bætti aftur við lyklaborðinu til þess að geta prófað allt saman

.gitattributes

@@ -0,0 +1,2 @@
+* text=auto eol=lf
+*.bat text eol=crlf

.gitignore

@@ -3,3 +3,6 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+scripts
+__pycache__/
+*.typ

README.md

@@ -1,3 +1,3 @@
 # ESP_Project4_H26
 
-A repository for project 3, done in the Embedded System Programming class in Reykjavík University in the Fall semester of 2026
+A repository for project 4, done in the Embedded System Programming class in Reykjavík University in the Fall semester of 2026

docs/diagrams/src/P4-architecture.wsd

@@ -0,0 +1,80 @@
+@startuml P4-architecture
+' Project 4, Part 2.2: Layers of the reduced CANopen node (Node ID 1).
+' Arrows point from the user to the thing it uses.
+
+' skinparam packageStyle rectangle
+skinparam classAttributeIconSize 0
+hide empty members
+
+package "Application layer (uses OSI 7)" {
+    class MotorController {
+        + to_operational()
+        + to_pre_operational()
+        + to_stopped()
+    }
+    abstract class State
+    class SetpointGenerator
+    class PI_controller
+}
+
+package "CANopen layer (OSI 5-7)" {
+    class CanopenNode {
+        + on_frame(frame)
+        + poll(now_ms)
+    }
+    class SdoServer
+    class ObjectDictionary
+    interface NodeApplication {
+        + on_nmt_command(cmd)
+        + set_target_velocity(rpm)
+        + get_velocity() : rpm
+        + get_duty() : 0.1 %
+    }
+    interface CanBus {
+        + send(frame)
+    }
+}
+
+package "Platform layer (Zephyr)" {
+    class ZephyrCanBus
+    class MotorDriver
+    class RotaryEncoderDriver
+}
+
+package "Hardware (OSI 1-2)" {
+    class "CAN controller + transceiver" as CAN
+}
+
+MotorController -> State
+MotorController --> SetpointGenerator
+MotorController --> PI_controller
+MotorController ..|> NodeApplication
+MotorController --> MotorDriver
+MotorController --> RotaryEncoderDriver
+
+CanopenNode --> SdoServer
+SdoServer --> ObjectDictionary
+CanopenNode --> ObjectDictionary
+CanopenNode --> NodeApplication
+CanopenNode --> CanBus
+
+ZephyrCanBus ..|> CanBus
+ZephyrCanBus --> CAN
+
+note top of CanopenNode
+  NMT (0x000), boot-up (0x701),
+  RPDO1 (0x201), TPDO1 (0x181)
+end note
+
+note left of SdoServer
+  0x601 / 0x581, expedited only
+  abort codes 0x06020000, 0x08000022
+end note
+
+note right of ObjectDictionary
+  0x1000, 0x2000-0x2010, 0x606C,
+  0x6083, 0x6084, 0x60FF
+  access rules, little-endian packing
+end note
+
+@enduml

docs/diagrams/src/P4-class-diagram.wsd

@@ -0,0 +1,29 @@
+@startuml 
+' skinparam linetype ortho
+' skinparam nodesep 100
+skinparam ranksep 80
+
+skinparam state {
+    BackgroundColor LightBlue
+}
+
+' hide empty members
+
+Application <|-- CANopen
+
+class Application {
+    {field} state machine
+    {field} controllers
+    {field} setpoint generator
+    {method} hello world
+}
+
+CANopen : Zephyr
+
+Class01 <-- Class02
+Class03 *-- Class04
+Class05 o-- Class06
+Class07 .. Class08
+Class09 -- Class10
+
+@enduml

docs/diagrams/src/motor_state.wsd

@@ -1,50 +0,0 @@
-@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

@@ -4,19 +4,28 @@
 #include <stdint.h>
 #include <zephyr/drivers/gpio.h>
 
-struct Digital_in {
+class Digital_in {
+public:
     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();
+
+    // Calls handler on every rising edge of the pin. The caller owns the
+    // gpio_callback struct so it can find its own object with CONTAINER_OF.
+    // Returns 0 on success, or a negative Zephyr error code.
+    int enable_rising_edge_interrupt(
+        struct gpio_callback *callback,
+        gpio_callback_handler_t handler);
+
+private:
+    const struct gpio_dt_spec *gpio;
 };
 
 #endif

include/digital_out.h

@@ -4,10 +4,7 @@
 #include<stdint.h>
 #include <zephyr/drivers/gpio.h>
 
-
 struct Digital_out {
-    // uint8_t pin_mask;
-
     enum : uint8_t {
         STATUS_LED = 0
     };
@@ -21,7 +18,6 @@ struct Digital_out {
 
 private:
     const struct gpio_dt_spec *gpio;
-
 };
 
 #endif

include/initialization_state.h

@@ -5,13 +5,9 @@
 
 #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;
@@ -26,6 +22,8 @@ public:
     void command(char c) override;
 
     void exit() override;
+
+    NodeState id() const override { return NodeState::INITIALIZATION; }
 };
 
 #endif

include/motor_controller.h

@@ -7,16 +7,16 @@
 #include "motor_driver.h"
 #include "p_controller.h"
 #include "digital_out.h"
+#include "node_types.h"
+#include "node_application.h"
 
 class State;
 
-
+class MotorController : public NodeApplication
-class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = -40.0;
+    static constexpr double DEFAULT_TARGET_RPM = 0.0;
     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;
@@ -28,22 +28,32 @@ private:
 
     RotaryEncoderDriver &encoder;
     MotorDriver &motor;
-    P_controller *controller;
+
+    P_controller &p_controller;
+    P_controller &pi_controller;
+    P_controller *controller;   // Bendir á p_controller eða pi_controller
 
     Digital_out led;
 
-    double reference_rpm;
+    double target_rpm;  // Það sem beðið er um (RPDO1)
+    double reference_rpm;   // Það sem stýringin fær
+
+    uint32_t profile_acceleration; // RPM/s
+    uint32_t profile_deceleration;
 
     // Síðasta sýni, notað fyrir CSV-útprentun
     double last_actual_rpm;
     double last_pwm;
 
