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.

docs/diagrams/src/motor_state.wsd

@@ -0,0 +1,50 @@
+@startuml
+' skinparam linetype ortho
+' skinparam nodesep 100
+skinparam ranksep 80
+
+skinparam state {
+    BackgroundColor LightBlue
+}
+
+[*] --> Initialization
+
+state Initialization 
+    Initialization : Entry / Stop motor 
+    Initialization : Entry / Initialize internal parameters
+    Initialization : Entry / Reset speed measurement
+    Initialization : Do / Wait 2 seconds
+    Initialization : Exit / Send Boot-up message
+
+state PreOperational
+    PreOperational : Entry / Stop motor
+    PreOperational : Do / Blink LED at 1 Hz
+    PreOperational : Do / Accept Kp and Ti configuration
+    PreOperational : Do / Select P or PI controller [c]
+    PreOperational : Exit / LED off
+
+state Operational 
+    Operational : Entry / LED on
+    Operational : Do / Run speed controller
+    Operational : Exit / Stop motor and LED off
+
+state Stopped
+    Stopped : Entry / Stop motor
+    Stopped : Do / Blink LED at 2 Hz
+    Stopped : Exit / LED off
+
+Initialization -r-> PreOperational : initialization\n complete
+' Initialization -d-> Operational : initialization\n complete
+
+PreOperational -d-> Operational : set operational [o]
+PreOperational -l--> Initialization : reset [r]
+
+Operational -u-> PreOperational : set pre-operational [p]
+Operational -> Initialization : reset [r]
+Operational --> Stopped : fault detected
+
+Stopped -l-> Initialization : reset [r]
+Stopped -> Operational : set operational [o]
+Stopped -u-> PreOperational : set pre-operational [p]
+
+@enduml

include/digital_in.h

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

include/digital_out.h

@@ -0,0 +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;
+
+    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

@@ -0,0 +1,31 @@
+#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;
+
+    // unsigned long enter_time_ms = 0;
+
+
+    static constexpr int64_t WAIT_MS = 2000;
+    int64_t enter_time_ms = 0;
+
+
+public:
+    void enter() override;
+
+    void update() override;
+
+    void command(char c) override;
+
+    void exit() override;
+};
+
+#endif

include/motor_controller.h

@@ -0,0 +1,98 @@
+#ifndef MOTOR_CONTROLLER_H
+#define MOTOR_CONTROLLER_H
+
+#include <stdint.h>
+
+#include "rotary_encoder_driver.h"
+#include "motor_driver.h"
+#include "p_controller.h"
+#include "digital_out.h"
+
+class State;
+
+
+class MotorController
+{
+private:
+    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 constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
+
+    State* current_state;
+
+    State& initialization_state;
+    State& pre_operational_state;
+    State& operational_state;
+    State& stopped_state;
+
+    RotaryEncoderDriver &encoder;
+    MotorDriver &motor;
+    P_controller *controller;
+
+    Digital_out led;
+
+    double reference_rpm;
+
+    // Síðasta sýni, notað fyrir CSV-útprentun
+    double last_actual_rpm;
+    double last_pwm;
+
+
+public:
+    MotorController(
+        RotaryEncoderDriver &encoder,
+        MotorDriver &motor,
+        P_controller &controller,
+        State &initialization,
+        State &pre_operational,
+        State &operational,
+        State &stopped
+    );
+
+
+    void begin();
+
+    void update();
+
+    void command(char c);
+
+    void transition_to(State &new_state);
+
+
+    void to_initialization();
+
+    void to_pre_operational();
+
+    void to_operational();
+
+    void to_stopped();
+
+    bool fault_active();
+
+
+    // Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
+    bool run_speed_controller();
+
+    double get_reference_rpm() const { return reference_rpm; }
+    double get_actual_rpm() const { return last_actual_rpm; }
+    double get_pwm() const { return last_pwm; }
+
+    void stop_motor();
+
+    void reset_speed_measurement();
+
+    void reset_controller();
+
+    void set_Kp(double value);
+
+    void set_Ti(double value);
+
+    void set_controller(P_controller &new_controller);
+
+    void led_on();
+
+    void led_off();
+};
+
+#endif

include/motor_driver.h

@@ -0,0 +1,25 @@
+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+class MotorDriver
+{
+public:
+    MotorDriver();
+
+    void begin();
+
+    void forward();
+
+    void reverse();
+
+    void stop();
+
+    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/operational_state.h

