENTER_KP)
                 {
                     context->set_Kp(value);
 
-                    Serial.print("Kp set to: ");
+                    // Serial.print("Kp set to: ");
-                    Serial.println(value);
+                    // Serial.println(value);
+                    printk("Kp updated\n");
                 }
                 else if (input_mode == ENTER_TI)
                 {
                     context->set_Ti(value);
 
-                    Serial.print("Ti set to: ");
+                    // Serial.print("Ti set to: ");
-                    Serial.println(value);
+                    // Serial.println(value);
+                    printk("Ti updated\n");
                 }
             }
 
@@ -97,8 +109,8 @@ void PreOperationalState::command(char c)
         {
             if (input_index < sizeof(input_buffer) - 1)
             {
-                input_buffer[input_index] = c;
+                input_buffer[input_index++] = c;
-                input_index++;
+                //input_index++;
             }
         }
 
@@ -109,14 +121,16 @@ void PreOperationalState::command(char c)
     // Normal state commands
     if (c == 'o' || c == 'O')
     {
-        Serial.println("Command: set operational");
+        //Serial.println("Command: set operational");
+        printk("Command: set operational\n");
 
         context->to_operational();
     }
 
     else if (c == 'r' || c == 'R')
     {
-        Serial.println("Command: reset");
+        //Serial.println("Command: reset");
+         printk("Command: reset\n");
 
         context->to_initialization();
     }
@@ -126,7 +140,8 @@ void PreOperationalState::command(char c)
         input_mode = ENTER_KP;
         input_index = 0;
 
-        Serial.println("Enter Kp and press Enter:");
+        //Serial.println("Enter Kp and press Enter:");
+        printk("Enter Kp and press Enter:\n");
     }
 
     else if (c == 't' || c == 'T')
@@ -134,7 +149,8 @@ void PreOperationalState::command(char c)
         input_mode = ENTER_TI;
         input_index = 0;
 
-        Serial.println("Enter Ti and press Enter:");
+        //Serial.println("Enter Ti and press Enter:");
+        printk("Enter Ti and press Enter:\n");
     }
 
     // Select controller algorithm, the controller is passed to the motor controller
@@ -145,12 +161,14 @@ void PreOperationalState::command(char c)
         if (pi_selected)
         {
             context->set_controller(pi_controller);
-            Serial.println("Controller: PI");
+            //Serial.println("Controller: PI");
+            printk("Controller: PI\n");
         }
         else
         {
             context->set_controller(p_controller);
-            Serial.println("Controller: P");
+            //Serial.println("Controller: P");
+            printk("Controller: P\n");
         }
     }
 }

src/rotary_encoder_driver.cpp

@@ -1,84 +1,145 @@
 #include "rotary_encoder_driver.h"
-#include <avr/interrupt.h>
 
-static RotaryEncoderDriver* driver = nullptr;
+#include <errno.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/util.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/gpio.h>
+
+
+static const struct gpio_dt_spec encoder_c1 =
+    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
+
+static const struct gpio_dt_spec encoder_c2 =
+    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c2), gpios);
 
 RotaryEncoderDriver::RotaryEncoderDriver()
-    : count(0)
+    : count(0),
-    , delta(0)
+      delta(0),
-    , speed_ready(false)
+      speed_ready(false),
-    , hist_idx(0)
+      hist_idx(0)
-    , eA(2)
-    , eB(5)
 {
-    for (uint8_t i = 0; i < HIST_LEN; i++)
+    for (uint8_t i = 0; i < HIST_LEN; ++i) {
-    {
         history[i] = 0;
     }
 }
 
-
+int RotaryEncoderDriver::begin()
-void RotaryEncoderDriver::begin()
 {
-    driver = this;
+    if (!gpio_is_ready_dt(&encoder_c1) ||
+        !gpio_is_ready_dt(&encoder_c2)) {
+        return -ENODEV;
+    }
 
-    eA.init();
+    int ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
-    eB.init();
+    if (ret < 0) {
+        return ret;
+    }
 
-    EICRA |= (1<<ISC01) | (1<<ISC00);
+    ret = gpio_pin_configure_dt(&encoder_c2, GPIO_INPUT);
-    EIMSK |= (1<<INT0);
+    if (ret < 0) {
+        return ret;
+    }
 
+
+    gpio_init_callback(
+        &encoder_c1_callback,
+        gpio_edge_handler,
+        BIT(encoder_c1.pin));
+
+    ret = gpio_add_callback(encoder_c1.port, &encoder_c1_callback);
+    if (ret < 0) {
+        return ret;
+    }
+
+    ret = gpio_pin_interrupt_configure_dt(
+        &encoder_c1,
+        GPIO_INT_EDGE_TO_ACTIVE);
+    if (ret < 0) {
+        return ret;
+    }
+
+    timer.set_callback(timer_expired, this);
     timer.init(SAMPLE_PERIOD_US);
+    reset_speed_measurement();
+
+    return 0;
+}
+
+void RotaryEncoderDriver::gpio_edge_handler(
+    const struct device *dev,
+    struct gpio_callback *callback,
+    uint32_t pins)
+{
+    (void)dev; // This handler does not need the device pointer.
+
+    auto *encoder = CONTAINER_OF(
+        callback,
+        RotaryEncoderDriver,
+        encoder_c1_callback);
+
+    if ((pins & BIT(encoder_c1.pin)) != 0U) {
+        encoder->update();                 // Reads C2 and updates the count
+
+    }
+}
+
+void RotaryEncoderDriver::timer_expired(void *context)
+{
+    auto *encoder = static_cast<RotaryEncoderDriver *>(context);
+    encoder->update_delta();
 }
 