 
+
+
 public:
     MotorController(
         RotaryEncoderDriver &encoder,
         MotorDriver &motor,
-        P_controller &controller,
+        P_controller &p_controller,
+        P_controller &pi_controller,
         State &initialization,
         State &pre_operational,
         State &operational,
@@ -60,13 +70,15 @@ public:
     void transition_to(State &new_state);
 
 
-    void to_initialization();
+    void to_initialization() override;
 
-    void to_pre_operational();
+    void to_pre_operational() override;
 
-    void to_operational();
+    void to_operational() override;
 
-    void to_stopped();
+    void to_stopped() override;
+
+    NodeState get_state() const override;
 
     bool fault_active();
 
@@ -74,21 +86,34 @@ public:
     // Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
     bool run_speed_controller();
 
+    void set_target_rpm(double rpm) override { target_rpm = rpm; }
+    double get_target_rpm() const override { return target_rpm; }
     double get_reference_rpm() const { return reference_rpm; }
-    double get_actual_rpm() const { return last_actual_rpm; }
+    double get_actual_rpm() const override { return last_actual_rpm; }
+
     double get_pwm() const { return last_pwm; }
+    double get_duty_percent() const override { return last_pwm / PWM_PER_PERCENT; }
+
+    void set_profile_acceleration(uint32_t value) override {profile_acceleration = value; }
+    uint32_t get_profile_acceleration() const override { return profile_acceleration; }
+    void set_profile_deceleration(uint32_t value) override {profile_deceleration = value; }
+    uint32_t get_profile_deceleration() const override { return profile_deceleration; }
 
     void stop_motor();
 
     void reset_speed_measurement();
 
     void reset_controller();
+    void reset_parameters() override;
 
-    void set_Kp(double value);
+    void set_Kp(double value) override;
+    double get_Kp() const override { return controller->get_Kp(); }
 
-    void set_Ti(double value);
+    bool set_Ti(double value) override;
+    double get_Ti() const override { return controller->get_Ti(); }
 
-    void set_controller(P_controller &new_controller);
+    void select_controller(ControllerType type) override;
+    ControllerType get_controller_type() const override;
 
     void led_on();
 

include/node_application.h

@@ -0,0 +1,51 @@
+#ifndef NODE_APPLICATION_H
+#define NODE_APPLICATION_H
+
+#include <stdint.h>
+#include "node_types.h"
+
+class NodeApplication
+{
+public:
+    virtual ~NodeApplication() {}
+
+    // NMT
+    virtual void to_initialization() = 0;
+    virtual void to_pre_operational() = 0;
+    virtual void to_operational() = 0;
+    virtual void to_stopped() = 0;
+    virtual void reset_parameters() = 0;
+    virtual NodeState get_state() const = 0;
+
+    // 0x2000
+    virtual void select_controller(ControllerType type) = 0;
+    virtual ControllerType get_controller_type() const = 0;
+
+    // 0x2001
+    virtual void set_Kp(double value) = 0;
+    virtual double get_Kp() const = 0;
+
+    // 0x2002
+    virtual bool set_Ti(double value) = 0;
+    virtual double get_Ti() const = 0;
+
+    // 0x2010
+    virtual double get_duty_percent() const = 0;
+
+    // 0x606C
+    virtual double get_actual_rpm() const = 0;
+
+    // 0x6083
+    virtual void set_profile_acceleration(uint32_t value) = 0;
+    virtual uint32_t get_profile_acceleration() const = 0;
+    // 0x6084
+    virtual void set_profile_deceleration(uint32_t value) = 0;
+    virtual uint32_t get_profile_deceleration() const = 0;
+
+    // 0x60FF (RPDO1)
+    virtual void set_target_rpm(double value) = 0;
+    virtual double get_target_rpm() const = 0;
+
+};
+
+#endif

include/node_types.h

@@ -0,0 +1,18 @@
+#ifndef NODE_TYPES_H
+#define NODE_TYPES_H
+
+enum class ControllerType
+{
+    P,
+    PI
+};
+
+enum class NodeState
+{
+    INITIALIZATION,
+    PRE_OPERATIONAL,
+    OPERATIONAL,
+    STOPPED
+};
+
+#endif 

include/operational_state.h

@@ -24,6 +24,8 @@ public:
     void command(char c) override;
 
     void exit() override;
+
+    NodeState id() const override { return NodeState::OPERATIONAL; }
 };
 
 #endif

include/p_controller.h

@@ -5,21 +5,27 @@ class P_controller
 {
 protected:
     double Kp;
+    double default_Kp;  // Gildið úr constructornum, notað af restore_defaults()
 
 public:
     P_controller(double Kp);
     virtual ~P_controller() {}
     virtual double update(double ref, double actual);
     virtual void reset() {}
+    virtual void restore_defaults(); //
+    virtual double get_Kp() const { return Kp; }
+    virtual double get_Ti() const { return 0.0; }
 
     virtual void set_Kp(double value)
     {
         Kp = value;
     }
 
-    virtual void set_Ti(double value)
+    virtual bool set_Ti(double value)
     {
         // P controller does not use Ti
+        (void)value;
+        return true;
     }
 };
 

include/pi_controller.h

@@ -10,14 +10,17 @@ class PI_controller : public P_controller
         static constexpr double U_MIN = -100.0; // %
 
         double Ti;
+        double default_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 restore_defaults() override;
 
-        void set_Ti(double value) override;
+        bool set_Ti(double value) override;
+        double get_Ti() const override { return Ti; }
 };
 
 #endif

include/pre_operational_state.h

@@ -4,27 +4,25 @@
 #include "state.h"
 #include "stdint.h"
 
-class P_controller;
+// 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;
+    // 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
+        ENTER_TI,
+        ENTER_RPM
     };
 
     InputMode input_mode;
@@ -33,12 +31,15 @@ private:
     uint8_t input_index;
 
 public:
-    PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
+    // PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
+    PreOperationalState();
 
     void enter() override;
     void update() override;
     void command(char c) override;
     void exit() override;
+
+    NodeState id() const override { return NodeState::PRE_OPERATIONAL; }
 };
 
 #endif

include/rotary_encoder_driver.h

@@ -3,8 +3,9 @@
 
 #include <stdint.h>
 #include <zephyr/drivers/gpio.h>
+#include <zephyr/kernel.h>
 