@@ -0,0 +1,29 @@
+#ifndef OPERATIONAL_STATE_H
+#define OPERATIONAL_STATE_H
+
+#include "state.h"
+#include <stdint.h>
+
+// Sett á 1 til að prenta CSV (time_ms,ref_rpm,actual_rpm,pwm) í Operational,
+// t.d. fyrir step og load response. Einnig hægt með build_flags = -D LOG_CSV=1
+#ifndef LOG_CSV
+#define LOG_CSV 0
+#endif
+
+
+class OperationalState : public State
+{
+private:
+    uint32_t sample_count = 0;
+
+public:
+    void enter() override;
+
+    void update() override;
+
+    void command(char c) override;
+
+    void exit() override;
+};
+
+#endif

include/p_controller.h

@@ -0,0 +1,26 @@
+#ifndef P_CONTROLLER_H
+#define P_CONTROLLER_H
+
+class P_controller
+{
+protected:
+    double Kp;
+
+public:
+    P_controller(double Kp);
+    virtual ~P_controller() {}
+    virtual double update(double ref, double actual);
+    virtual void reset() {}
+
+    virtual void set_Kp(double value)
+    {
+        Kp = value;
+    }
+
+    virtual void set_Ti(double value)
+    {
+        // P controller does not use Ti
+    }
+};
+
+#endif

include/pi_controller.h

@@ -0,0 +1,23 @@
+#ifndef PI_CONTROLLER_H
+#define PI_CONTROLLER_H
+
+#include "p_controller.h"
+
+class PI_controller : public P_controller
+{
+    private:
+        static constexpr double U_MAX = 100.0;  // %
+        static constexpr double U_MIN = -100.0; // %
+
+        double Ti;
+        double T;
+        double integral;
+    public:
+        PI_controller(double Kp, double Ti, double T);
+        double update(double ref, double actual) override;
+        void reset() override;
+
+        void set_Ti(double value) override;
+};
+
+#endif

include/pre_operational_state.h

@@ -0,0 +1,44 @@
+#ifndef PRE_OPERATIONAL_STATE_H
+#define PRE_OPERATIONAL_STATE_H
+
+#include "state.h"
+#include "stdint.h"
+
+class P_controller;
+
+class PreOperationalState : public State
+{
+private:
+    P_controller &p_controller;
+    P_controller &pi_controller;
+    bool pi_selected;
+
+    //unsigned long previous_time;
+    int64_t previous_time;
+    bool led_state;
+
+    //bool waiting_for_kp;
+    //bool waiting_for_ti;
+
+    enum InputMode
+    {
+        NONE,
+        ENTER_KP,
+        ENTER_TI
+    };
+
+    InputMode input_mode;
+
+    char input_buffer[16];
+    uint8_t input_index;
+
+public:
+    PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
+
+    void enter() override;
+    void update() override;
+    void command(char c) override;
+    void exit() override;
+};
+
+#endif