 void RotaryEncoderDriver::update()
 {
-    count += eB.is_hi() ? 1 : -1;
+    // C2's level at the C1 edge tells us the direction.
+    const int direction = gpio_pin_get_dt(&encoder_c2);
+    if (direction < 0) {
+        return;
+    }
+
+    const unsigned int key = irq_lock();
+    count += direction ? 1 : -1;
+    irq_unlock(key);
 }
 
 int32_t RotaryEncoderDriver::position()
 {
+    const unsigned int key = irq_lock();
+    const int32_t result = count;
+    irq_unlock(key);
 
-    uint8_t oldSREG = SREG;
+    return result;
-
-    cli();
-
-    int32_t local_count = count;
-
-    SREG = oldSREG;
-
-    return local_count;
 }
 
 void RotaryEncoderDriver::update_delta()
 {
+    const unsigned int key = irq_lock();
 
-    int32_t oldest = history[hist_idx];
+    const int32_t current_count = count;
-
+    const int32_t oldest_count = history[hist_idx];
-    history[hist_idx] = count;
 
+    history[hist_idx] = current_count;
     hist_idx = (hist_idx + 1) % HIST_LEN;
 
-    delta = (int16_t)(count - oldest);   // breyting yfir HIST_LEN * Ts (16 ms) glugga
+    delta = static_cast<int16_t>(current_count - oldest_count);
-
     speed_ready = true;
+
+    irq_unlock(key);
 }
 
 float RotaryEncoderDriver::count_per_sec()
 {
+    const unsigned int key = irq_lock();
+    const int16_t local_delta = delta;
+    irq_unlock(key);
 
-    uint8_t oldSREG = SREG;
+    constexpr float window_seconds =
+        HIST_LEN * SAMPLE_PERIOD_US * 1e-6f;
 
-    cli();
+    return local_delta / window_seconds;
-
-    int16_t local_delta = delta;
-
-    SREG = oldSREG;
-
-    return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
 }
 
-
 float RotaryEncoderDriver::rpm()
 {
     return count_per_sec() * 60.0f / COUNTS_PER_REV;
@@ -86,47 +147,29 @@ float RotaryEncoderDriver::rpm()
 
 bool RotaryEncoderDriver::new_speed_available()
 {
-    uint8_t oldSREG = SREG;
+    const unsigned int key = irq_lock();
+    const bool ready = speed_ready;
 
-    cli();
+    if (ready) {
-
-    bool ready = speed_ready;
-
-    if (ready)
-    {
         speed_ready = false;
     }
 
-    SREG = oldSREG;
+    irq_unlock(key);
-
     return ready;
 }
 
-
 void RotaryEncoderDriver::reset_speed_measurement()
 {
-    uint8_t oldSREG = SREG;
+    const unsigned int key = irq_lock();
-
-    cli();
 
     delta = 0;
     speed_ready = false;
 
-    for (uint8_t i = 0; i < HIST_LEN; i++)
+    for (uint8_t i = 0; i < HIST_LEN; ++i) {
-    {
         history[i] = count;
     }
 
     hist_idx = 0;
 
-    SREG = oldSREG;
+    irq_unlock(key);
-}
+}
-
-ISR(INT0_vect)
-{
-    driver->update();
-}
-ISR(TIMER1_COMPA_vect)
-{
-    driver->update_delta();
-}