-//#include "digital_in.h"
+#include "digital_in.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
@@ -25,6 +26,10 @@ public:
     bool new_speed_available();
     void reset_speed_measurement();
 
+    // Blocks until the next speed sample, or until the timeout expires.
+    // Lets the main loop run in step with the 4 ms sampling.
+    void wait_for_sample(k_timeout_t timeout);
+
 private:
     static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
 
@@ -35,12 +40,11 @@ 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;
+    struct k_sem sample_sem;
     Timer_usec timer;
 
     static void gpio_edge_handler(
@@ -49,28 +53,6 @@ private:
         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

@@ -1,6 +1,8 @@
 #ifndef STATE_H
 #define STATE_H
 
+#include "node_types.h"
+
 class MotorController;
 
 class State
@@ -11,7 +13,6 @@ protected:
 public:
     virtual ~State()
     {
-        
     }
 
     void set_context(MotorController* context)
@@ -27,6 +28,7 @@ public:
 
     virtual void exit() = 0;  // Stop motor
 
+    virtual NodeState id() const = 0; //
 };
 
 #endif

include/stopped_state.h

@@ -8,9 +8,8 @@
 class StoppedState : public State
 {
 private:
-    //unsigned long previous_time; // Used for blinking LED
     int64_t previous_time;
-    bool led_state;              // Ditto
+    bool led_state;
 
 public:
     StoppedState();
@@ -23,6 +22,7 @@ public:
 
     void exit() override;
 
+    NodeState id() const override { return NodeState::STOPPED; }
 };
 
 #endif

include/timer_usec.h

@@ -1,16 +1,9 @@
 #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);

pi/can_up.sh

@@ -0,0 +1,8 @@
+#!/bin/sh
+# Brings up can0 at the same bitrate as the Nucleo (125000 in src/CAN_FRAME_TEST.c and src/can_send_test.c).
+# Usage: ./can_up.sh [bitrate]   (default 125000)
+BITRATE=${1:-125000}
+
+sudo ip link set can0 down 2>/dev/null
+sudo ip link set can0 up type can bitrate "$BITRATE"
+ip -details -statistics link show can0

platformio.ini

@@ -18,3 +18,24 @@ monitor_speed = 115200
 upload_flags = 
     -c
     reset_config srst_only srst_nogate connect_assert_srst
+
+; CSV-útprentun í Operational fyrir step/load response (sjá capture_serial.py)
+; build_flags = -D LOG_CSV=1
+
+; Part 2.1: CAN bring-up test (src/can_send_test.c) instead of the motor app.
+; Build/upload: pio run -e can_test -t upload
+; [env:can_test]
+; extends = env:nucleo_l432kc
+; build_flags = -D CAN_SEND_TEST=1
+
+; L4.4 example (src/CAN_FRAME_TEST.c) instead of the motor app.
+; Build/upload: pio run -e can_frame_test -t upload
+; [env:can_frame_test]
+; extends = env:nucleo_l432kc
+; build_flags = -D CAN_FRAME_TEST=1
+
+; CAN reception with a filter (src/can_rx_test.c) instead of the motor app.
+; Build/upload: pio run -e can_rx_test -t upload
+; [env:can_rx_test]
+; extends = env:nucleo_l432kc
+; build_flags = -D CAN_RX_TEST=1

src/CAN_FRAME_TEST.c

@@ -0,0 +1,49 @@
+#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)
+
+// L4.4 example. Built only with the can_frame_test environment
+// (-D CAN_FRAME_TEST=1); main() in main.c calls this function.
+void can_frame_test_main(void)
+{
+    const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
+
+    if (!device_is_ready(dev)) {
+        printk("CAN device not ready\n");
+        return;
+    }
+
+    int err = can_set_bitrate(dev, 125000);
+    if (err != 0) {
+        printk("Error setting CAN bitrate (err %d)\n", err);
+        return;
+    }
+
+    err = can_start(dev);
+    if (err != 0) {
+        printk("Error starting CAN controller (err %d)\n", err);
+        return;
+    }
+
+    struct can_frame frame = {
+        .flags = 0,
+        .id = 0x456,
+        .dlc = 4,
+        .data = {1, 2, 3, 4, 5, 6, 7, 8},
+    };
+
+    while (1) {
+        k_msleep(500);
+
+        err = can_send(dev, &frame, K_MSEC(100), NULL, NULL);
+        if (err != 0) {
+            printk("Sending failed (err %d)\n", err);
+            return;
+        }
+    }
+}

src/app.cpp

@@ -1,8 +1,3 @@
-// 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>
@@ -17,12 +12,11 @@
 #include "motor_controller.h"
 
 #include "initialization_state.h"
-
 #include "pre_operational_state.h"
-
 #include "operational_state.h"
 #include "stopped_state.h"
 
+#include "node_application.h"
 
 static RotaryEncoderDriver encoder;
 
@@ -40,7 +34,7 @@ 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 PreOperationalState pre_operational_state;
 static OperationalState operational_state;
 static StoppedState stopped_state;
 
@@ -48,6 +42,7 @@ static StoppedState stopped_state;
 static MotorController motor_controller(
     encoder,
     motor,
+    p_controller,
     pi_controller,      // Sjálfgefin stýring
     initialization_state,
     pre_operational_state,
@@ -56,42 +51,34 @@ static MotorController motor_controller(
 );
 
 
-// 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));
 
+// Received characters are queued by the UART ISR, like the RX buffer that
+// Arduino's Serial had. The USART has a single receive register, so
+// polling it from the main loop loses characters that arrive in a burst.
+K_MSGQ_DEFINE(rx_queue, sizeof(char), 64, 1);
+
+static void uart_rx_isr(const struct device *dev, void *user_data)
+{
+    (void)user_data;
+
+    if (!uart_irq_update(dev)) {
+        return;
+    }
+
+    while (uart_irq_rx_ready(dev)) {
+        unsigned char c;
+
+        if (uart_fifo_read(dev, &c, 1) != 1) {
+            break;
+        }
+
+        // Drop the character if the queue is full.
+        (void)k_msgq_put(&rx_queue, &c, K_NO_WAIT);
+    }
+}
+
 extern "C" void motor_application_main(void)
 {
     if (!device_is_ready(console_dev)) {
@@ -99,6 +86,9 @@ extern "C" void motor_application_main(void)
         return;
     }
 