include/rotary_encoder_driver.h

@@ -0,0 +1,76 @@
+#ifndef ROTARY_ENCODER_DRIVER_H
+#define ROTARY_ENCODER_DRIVER_H
+
+#include <stdint.h>
+#include <zephyr/drivers/gpio.h>
+
+//#include "digital_in.h"
+#include "timer_usec.h"
+
+class RotaryEncoderDriver {
+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
+
+    volatile int32_t count;
+    volatile int16_t delta;
+    volatile bool speed_ready;
+
+    volatile int32_t history[HIST_LEN];
+    volatile uint8_t hist_idx;
+
+
+
+    //Digital_in eA;
+    //Digital_in eB;
+
+    struct gpio_callback encoder_c1_callback;
+    Timer_usec timer;
+
+    static void gpio_edge_handler(
+        const struct device *dev,
+        struct gpio_callback *callback,
+        uint32_t pins);
+
+    static void timer_expired(void *context);
+    
+
+// public:
+//     RotaryEncoderDriver();
+
+//     void begin();
+
+//     void update();
+
+//     int32_t position();
+
+//     void update_delta();
+
+//     float count_per_sec();
+
+//     float rpm();
+
+//     bool new_speed_available();
+
+//     void reset_speed_measurement();
+
+
+
+};
+#endif

include/state.h

@@ -0,0 +1,32 @@
+#ifndef STATE_H
+#define STATE_H
+
+class MotorController;
+
+class State
+{
+protected:
+    MotorController* context = nullptr;
+
+public:
+    virtual ~State()
+    {
+        
+    }
+
+    void set_context(MotorController* context)
+    {
+        this->context = context;
+    }
+
+    virtual void enter() = 0;   // LED ON
+
+    virtual void update() = 0;  // run motor controller
+
+    virtual void command(char c) = 0;   // Listen for reset
+
+    virtual void exit() = 0;  // Stop motor
+
+};
+
+#endif

include/stopped_state.h

@@ -0,0 +1,28 @@
+#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
+    int64_t previous_time;
+    bool led_state;              // Ditto
+
+public:
+    StoppedState();
+
+    void enter() override;
+
+    void update() override;
+
+    void command(char c) override;
+
+    void exit() override;
+
+};
+
+#endif

include/timer_usec.h

@@ -0,0 +1,31 @@
+#ifndef TIMER_USEC_H
+#define TIMER_USEC_H
+
+//#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

@@ -0,0 +1,64 @@
+//#include <avr/io.h>
+#include "digital_in.h"
+
+#include <zephyr/devicetree.h>
+
+// Digital_in::Digital_in(uint8_t pin) : pin_mask(1<<pin) {}
+
+// 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;
+    }
+}
+
+void Digital_in::init()
+{
+    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

@@ -0,0 +1,50 @@
+#include "digital_out.h"
+
+//#include <avr/io.h>
+
+#include <zephyr/devicetree.h>
+
+// Digital_out::Digital_out(uint8_t pin) : pin_mask(1<<pin) {}
+
+// 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

@@ -0,0 +1,61 @@
+#include "initialization_state.h"
+#include "motor_controller.h"
+
+//#include <Arduino.h>
+
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+
+void InitializationState::enter()
+{
+    // Serial.println();
+    // 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 = k_uptime_get();  
+}
+
+
+void InitializationState::update()
+{
+    // // Non-blocking bið svo aðallykkjan haldi áfram að keyra
+    // 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();
+    }    
+
+}
+
+
+void InitializationState::command(char c)
+{
+    (void)c;
+}
+
+
+void InitializationState::exit()
+{
+    //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/motor_controller.cpp

