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made encoder work for zephyr

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This commit is contained in:
nokkvinetti
2026-10-15 11:37:19 +00:00
parent e9614cff9e
commit 52ed570a20
1 changed files with 23 additions and 19 deletions
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Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/src/encoder.cpp
+23 -19
View File
@@ -1,22 +1,28 @@
#include <encoder.h> #include <encoder.h>
#include <avr/io.h> #include <zephyr/kernel.h>
#include <avr/interrupt.h> #include <zephyr/sys/util.h>
static Encoder* activeEncoder = nullptr; #define ENCODER_C1_NODE DT_ALIAS(encoder_c1)
#define ENCODER_C2_NODE DT_ALIAS(encoder_c2)
ISR(PCINT0_vect) static const struct gpio_dt_spec encoderC1 =
GPIO_DT_SPEC_GET(ENCODER_C1_NODE, gpios);
static const struct gpio_dt_spec encoderC2 =
GPIO_DT_SPEC_GET(ENCODER_C2_NODE, gpios);
void Encoder::callback(const struct device *port,struct gpio_callback *cb,uint32_t pins)
{ {
if (activeEncoder != nullptr) Encoder *encoder = CONTAINER_OF(cb, Encoder, gpioCallback);
{ encoder->update();
activeEncoder->update();
}
} }
Encoder::Encoder(uint8_t c1Pin, uint8_t c2Pin) Encoder::Encoder()
: c1(c1Pin), : c1(&encoderC1),
c2(c2Pin), c2(&encoderC2),
c1Pin(c1Pin),
previousC1(false), previousC1(false),
count(0) count(0)
{ {
@@ -33,13 +39,13 @@ void Encoder::init()
count = 0; count = 0;
// Clear pending PORTB pin-change interrupt // Clear pending PORTB pin-change interrupt
PCIFR |= (1 << PCIF0); gpio_init_callback(&gpioCallback,Encoder::callback,BIT(encoderC1.pin));
// Enable PORTB pin-change interrupts // Enable PORTB pin-change interrupts
PCICR |= (1 << PCIE0); gpio_add_callback(encoderC1.port, &gpioCallback);
// Enable interrupt on C1 // Enable interrupt on C1
PCMSK0 |= (1 << c1Pin); gpio_pin_interrupt_configure_dt(&encoderC1, GPIO_INT_EDGE_BOTH);
} }
void Encoder::update() void Encoder::update()
@@ -65,11 +71,9 @@ void Encoder::update()
int32_t Encoder::position() const int32_t Encoder::position() const
{ {
uint8_t oldSREG = SREG; unsigned int key = irq_lock();
cli();
int32_t currentCount = count; int32_t currentCount = count;
SREG = oldSREG; irq_unlock(key);
return currentCount; return currentCount;
} }