+    uart_irq_callback_user_data_set(console_dev, uart_rx_isr, nullptr);
+    uart_irq_rx_enable(console_dev);
+
     const int encoder_result = encoder.begin();
     if (encoder_result < 0) {
         printk("Encoder setup failed: %d\n", encoder_result);
@@ -109,17 +99,27 @@ extern "C" void motor_application_main(void)
     motor_controller.begin();
 
     while (true) {
-        unsigned char received_char;
+        char received_char;
 
-        // Read a command if a character is waiting.
+        // Handle every character the ISR has queued since the last pass.
-        if (uart_poll_in(console_dev, &received_char) == 0) {
+        while (k_msgq_get(&rx_queue, &received_char, K_NO_WAIT) == 0) {
-            motor_controller.command(
+            motor_controller.command(received_char);
-                static_cast<char>(received_char));
         }
 
         motor_controller.update();
 
-        // Give Zephyr's scheduler time to run other threads.
+        static NodeState last_state = NodeState::INITIALIZATION;
-        k_msleep(1);
+
+        const NodeState now = motor_controller.get_state();
+        if (now != last_state)
+        {
+            printk("get_state: %d -> %d\n", (int)last_state, (int)now);
+            last_state = now;
+        }
+
+        // Sleep until the encoder has a new speed sample (every 4 ms), so
+        // the controller runs right after sampling. The timeout only
+        // matters if the timer stops; the thread is idle while it waits.
+        encoder.wait_for_sample(K_MSEC(10));
     }
 }

src/can_rx_test.c

@@ -0,0 +1,80 @@
+// Part 2.1: CAN reception with a filter. Only frames with id RX_CAN_ID are
+// accepted. The driver puts them in a message queue from interrupt context,
+// and the main loop takes them out and prints them.
+// Built only with the can_rx_test environment (-D CAN_RX_TEST=1).
+//
+// Test from the Pi:
+//   cansend can0 321#DEADBEEF   -> printed by the Nucleo
+//   cansend can0 322#DEADBEEF   -> rejected by the filter, nothing printed
+
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+#define CANBUS_NODE  DT_CHOSEN(zephyr_canbus)
+#define CAN_BITRATE  125000  // Must match the bitrate of can0 on the Pi
+#define RX_CAN_ID    0x321   // The only id this node accepts
+
+// Queue for up to 10 received frames. The CAN driver fills it in the
+// receive interrupt; nothing else runs in interrupt context.
+CAN_MSGQ_DEFINE(rx_msgq, 10);
+
+void can_rx_test_main(void)
+{
+    const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
+
+    if (!device_is_ready(dev)) {
+        printk("CAN device not ready\n");
+        return;
+    }
+
+    int err = can_set_bitrate(dev, CAN_BITRATE);
+    if (err != 0) {
+        printk("Error setting CAN bitrate (err %d)\n", err);
+        return;
+    }
+
+    // Accept only RX_CAN_ID: all 11 bits of the id must match the mask.
+    const struct can_filter filter = {
+        .id = RX_CAN_ID,
+        .mask = CAN_STD_ID_MASK,
+#ifdef CAN_FILTER_DATA
+        // Older Zephyr versions must be told to match data frames.
+        .flags = CAN_FILTER_DATA,
+#else
+        .flags = 0,
+#endif
+    };
+
+    // Returns a filter id (>= 0) on success.
+    int filter_id = can_add_rx_filter_msgq(dev, &rx_msgq, &filter);
+    if (filter_id < 0) {
+        printk("Error adding RX filter (err %d)\n", filter_id);
+        return;
+    }
+
+    err = can_start(dev);
+    if (err != 0) {
+        printk("Error starting CAN controller (err %d)\n", err);
+        return;
+    }
+
+    printk("CAN RX test: %d bit/s, accepting id 0x%03X\n",
+           CAN_BITRATE, RX_CAN_ID);
+
+    struct can_frame frame;
+
+    while (1) {
+        // Sleeps until a frame is in the queue, then processes it here in
+        // the main thread, where printing is allowed.
+        k_msgq_get(&rx_msgq, &frame, K_FOREVER);
+
+        printk("Received id 0x%03X [%d]:", frame.id, frame.dlc);
+        for (int i = 0; i < can_dlc_to_bytes(frame.dlc); i++) {
+            printk(" %02X", frame.data[i]);
+        }
+        printk("\n");
+    }
+}

src/can_send_test.c

@@ -0,0 +1,61 @@
+// Part 2.1: CAN bring-up. Sends one frame every 100 ms so it can be seen
+// on the oscilloscope and with `candump can0` on the Raspberry Pi.
+// Built only with the can_test environment (-D CAN_SEND_TEST=1).
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/printk.h>
+
+// Change these to see the difference in candump.
+#define TEST_CAN_ID   0x123   // 11-bit standard id (0x000 - 0x7FF)
+#define TEST_CAN_DLC  8       // Number of data bytes (0 - 8)
+#define CAN_BITRATE   125000  // Must match the bitrate of can0 on the Pi
+
+static const struct device *const can_dev = DEVICE_DT_GET(DT_NODELABEL(can1));
+
+void can_send_test_main(void)
+{
+    if (!device_is_ready(can_dev)) {
+        printk("CAN device is not ready\n");
+        return;
+    }
+
+    int err = can_set_bitrate(can_dev, CAN_BITRATE);
+    if (err != 0) {
+        printk("can_set_bitrate failed: %d\n", err);
+        return;
+    }
+
+    err = can_start(can_dev);
+    if (err != 0) {
+        printk("can_start failed: %d\n", err);
+        return;
+    }
+
+    printk("CAN started at %d bit/s, sending id 0x%03X\n",
+           CAN_BITRATE, TEST_CAN_ID);
+
+    struct can_frame frame = {
+        .id = TEST_CAN_ID,
+        .dlc = TEST_CAN_DLC,
+        .flags = 0,           // Standard id, data frame
+    };
+    uint8_t counter = 0;
+
+    while (true) {
+        // Byte 0 counts up so you can see new frames arriving.
+        frame.data[0] = counter++;
+        for (int i = 1; i < TEST_CAN_DLC; i++) {
+            frame.data[i] = i;
+        }
+
+        // Blocks until the frame is sent (and acknowledged by another node).
+        err = can_send(can_dev, &frame, K_MSEC(100), NULL, NULL);
+        if (err != 0) {
+            printk("can_send failed: %d\n", err);
+        }
+
+        k_sleep(K_MSEC(100));
+    }
+}

src/digital_in.cpp

@@ -1,17 +1,8 @@
-//#include <avr/io.h>
 #include "digital_in.h"
 