@@ -0,0 +1,189 @@
+#include "motor_controller.h"
+#include "state.h"
+
+//#include <Arduino.h>
+
+
+MotorController::MotorController(
+    RotaryEncoderDriver &encoder,
+    MotorDriver &motor,
+    P_controller &controller,
+    State &initialization,
+    State &pre_operational,
+    State &operational,
+    State &stopped
+)
+    : current_state(nullptr),
+      initialization_state(initialization),
+      pre_operational_state(pre_operational),
+      operational_state(operational),
+      stopped_state(stopped),
+      encoder(encoder),
+      motor(motor),
+      controller(&controller),
+      led(LED_PIN),
+      reference_rpm(DEFAULT_REFERENCE_RPM),
+      last_actual_rpm(0.0),
+      last_pwm(0.0)
+{
+    initialization_state.set_context(this);
+    pre_operational_state.set_context(this);
+    operational_state.set_context(this);
+    stopped_state.set_context(this);
+}
+
+
+// void MotorController::set_states(
+//     State* initialization,
+//     State* operational,
+//     State* stopped
+// )
+
+    // initialization_state = initialization;
+    // operational_state = operational;
+    // stopped_state = stopped;
+
+
+
+void MotorController::begin()
+{
+    led.init();
+    led.set_lo();
+
+    transition_to(initialization_state);
+}
+
+
+void MotorController::transition_to(State &new_state)
+{
+    if (current_state != nullptr) {
+        current_state->exit();
+    }
+
+    current_state = &new_state;
+    current_state->enter();
+}
+
+
+void MotorController::update()
+{
+    if (current_state != nullptr)
+    {
+        current_state->update();
+    }
+}
+
+
+void MotorController::command(char c)
+{
+    if (current_state != nullptr)
+    {
+        current_state->command(c);
+    }
+}
+
+
+void MotorController::to_initialization()
+{
+    transition_to(initialization_state);
+}
+
+void MotorController::to_pre_operational()
+{
+    transition_to(pre_operational_state);
+}
+
+
+void MotorController::to_operational()
+{
+    transition_to(operational_state);
+}
+
+
+bool MotorController::run_speed_controller()
+{
+    if (!encoder.new_speed_available())
+    {
+        return false;
+    }
+
+    const double actual = encoder.rpm();
+
+    const double pwm_percent =
+        controller->update(reference_rpm, actual);
+
+    double pwm =
+        pwm_percent * PWM_PER_PERCENT;
+
+    // Klippt hér svo last_pwm sé nákvæmlega það sem fer á mótorinn
+    if (pwm > 255.0)
+    {
+        pwm = 255.0;
+    }
+    else if (pwm < -255.0)
+    {
+        pwm = -255.0;
+    }
+
+    motor.set(pwm);
+
+    last_actual_rpm = actual;
+    last_pwm = pwm;
+
+    return true;
+}
+
+
+void MotorController::stop_motor()
+{
+    motor.stop();
+}
+
+
+void MotorController::reset_speed_measurement()
+{
+    encoder.reset_speed_measurement();
+}
+
+void MotorController::reset_controller()
+{
+    controller->reset();
+}
+
+void MotorController::set_Kp(double value)
+{
+    controller->set_Kp(value);
+}
+
+void MotorController::set_Ti(double value)
+{
+    controller->set_Ti(value);
+}
+
+void MotorController::set_controller(P_controller& new_controller)
+{
+    controller = &new_controller;
+
+    controller->reset();
+}
+
+void MotorController::to_stopped()
+{
+    transition_to(stopped_state);
+}
+
+bool MotorController::fault_active()
+{
+    return motor.fault_active();
+}
+
+void MotorController::led_on()
+{
+   led.set_hi();
+}
+
+
+void MotorController::led_off()
+{
+   led.set_lo();
+}

src/motor_driver.cpp

@@ -0,0 +1,243 @@
+#include "motor_driver.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
+// {
+//     TCCR2A &= ~(1 << COM2B1);
+//     PORTD  &= ~(1 << PORTD3);
+//     OCR2B = 0;
+// }
+
+// static void ain2_off()   // D11 = PB3 = OC2A
+// {
+//     TCCR2A &= ~(1 << COM2A1);
+//     PORTB  &= ~(1 << PORTB3);
+//     OCR2A = 0;
+// }
+
+// static void ain1_pwm(uint8_t duty)
+// {
+//     OCR2B = duty;
+//     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);
+
+
+
+MotorDriver::MotorDriver()
+    : initialized(false)
+{
+}
+
+
+void MotorDriver::begin()
+{
+    // Arduino D3  = PD3 = AIN1
+    // Arduino D11 = PB3 = AIN2
+    // Arduino D4  = PD4 = FLT 
+
+    // DDRD |= (1 << DDD3);
+    // DDRB |= (1 << DDB3);
+
+    // DDRD &= ~(1 << DDD4); 
+
+    // PORTD |= (1 << PORTD4); // Enable pull-up resistor on D4 for part 2
+
+
+    // // Timer2 Fast PWM
+    // TCCR2A = 0;
+    // TCCR2B = 0;
+
+    // // Fast PWM mode
+    // TCCR2A |= (1 << WGM20);
+    // TCCR2A |= (1 << WGM21);
+
+    // // Timer2 prescaler = 32
+    // TCCR2B |= (1 << CS21);
+    // 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();
+}
+
+
+void MotorDriver::forward()
+{
+    set(255.0);
+}
+
+
+void MotorDriver::reverse()
+{
+    set(-255.0);
+}
+
+
+void MotorDriver::stop()
+{
+    // Both LOW
+    // ain1_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) {
+        pwm = -255.0;
+    }
+
+    if (pwm == 0.0) {
+        stop();
+        return;
+    }
+
+
+    // uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
+
+    // if (duty == 0)
+    // {
+    //     stop();
+    // }
+    // else if (pwm > 0)
+    // {
+    //     // 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()
+{
+    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