src/rotary_encoder_driver_gamli.cpp

@@ -0,0 +1,132 @@
+// #include "rotary_encoder_driver.h"
+// #include <avr/interrupt.h>
+
+// static RotaryEncoderDriver* driver = nullptr;
+
+// RotaryEncoderDriver::RotaryEncoderDriver()
+//     : count(0)
+//     , delta(0)
+//     , speed_ready(false)
+//     , hist_idx(0)
+//     , eA(2)
+//     , eB(5)
+// {
+//     for (uint8_t i = 0; i < HIST_LEN; i++)
+//     {
+//         history[i] = 0;
+//     }
+// }
+
+
+// void RotaryEncoderDriver::begin()
+// {
+//     driver = this;
+
+//     eA.init();
+//     eB.init();
+
+//     EICRA |= (1<<ISC01) | (1<<ISC00);
+//     EIMSK |= (1<<INT0);
+
+//     timer.init(SAMPLE_PERIOD_US);
+// }
+
+// void RotaryEncoderDriver::update()
+// {
+//     count += eB.is_hi() ? 1 : -1;
+// }
+
+// int32_t RotaryEncoderDriver::position()
+// {
+
+//     uint8_t oldSREG = SREG;
+
+//     cli();
+
+//     int32_t local_count = count;
+
+//     SREG = oldSREG;
+
+//     return local_count;
+// }
+
+// void RotaryEncoderDriver::update_delta()
+// {
+
+//     int32_t oldest = history[hist_idx];
+
+//     history[hist_idx] = count;
+
+//     hist_idx = (hist_idx + 1) % HIST_LEN;
+
+//     delta = (int16_t)(count - oldest);   // breyting yfir HIST_LEN * Ts (16 ms) glugga
+
+//     speed_ready = true;
+// }
+
+// float RotaryEncoderDriver::count_per_sec()
+// {
+
+//     uint8_t oldSREG = SREG;
+
+//     cli();
+
+//     int16_t local_delta = delta;
+
+//     SREG = oldSREG;
+
+//     return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
+// }
+
+
+// float RotaryEncoderDriver::rpm()
+// {
+//     return count_per_sec() * 60.0f / COUNTS_PER_REV;
+// }
+
+// bool RotaryEncoderDriver::new_speed_available()
+// {
+//     uint8_t oldSREG = SREG;
+
+//     cli();
+
+//     bool ready = speed_ready;
+
+//     if (ready)
+//     {
+//         speed_ready = false;
+//     }
+
+//     SREG = oldSREG;
+
+//     return ready;
+// }
+
+
+// void RotaryEncoderDriver::reset_speed_measurement()
+// {
+//     uint8_t oldSREG = SREG;
+
+//     cli();
+
+//     delta = 0;
+//     speed_ready = false;
+
+//     for (uint8_t i = 0; i < HIST_LEN; i++)
+//     {
+//         history[i] = count;
+//     }
+
+//     hist_idx = 0;
+
+//     SREG = oldSREG;
+// }
+
+// ISR(INT0_vect)
+// {
+//     driver->update();
+// }
+// ISR(TIMER1_COMPA_vect)
+// {
+//     driver->update_delta();
+// }

src/stopped_state.cpp

@@ -1,7 +1,10 @@
 #include "stopped_state.h"
 #include "motor_controller.h"
 
-#include <Arduino.h>
+//#include <Arduino.h>
+
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
 
 
 StoppedState::StoppedState()
@@ -13,7 +16,9 @@ StoppedState::StoppedState()
 
 void StoppedState::enter()
 {
-    Serial.println("State: Stopped");
+    //Serial.println("State: Stopped");
+
+    printk("State: Stopped\n");
 
     context->stop_motor();
 
@@ -21,14 +26,16 @@ void StoppedState::enter()
 
     context->led_off();
 
-    previous_time = millis();
+    //previous_time = millis();
+    previous_time = k_uptime_get();
 }
 
 // Controlling the blinking of the LED @ 2Hz
 
 void StoppedState::update()
 {
-    unsigned long current_time = millis();
+    //unsigned long current_time = millis();
+    const int64_t current_time = k_uptime_get();
 
     if (current_time - previous_time >= 250)
     {
@@ -54,21 +61,24 @@ void StoppedState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
-        Serial.println("Command: reset");
+        //Serial.println("Command: reset");
+        printk("Command: reset\n");
 
         context->to_initialization();
     }
 
     else if (c == 'o' || c == 'O')
     {
-        Serial.println("Command: set operational");
+        //Serial.println("Command: set operational");
+        printk("Command: set operational\n");
 
         context->to_operational();
     }
 
     else if (c == 'p' || c == 'P')
     {
-        Serial.println("Command: set pre-operational");
+        //Serial.println("Command: set pre-operational");
+        printk("Command: set pre-operational\n");
 
         context->to_pre_operational();
     }

src/timer_usec.cpp

@@ -1,14 +1,52 @@
 #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::set_callback(
+    callback_t callback_function,
+    void *user_data)
+{
+    callback = callback_function;
+    callback_context = user_data;
+}
+
+
+// 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);
+    }
+}

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;
@@ -10,30 +14,54 @@
         motor-bin2 = &motor_bin2;
         motor-flt = &motor_flt;
         motor-slp = &motor_slp;
+        fault-test-button = &fault_test_button;
     };
 
-    encoder_c1: encoder_c1 {
+    buttons {
-        gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; /* D4, PB7 */
+        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";
+        };
+
+        fault_test_button: fault_test_button {
+            gpios = <&gpiob 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* D3, PB0 */
+            label = "Fault test button";
+        };
     };
 
-    encoder_c2: encoder_c2 {
+    motor_gpio_outputs {
-        gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>; /* D5, PB6 */
+        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 {
+    motor_pwm_outputs {
-        pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
+        compatible = "pwm-leds";
-    };
 
-    motor_bin2: motor_bin2 {
+        motor_bin1_pwm: motor_bin1_pwm {
-        gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>; /* D6, PB1 */
+            pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
-    };
+            label = "Motor BIN1 PWM";
-
+        };
-    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 */
     };
 };
 
@@ -46,4 +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

@@ -0,0 +1,12 @@
+CONFIG_CPP=y
+
+CONFIG_GPIO=y
+CONFIG_PWM=y
+
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+CONFIG_PRINTK=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_CAN=y