+#include <errno.h>
 #include <zephyr/devicetree.h>
-
+#include <zephyr/sys/util.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);
@@ -62,3 +53,22 @@ bool Digital_in::is_lo()
     return !is_hi();
 }
 
+int Digital_in::enable_rising_edge_interrupt(
+    struct gpio_callback *callback,
+    gpio_callback_handler_t handler)
+{
+    if (gpio == nullptr || !gpio_is_ready_dt(gpio)) {
+        return -ENODEV;
+    }
+
+    gpio_init_callback(callback, handler, BIT(gpio->pin));
+
+    const int ret = gpio_add_callback(gpio->port, callback);
+    if (ret < 0) {
+        return ret;
+    }
+
+    // Physical rising edge, independent of the active level in the overlay.
+    return gpio_pin_interrupt_configure(
+        gpio->port, gpio->pin, GPIO_INT_EDGE_RISING);
+}

src/digital_out.cpp

@@ -1,16 +1,7 @@
 #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);
 

src/initialization_state.cpp

@@ -1,25 +1,11 @@
 #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();
@@ -32,30 +18,18 @@ void InitializationState::enter()
 
 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

@@ -1,12 +1,20 @@
 #include <zephyr/kernel.h>
 
-#ifndef PIO_UNIT_TESTING
-
 void motor_application_main(void);
+void can_send_test_main(void);
+void can_frame_test_main(void);
+void can_rx_test_main(void);
 
-void main(void)
+int main(void)
 {
+#if CAN_SEND_TEST
+    can_send_test_main();
+#elif CAN_FRAME_TEST
+    can_frame_test_main();
+#elif CAN_RX_TEST
+    can_rx_test_main();
+#else
     motor_application_main();
-}
-
 #endif
+    return 0;
+}

src/motor_controller.cpp

@@ -1,13 +1,11 @@
 #include "motor_controller.h"
 #include "state.h"
 
-//#include <Arduino.h>
-
-
 MotorController::MotorController(
     RotaryEncoderDriver &encoder,
     MotorDriver &motor,
-    P_controller &controller,
+    P_controller &p_controller,
+    P_controller &pi_controller,
     State &initialization,
     State &pre_operational,
     State &operational,
@@ -20,9 +18,14 @@ MotorController::MotorController(
       stopped_state(stopped),
       encoder(encoder),
       motor(motor),
-      controller(&controller),
+      p_controller(p_controller),
+      pi_controller(pi_controller),
+      controller(&pi_controller),   // PI er sjálfgefin stýring
       led(LED_PIN),
-      reference_rpm(DEFAULT_REFERENCE_RPM),
+      target_rpm(DEFAULT_TARGET_RPM),
+      reference_rpm(DEFAULT_TARGET_RPM),
+      profile_acceleration(0),
+      profile_deceleration(0),
       last_actual_rpm(0.0),
       last_pwm(0.0)
 {
@@ -33,18 +36,6 @@ MotorController::MotorController(
 }
 
 
-// void MotorController::set_states(
-//     State* initialization,
-//     State* operational,
-//     State* stopped
-// )
-
-    // initialization_state = initialization;
-    // operational_state = operational;
-    // stopped_state = stopped;
-
-
-
 void MotorController::begin()
 {
     led.init();
@@ -73,7 +64,6 @@ void MotorController::update()
     }
 }
 
-
 void MotorController::command(char c)
 {
     if (current_state != nullptr)
@@ -82,7 +72,6 @@ void MotorController::command(char c)
     }
 }
 
-
 void MotorController::to_initialization()
 {
     transition_to(initialization_state);
@@ -107,6 +96,8 @@ bool MotorController::run_speed_controller()
         return false;
     }
 
+    reference_rpm = target_rpm;
+
     const double actual = encoder.rpm();
 
     const double pwm_percent =
@@ -150,28 +141,71 @@ void MotorController::reset_controller()
     controller->reset();
 }
 
+void MotorController::reset_parameters()
+{
+    p_controller.restore_defaults();
+    pi_controller.restore_defaults();
+
+    select_controller(ControllerType::PI);
+    set_target_rpm(DEFAULT_TARGET_RPM);
+
+    set_profile_acceleration(0);
+    set_profile_deceleration(0);
+
+}
+
 void MotorController::set_Kp(double value)
 {
     controller->set_Kp(value);
 }
 
-void MotorController::set_Ti(double value)
+bool MotorController::set_Ti(double value)
 {
-    controller->set_Ti(value);
+    return controller->set_Ti(value);
 }
 
-void MotorController::set_controller(P_controller& new_controller)
+void MotorController::select_controller(ControllerType type)
 {
-    controller = &new_controller;
+    if (type == ControllerType::PI) 
+    {
+        controller = &pi_controller;
+    }
+    else
+    {
+        controller = &p_controller;
+    }
 
     controller->reset();
 }
 
+ControllerType MotorController::get_controller_type() const
+{
+    if (controller == &pi_controller)
+    {
+        return ControllerType::PI; 
+    }
+    else
+    {
+        return ControllerType::P;
+    }
+}
+
 void MotorController::to_stopped()
 {
     transition_to(stopped_state);
 }
 
+NodeState MotorController::get_state() const
+{
+    if (current_state == nullptr)
+    {
+        return NodeState::INITIALIZATION;
+    }
+    else{
+        return current_state->id();
+    }
+}
+
 bool MotorController::fault_active()
 {
     return motor.fault_active();

src/motor_driver.cpp

@@ -1,46 +1,14 @@
 #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 =
+static const struct pwm_dt_spec bin2_pwm =
-    GPIO_DT_SPEC_GET(DT_ALIAS(motor_bin2), gpios);
+    PWM_DT_SPEC_GET(DT_ALIAS(motor_bin2_pwm));
 
 static const struct gpio_dt_spec motor_flt =
     GPIO_DT_SPEC_GET(DT_ALIAS(motor_flt), gpios);
@@ -52,7 +20,6 @@ static const struct gpio_dt_spec motor_slp =
     GPIO_DT_SPEC_GET(DT_ALIAS(motor_slp), gpios);
 