@@ -0,0 +1,95 @@
+#include "operational_state.h"
+#include "motor_controller.h"
+
+//#include <Arduino.h>
+
+#include <zephyr/sys/printk.h>
+
+
+void OperationalState::enter()
+{
+    //Serial.println("State: Operational");
+    printk("State: Operational\n");
+
+    context->reset_controller();
+
+    context->led_on();
+
+    sample_count = 0;
+
+#if LOG_CSV
+    //Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    printk("time_ms,ref_rpm,actual_rpm,pwm\n");
+#endif
+}
+
+// Part 1 
+
+//void OperationalState::update()
+//{
+//    context->run_speed_controller();
+//}
+
+// Part 2
+
+void OperationalState::update()
+{
+    if (context->fault_active())
+    {
+        //Serial.println("Fault detected");
+        printk("Fault detected\n");
+
+        context->to_stopped();
+
+        return;
+    }
+
+    if (context->run_speed_controller())
+    {
+        ++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(',');
+        // Serial.print(context->get_reference_rpm(), 1);
+        // Serial.print(',');
+        // Serial.print(context->get_actual_rpm(), 2);
+        // Serial.print(',');
+        // 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
+    }
+}
+
+
+void OperationalState::command(char c)
+{
+    if (c == 'r' || c == 'R')
+    {
+        //Serial.println("Command: reset");
+        printk("Command: reset\n");
+
+        context->to_initialization();
+    }
+
+    else if (c == 'p' || c == 'P')
+    {
+        //Serial.println("Command: set pre-operational");
+         printk("Command: set pre-operational\n");
+
+        context->to_pre_operational();
+    }
+}
+
+
+void OperationalState::exit()
+{
+    context->stop_motor();
+
+    context->led_off();
+}

src/p_controller.cpp

@@ -0,0 +1,13 @@
+#include "p_controller.h"
+
+P_controller::P_controller(double Kp)
+    : Kp(Kp)
+{
+}
+
+double P_controller::update(double ref, double actual)
+{
+    double error = ref - actual;
+
+    return Kp * error;
+}

src/pi_controller.cpp

@@ -0,0 +1,37 @@
+#include "pi_controller.h"
+
+PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), T(T), integral(0.0)
+{
+}
+
+double PI_controller::update(double ref, double actual)
+{
+    double e = ref - actual;
+    double new_integral = integral + e * T;
+    double u = Kp * (e + new_integral / Ti);
+
+    if (u > U_MAX)
+    {
+        u = U_MAX;
+    }
+    else if (u < U_MIN)
+    {
+        u = U_MIN;
+    }
+    else
+    {
+        integral = new_integral;
+    }
+    return u;
+    // return 0.0;
+}
+
+void PI_controller::reset()
+{
+    integral = 0.0;
+}
+
+void PI_controller::set_Ti(double value)
+{
+    Ti = value;
+}