 
-
 MotorDriver::MotorDriver()
     : initialized(false)
 {
@@ -61,42 +28,17 @@ MotorDriver::MotorDriver()
 
 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) ||
+        !pwm_is_ready_dt(&bin2_pwm) ||
         !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 ||
+    if (gpio_pin_configure_dt(&motor_flt, GPIO_INPUT) < 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;
@@ -107,10 +49,10 @@ void MotorDriver::begin()
         return;
     }
 
-    if (pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0) < 0) {
+    if (pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0) < 0 ||
+        pwm_set_dt(&bin2_pwm, bin2_pwm.period, 0) < 0) {
         return;
     }
-    // PWM-úttök eru tengd í set() eftir þörfum
     initialized = true;
     stop();
 }
@@ -130,22 +72,17 @@ void MotorDriver::reverse()
 
 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);
+    pwm_set_dt(&bin2_pwm, bin2_pwm.period, 0);
 }
 
 void MotorDriver::set(double pwm)
 {
-
     if (!initialized) {
         return;
     }
@@ -164,50 +101,27 @@ void MotorDriver::set(double pwm)
     }
 
 
-    // uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
+    const double magnitude = pwm > 0.0 ? pwm : -pwm;
 
-    // if (duty == 0)
+    // Pulse width in nanoseconds, kept as a double until the end so the
-    // {
+    // 4000-count timer resolution is not lost to integer truncation.
-    //     stop();
+    const uint32_t pulse = static_cast<uint32_t>(
-    // }
+        static_cast<double>(bin1_pwm.period) * magnitude / 255.0);
-    // 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;
 
+    // Same PWM scheme as Project 3: one input PWM, the other input low,
+    // so both directions use fast decay (coast during the off time).
+    // The idle input is set low first; both channels share TIM1 with
+    // preloaded compare registers, so the change takes effect together
+    // at the next timer update.
     if (pwm > 0.0) {
-        // Forward: BIN2 low; BIN1 PWM duty equals the command magnitude.
+        // Forward: BIN1 PWM, BIN2 low.
-        gpio_pin_set_dt(&bin2, 0);
+        pwm_set_dt(&bin2_pwm, bin2_pwm.period, 0);
-        bin1_pulse = requested_pulse;
+        pwm_set_dt(&bin1_pwm, bin1_pwm.period, pulse);
     } else {
-        // Reverse: BIN2 high; BIN1 pulse is inverted for reverse PWM.
+        // Reverse: BIN1 low, BIN2 PWM.
-        gpio_pin_set_dt(&bin2, 1);
+        pwm_set_dt(&bin1_pwm, bin1_pwm.period, 0);
-        bin1_pulse = bin1_pwm.period - requested_pulse;
+        pwm_set_dt(&bin2_pwm, bin2_pwm.period, pulse);
     }
-
-    pwm_set_dt(&bin1_pwm, bin1_pwm.period, bin1_pulse);
-
 }
 
 
@@ -231,11 +145,10 @@ bool MotorDriver::fault_active()
         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 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 ||

src/operational_state.cpp

@@ -1,14 +1,10 @@
 #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();
@@ -17,26 +13,20 @@ void OperationalState::enter()
 
     sample_count = 0;
 
+    // Tímabundið til þess að prófa undirbúning CAN communication
+    printk("Kp=%.4f Ti=%.4f Target=%.0f RPM\n",
+        context->get_Kp(), context->get_Ti(), context->get_target_rpm());
+
 #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();
@@ -50,13 +40,6 @@ void OperationalState::update()
 
 #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(),
@@ -71,21 +54,43 @@ void OperationalState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
-        //Serial.println("Command: reset");
+        printk("Command: reset communication\n"); // Heldur Kp og Ti gildum
-        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();
     }
-}
 
+    else if (c == '+') // Bætti þessu við til þess að prófa að rampa rpm í operational state
+    {
+        context->set_target_rpm(context->get_target_rpm() + 10);
+        printk("Target: %.0f RPM\n", context->get_target_rpm());
+    }
+    else if (c == '-') 
+    {
+        context->set_target_rpm(context->get_target_rpm() - 10);
+        printk("Target: %.0f RPM\n", context->get_target_rpm());
+    }
+
+    // Tímabundið til þess að testa reset parameters
+    else if (c == 'x' || c == 'X')
+    {
+        printk("Command: reset node\n");
+        context->reset_parameters();
+        context->to_initialization();
+    }
+
+    else if (c == '?')
+    {
+        printk("Actual=%.0f RPM Duty=%.1f\n",
+            context->get_actual_rpm(), context->get_duty_percent());
+    }
+}
 
 void OperationalState::exit()
 {

src/p_controller.cpp

@@ -1,7 +1,8 @@
 #include "p_controller.h"
 
 P_controller::P_controller(double Kp)
-    : Kp(Kp)
+    : Kp(Kp),
+    default_Kp(Kp)
 {
 }
 
@@ -11,3 +12,9 @@ double P_controller::update(double ref, double actual)
 
     return Kp * error;
 }
+
+void P_controller::restore_defaults()
+{
+    Kp = default_Kp;
+    reset();
+}

src/pi_controller.cpp

@@ -1,6 +1,6 @@
 #include "pi_controller.h"
 
-PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), T(T), integral(0.0)
+PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), default_Ti(Ti), T(T), integral(0.0)
 {
 }
 
@@ -23,7 +23,6 @@ double PI_controller::update(double ref, double actual)
         integral = new_integral;
     }
     return u;
-    // return 0.0;
 }
 
 void PI_controller::reset()
@@ -31,7 +30,21 @@ void PI_controller::reset()
     integral = 0.0;
 }
 