src/pre_operational_state.cpp

@@ -0,0 +1,179 @@
+#include "pre_operational_state.h"
+#include "motor_controller.h"
+
+#include "p_controller.h"
+
+//#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),
+      previous_time(0),
+      led_state(false),
+      //waiting_for_kp(false),
+      //waiting_for_ti(false),
+      input_mode(NONE),
+      input_index(0)
+{
+}
+
+void PreOperationalState::enter()
+{
+    //Serial.println("State: Pre-operational");
+    printk("State: Pre-operational\n");
+
+    context->stop_motor();
+
+    context->led_off();
+
+    led_state = false;
+
+    //previous_time = millis();
+    previous_time = k_uptime_get();
+}
+
+void PreOperationalState::update()
+{
+    //unsigned long current_time = millis();
+    const int64_t current_time = k_uptime_get();
+
+    if (current_time - previous_time >= 500)
+    {
+        previous_time = current_time;
+
+        led_state = !led_state;
+
+        if (led_state)
+        {
+            context->led_on();
+        }
+        else
+        {
+            context->led_off();
+        }
+    }
+}
+
+void PreOperationalState::command(char c)
+{
+    // We are currently entering a Kp or Ti value
+    if (input_mode != NONE)
+    {
+        // Enter pressed
+        if (c == '\n' || c == '\r')
+        {
+            if (input_index > 0)
+            {
+                // End the string
+                input_buffer[input_index] = '\0';
+
+                // Convert text to a number
+                const double value = atof(input_buffer);
+
+                if (input_mode == ENTER_KP)
+                {
+                    context->set_Kp(value);
+
+                    // Serial.print("Kp set to: ");
+                    // Serial.println(value);
+                    printk("Kp updated\n");
+                }
+                else if (input_mode == ENTER_TI)
+                {
+                    context->set_Ti(value);
+
+                    // Serial.print("Ti set to: ");
+                    // Serial.println(value);
+                    printk("Ti updated\n");
+                }
+            }
+
+            // Finished entering a value
+            input_index = 0;
+            input_mode = NONE;
+
+            return;
+        }
+
+        // Store number characters
+        if ((c >= '0' && c <= '9') ||
+            c == '.' ||
+            c == '-')
+        {
+            if (input_index < sizeof(input_buffer) - 1)
+            {
+                input_buffer[input_index++] = c;
+                //input_index++;
+            }
+        }
+
+        return;
+    }
+
+
+    // Normal state commands
+    if (c == 'o' || c == 'O')
+    {
+        //Serial.println("Command: set operational");
+        printk("Command: set operational\n");
+
+        context->to_operational();
+    }
+
+    else if (c == 'r' || c == 'R')
+    {
+        //Serial.println("Command: reset");
+         printk("Command: reset\n");
+
+        context->to_initialization();
+    }
+
+    else if (c == 'k' || c == 'K')
+    {
+        input_mode = ENTER_KP;
+        input_index = 0;
+
+        //Serial.println("Enter Kp and press Enter:");
+        printk("Enter Kp and press Enter:\n");
+    }
+
+    else if (c == 't' || c == 'T')
+    {
+        input_mode = ENTER_TI;
+        input_index = 0;
+
+        //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
+    else if (c == 'c' || c == 'C')
+    {
+        pi_selected = !pi_selected;
+
+        if (pi_selected)
+        {
+            context->set_controller(pi_controller);
+            //Serial.println("Controller: PI");
+            printk("Controller: PI\n");
+        }
+        else
+        {
+            context->set_controller(p_controller);
+            //Serial.println("Controller: P");
+            printk("Controller: P\n");
+        }
+    }
+}
+
+void PreOperationalState::exit()
+{
+    context->led_off();
+}

src/rotary_encoder_driver.cpp

@@ -0,0 +1,175 @@
+#include "rotary_encoder_driver.h"
+
+#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),
+      delta(0),
+      speed_ready(false),
+      hist_idx(0)
+{
+    for (uint8_t i = 0; i < HIST_LEN; ++i) {
+        history[i] = 0;
+    }
+}
+
+int RotaryEncoderDriver::begin()
+{
+    if (!gpio_is_ready_dt(&encoder_c1) ||
+        !gpio_is_ready_dt(&encoder_c2)) {
+        return -ENODEV;
+    }
+
+    int ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
+    if (ret < 0) {
+        return ret;
+    }
+
+    ret = gpio_pin_configure_dt(&encoder_c2, GPIO_INPUT);
+    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()
+{
+    // 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);
+
+    return result;
+}
+
+void RotaryEncoderDriver::update_delta()
+{
+    const unsigned int key = irq_lock();
+
+    const int32_t current_count = count;
+    const int32_t oldest_count = history[hist_idx];
+
+    history[hist_idx] = current_count;
+    hist_idx = (hist_idx + 1) % HIST_LEN;
+
+    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);
+
+    constexpr float window_seconds =
+        HIST_LEN * SAMPLE_PERIOD_US * 1e-6f;
+
+    return local_delta / window_seconds;
+}
+
+float RotaryEncoderDriver::rpm()
+{
+    return count_per_sec() * 60.0f / COUNTS_PER_REV;
+}
+
+bool RotaryEncoderDriver::new_speed_available()
+{
+    const unsigned int key = irq_lock();
+    const bool ready = speed_ready;
+
+    if (ready) {
+        speed_ready = false;
+    }
+
+    irq_unlock(key);
+    return ready;
+}
+
+void RotaryEncoderDriver::reset_speed_measurement()
+{
+    const unsigned int key = irq_lock();
+
+    delta = 0;
+    speed_ready = false;
+
+    for (uint8_t i = 0; i < HIST_LEN; ++i) {
+        history[i] = count;
+    }
+
+    hist_idx = 0;
+
+    irq_unlock(key);
+}

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

@@ -0,0 +1,91 @@
+#include "stopped_state.h"
+#include "motor_controller.h"
+
+//#include <Arduino.h>
+
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+
+StoppedState::StoppedState()
+    : previous_time(0),
+      led_state(false)
+{
+}
+
+
+void StoppedState::enter()
+{
+    //Serial.println("State: Stopped");
+
+    printk("State: Stopped\n");
+
+    context->stop_motor();
+
+    led_state = false;
+
+    context->led_off();
+
+    //previous_time = millis();
+    previous_time = k_uptime_get();
+}
+
+// Controlling the blinking of the LED @ 2Hz
+
+void StoppedState::update()
+{
+    //unsigned long current_time = millis();
+    const int64_t current_time = k_uptime_get();
+
+    if (current_time - previous_time >= 250)
+    {
+        previous_time = current_time;
+
+        led_state = !led_state;
+
+        if (led_state)
+        {
+            context->led_on();
+        }
+        else
+        {
+            context->led_off();
+        }
+    }
+}
+
+
+// Commands for Stopped [ r = reset and o for operational]
+
+void StoppedState::command(char c)
+{
+    if (c == 'r' || c == 'R')
+    {
+        //Serial.println("Command: reset");
+        printk("Command: reset\n");
+
+        context->to_initialization();
+    }
+
+    else if (c == 'o' || c == 'O')
+    {
+        //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");
+        printk("Command: set pre-operational\n");
+
+        context->to_pre_operational();
+    }
+}
+
+
+void StoppedState::exit()
+{
+    context->led_off();
+}

src/timer_usec.cpp

@@ -0,0 +1,52 @@
+#include "timer_usec.h"
+
+Timer_usec::Timer_usec() //= default;
+    : callback(nullptr),
+      callback_context(nullptr)
+
+{
+
+}
+
+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);
+    }
+}