-void PI_controller::set_Ti(double value)
+bool PI_controller::set_Ti(double value)
 {
-    Ti = value;
+    if (value > 0.0)
+    {
+        Ti = value;
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+void PI_controller::restore_defaults()
+{
+    P_controller::restore_defaults();
+    Ti = default_Ti;
 }

src/pre_operational_state.cpp

@@ -1,24 +1,19 @@
 #include "pre_operational_state.h"
 #include "motor_controller.h"
 
-#include "p_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)
-
+PreOperationalState::PreOperationalState()
-PreOperationalState::PreOperationalState(P_controller &p_controller, P_controller &pi_controller)
+    // : p_controller(p_controller),
-    : p_controller(p_controller),
+    //   pi_controller(pi_controller),
-      pi_controller(pi_controller),
+    //   pi_selected(true),
-      pi_selected(true),
+      : previous_time(0),
-      previous_time(0),
       led_state(false),
-      //waiting_for_kp(false),
-      //waiting_for_ti(false),
       input_mode(NONE),
       input_index(0)
 {
@@ -26,22 +21,23 @@ PreOperationalState::PreOperationalState(P_controller &p_controller, P_controlle
 
 void PreOperationalState::enter()
 {
-    //Serial.println("State: Pre-operational");
     printk("State: Pre-operational\n");
 
+    // The selection survives a reset, so report it (used by capture_serial.py).
+    printk("Controller: %s\n", (context->get_controller_type() == ControllerType::PI) ? "PI" : "P");
+    // Prófaði þetta, veit ekki hvort þetta skili bool
+
     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)
@@ -81,17 +77,24 @@ void PreOperationalState::command(char c)
                 {
                     context->set_Kp(value);
 
-                    // Serial.print("Kp set to: ");
+                    printk("Kp set to: %.4f\n", value);
-                    // Serial.println(value);
-                    printk("Kp updated\n");
                 }
                 else if (input_mode == ENTER_TI)
                 {
-                    context->set_Ti(value);
+                    if (context->set_Ti(value))
+                    {
+                        printk("Ti set to: %.4f\n", value);
+                    }
+                    else
+                    {
+                        printk("Ti rejected, must be > 0");
+                    }
+                }
+                else if (input_mode == ENTER_RPM)
+                {
+                    context->set_target_rpm(value);
 
-                    // Serial.print("Ti set to: ");
+                    printk("Target RPM set to: %.0f\n", value);
-                    // Serial.println(value);
-                    printk("Ti updated\n");
                 }
             }
 
@@ -110,7 +113,6 @@ void PreOperationalState::command(char c)
             if (input_index < sizeof(input_buffer) - 1)
             {
                 input_buffer[input_index++] = c;
-                //input_index++;
             }
         }
 
@@ -121,7 +123,6 @@ void PreOperationalState::command(char c)
     // Normal state commands
     if (c == 'o' || c == 'O')
     {
-        //Serial.println("Command: set operational");
         printk("Command: set operational\n");
 
         context->to_operational();
@@ -129,7 +130,6 @@ void PreOperationalState::command(char c)
 
     else if (c == 'r' || c == 'R')
     {
-        //Serial.println("Command: reset");
          printk("Command: reset\n");
 
         context->to_initialization();
@@ -140,7 +140,6 @@ void PreOperationalState::command(char c)
         input_mode = ENTER_KP;
         input_index = 0;
 
-        //Serial.println("Enter Kp and press Enter:");
         printk("Enter Kp and press Enter:\n");
     }
 
@@ -149,26 +148,31 @@ void PreOperationalState::command(char c)
         input_mode = ENTER_TI;
         input_index = 0;
 
-        //Serial.println("Enter Ti and press Enter:");
         printk("Enter Ti and press Enter:\n");
     }
 
+    else if (c == 'v' || c == 'V')
+    {
+        input_mode = ENTER_RPM;
+        input_index = 0;
+
+        printk("Enter RPM 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 (context->get_controller_type() == ControllerType::P)
-
-        if (pi_selected)
         {
-            context->set_controller(pi_controller);
+            context->select_controller(ControllerType::PI);
-            //Serial.println("Controller: PI");
+            printk("Controller: PI, Kp=%.4f, Ti=%.4f\n",
-            printk("Controller: PI\n");
+                context->get_Kp(), context->get_Ti());
         }
         else
         {
-            context->set_controller(p_controller);
+            context->select_controller(ControllerType::P);
-            //Serial.println("Controller: P");
+            printk("Controller: P, Kp=%.4f\n",
-            printk("Controller: P\n");
+                context->get_Kp());
         }
     }
 }

src/rotary_encoder_driver.cpp

@@ -6,22 +6,13 @@
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
 
-//#define ISR_PROBE_NODE DT_PATH(zephyr_user)
-
-static const struct gpio_dt_spec isr_probe =
-    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_isr_probe), gpios);
-
-static const struct gpio_dt_spec encoder_c1 =
-    GPIO_DT_SPEC_GET(DT_ALIAS(encoder_c1), gpios);
-
-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)
+      hist_idx(0),
+      eA(Digital_in::ENCODER_C1),
+      eB(Digital_in::ENCODER_C2)
 {
     for (uint8_t i = 0; i < HIST_LEN; ++i) {
         history[i] = 0;
@@ -30,40 +21,16 @@ RotaryEncoderDriver::RotaryEncoderDriver()
 
 int RotaryEncoderDriver::begin()
 {
-    if (!gpio_is_ready_dt(&encoder_c1) ||
+    eA.init();
-        !gpio_is_ready_dt(&encoder_c2) ||
+    eB.init();
-        !gpio_is_ready_dt(&isr_probe)) {
-        return -ENODEV;
-    }
 
-    int ret = gpio_pin_configure_dt(&isr_probe, GPIO_OUTPUT_INACTIVE);
+    // Max count 1: the main loop only needs to know that a new sample
-    if (ret < 0) {
+    // exists, not how many it missed.
-        return ret;
+    k_sem_init(&sample_sem, 0, 1);
-    }
 