test/test_pi_controller/test_main.cpp

@@ -0,0 +1,150 @@
+#include <unity.h>
+
+// #ifdef ARDUINO
+#include <Arduino.h>
+// #endif
+
+#include "p_controller.h"
+#include "pi_controller.h"
+
+static const double KP = 2.0;
+static const double TI = 1.0;
+static const double T = 0.1;
+static const double TOL = 1e-4;  // double er 32-bita float a AVR
+
+// void setUp(void) {}
+// void tearDown(void) {}
+
+// Normal flow: engin villa -> ekkert úttak
+void test_zero_error_gives_zero_output(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+}
+
+// Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
+void test_first_step(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
+void test_integral_accumulates(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    double u = 0.0;
+    for (int n = 1; n <= 5; n++)
+    {
+        u = c.update(e, 0.0);
+        TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
+    }
+}
+
+// Normal flow: þegar villan er orðin 0 heldur integralið úttakinu uppi
+void test_output_held_when_error_zero(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(e, 0.0);
+    }
+    double E = 5 * e * T;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
+}
+
+// Alt flow: villa langt utan getu -> mettun í +100 %
+void test_saturates_high(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
+}
+
+// Alt flow: mettun í -100 %
+void test_saturates_low(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
+}
+
+// Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
+// strax að gefa úttak undir mettun (integralið óx ekki)
+void test_no_integral_windup(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 1000; n++)
+    {
+        c.update(10000.0, 0.0);
+    }
+    double u = c.update(0.0, 1.0);  // e = -1
+    TEST_ASSERT_TRUE(u < 0.0);
+}
+
+// Alt flow: reset (stopped -> operational) hreinsar integralið
+void test_reset_clears_integral(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(5.0, 0.0);
+    }
+    c.reset();
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
+}
+
+// Polymorphism: kall í gegnum P_controller& gefur PI hegðun
+void test_polymorphic_update(void)
+{
+    PI_controller pi(KP, TI, T);
+    P_controller& c = pi;
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// P_controller hegðar sér óbreytt
+void test_p_controller_unchanged(void)
+{
+    P_controller c(KP);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
+}
+
+void setup()
+{
+    // init();
+    delay(2000);
+    UNITY_BEGIN();
+    RUN_TEST(test_zero_error_gives_zero_output);
+    RUN_TEST(test_first_step);
+    RUN_TEST(test_integral_accumulates);
+    RUN_TEST(test_output_held_when_error_zero);
+    RUN_TEST(test_saturates_high);
+    RUN_TEST(test_saturates_low);
+    RUN_TEST(test_no_integral_windup);
+    RUN_TEST(test_reset_clears_integral);
+    RUN_TEST(test_polymorphic_update);
+    RUN_TEST(test_p_controller_unchanged);
+    // return UNITY_END();
+    UNITY_END();
+}
+
+void loop() {}
+
+// #ifdef ARDUINO
+// void setup()
+// {
+//     delay(2000);  // bida eftir serial tengingu eftir reset
+//     run_tests();
+// }
+
+// void loop()
+// {
+// }
+// #else
+// int main(int argc, char** argv)
+// {
+//     return run_tests();
+// }
+// #endif

zephyr/boards/nucleo_l432kc.overlay

@@ -0,0 +1,83 @@
+#include <zephyr/dt-bindings/gpio/gpio.h>
+#include <zephyr/dt-bindings/pwm/pwm.h>
+
+/ {
+    chosen {
+        zephyr,canbus = &can1;
+    };
+
+    aliases {
+        encoder-c1 = &encoder_c1;
+        encoder-c2 = &encoder_c2;
+
+        motor-bin1-pwm = &motor_bin1_pwm;
+        motor-bin2 = &motor_bin2;
+        motor-flt = &motor_flt;
+        motor-slp = &motor_slp;
+        fault-test-button = &fault_test_button;
+    };
+
+    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";
+        };
+
+        fault_test_button: fault_test_button {
+            gpios = <&gpiob 0 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; /* D3, PB0 */
+            label = "Fault test button";
+        };
+    };
+
+    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_pwm_outputs {
+        compatible = "pwm-leds";
+
+        motor_bin1_pwm: motor_bin1_pwm {
+            pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
+            label = "Motor BIN1 PWM";
+        };
+    };
+};
+
+&timers1 {
+    status = "okay";
+    st,prescaler = <79>;
+
+    pwm1: pwm {
+        status = "okay";
+        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