-    ret = gpio_pin_configure_dt(&encoder_c1, GPIO_INPUT);
+    const int ret = eA.enable_rising_edge_interrupt(
-    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,
+        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;
     }
@@ -80,18 +47,16 @@ void RotaryEncoderDriver::gpio_edge_handler(
     struct gpio_callback *callback,
     uint32_t pins)
 {
-    (void)dev; // This handler does not need the device pointer.
+    // Zephyr only calls this handler for C1, the one pin in the callback.
+    (void)dev;
+    (void)pins;
 
     auto *encoder = CONTAINER_OF(
         callback,
         RotaryEncoderDriver,
         encoder_c1_callback);
 
-    if ((pins & BIT(encoder_c1.pin)) != 0U) {
+    encoder->update();
-        encoder->update();                 // Reads C2 and updates the count
-        gpio_pin_set_dt(&isr_probe, 1);   // Marker rising edge
-        gpio_pin_set_dt(&isr_probe, 0);   // Reset for the next interrupt
-    }
 }
 
 void RotaryEncoderDriver::timer_expired(void *context)
@@ -103,13 +68,10 @@ void RotaryEncoderDriver::timer_expired(void *context)
 void RotaryEncoderDriver::update()
 {
     // C2's level at the C1 edge tells us the direction.
-    const int direction = gpio_pin_get_dt(&encoder_c2);
+    const bool forward = eB.is_hi();
-    if (direction < 0) {
-        return;
-    }
 
     const unsigned int key = irq_lock();
-    count += direction ? 1 : -1;
+    count += forward ? 1 : -1;
     irq_unlock(key);
 }
 
@@ -136,6 +98,14 @@ void RotaryEncoderDriver::update_delta()
     speed_ready = true;
 
     irq_unlock(key);
+
+    // Wake the main loop so the controller runs right after the sample.
+    k_sem_give(&sample_sem);
+}
+
+void RotaryEncoderDriver::wait_for_sample(k_timeout_t timeout)
+{
+    (void)k_sem_take(&sample_sem, timeout);
 }
 
 float RotaryEncoderDriver::count_per_sec()

src/rotary_encoder_driver_gamli.cpp

@@ -1,132 +0,0 @@
-// #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

@@ -1,12 +1,9 @@
 #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)
@@ -16,8 +13,6 @@ StoppedState::StoppedState()
 
 void StoppedState::enter()
 {
-    //Serial.println("State: Stopped");
-
     printk("State: Stopped\n");
 
     context->stop_motor();
@@ -26,7 +21,6 @@ void StoppedState::enter()
 
     context->led_off();
 
-    //previous_time = millis();
     previous_time = k_uptime_get();
 }
 
@@ -34,7 +28,6 @@ void StoppedState::enter()
 
 void StoppedState::update()
 {
-    //unsigned long current_time = millis();
     const int64_t current_time = k_uptime_get();
 
     if (current_time - previous_time >= 250)
@@ -56,12 +49,10 @@ void StoppedState::update()
 
 
 // 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();
@@ -69,7 +60,6 @@ void StoppedState::command(char c)
 
     else if (c == 'o' || c == 'O')
     {
-        //Serial.println("Command: set operational");
         printk("Command: set operational\n");
 
         context->to_operational();
@@ -77,14 +67,12 @@ void StoppedState::command(char c)
 
     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

@@ -1,11 +1,9 @@
 #include "timer_usec.h"
 
-Timer_usec::Timer_usec() //= default;
+Timer_usec::Timer_usec()
     : callback(nullptr),
       callback_context(nullptr)
-
 {
-
 }
 
 void Timer_usec::set_callback(
@@ -17,17 +15,6 @@ void Timer_usec::set_callback(
 }
 
 
-// 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) {

test/test_pi_controller/test_main.cpp

@@ -1,150 +0,0 @@
-#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

@@ -1,17 +1,21 @@
 #include <zephyr/dt-bindings/gpio/gpio.h>
 #include <zephyr/dt-bindings/pwm/pwm.h>
+#include <zephyr/dt-bindings/pwm/stm32_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-bin2-pwm = &motor_bin2_pwm;
         motor-flt = &motor_flt;
         motor-slp = &motor_slp;
         fault-test-button = &fault_test_button;
-        encoder-isr-probe = &encoder_isr_probe;
     };
 
     buttons {
@@ -41,20 +45,10 @@
     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";
         };
-
-        encoder_isr_probe: encoder_isr_probe {
-            gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
-            label = "Encoder ISR probe";
-        };
     };
 
     motor_pwm_outputs {
@@ -64,19 +58,33 @@
             pwms = <&pwm1 1 PWM_USEC(50) 0>; /* D9, PA8; 20 kHz */
             label = "Motor BIN1 PWM";
         };
-    };
+
-        zephyr,user {
+        /* PB1 has no regular TIM1 channel, only the complementary output
-        encoder-isr-probe-gpios = <&gpioa 12 GPIO_ACTIVE_HIGH>; /* D2, PA12 */
+         * TIM1_CH3N. With CH3 itself disabled, CH3N outputs the
+         * non-inverted CH3 reference, so it behaves like a normal channel. */
+        motor_bin2_pwm: motor_bin2_pwm {
+            pwms = <&pwm1 3 PWM_USEC(50) (PWM_POLARITY_NORMAL | STM32_PWM_COMPLEMENTARY)>; /* D6, PB1; 20 kHz */
+            label = "Motor BIN2 PWM";
+        };
     };
 };
 
 &timers1 {
     status = "okay";
-    st,prescaler = <79>;
+    /* No prescaler: 80 MHz timer clock, so a 50 us period is 4000 counts. */
+    st,prescaler = <0>;
 
     pwm1: pwm {
         status = "okay";
-        pinctrl-0 = <&tim1_ch1_pa8>;
+        pinctrl-0 = <&tim1_ch1_pa8 &tim1_ch3n_pb1>;
         pinctrl-names = "default";
     };
 };
+
+/* CAN1 to the transceiver: RX on D10 (PA11), TX on D2 (PA12).
+ * The bitrate is set in the code with can_set_bitrate(). */
+&can1 {
+    pinctrl-0 = <&can1_rx_pa11 &can1_tx_pa12>;
+    pinctrl-names = "default";
+    status = "okay";
+};

zephyr/prj.conf

@@ -6,5 +6,7 @@ CONFIG_PWM=y
 CONFIG_SERIAL=y
 CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
 CONFIG_PRINTK=y
 CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_CAN=y