encoder zephyr

Think this should work to use the encoder but cna only build not upload, need to wait till monday till i can test it with a robot.

Signed-off-by: Abel Tim <git@abeltim.com>

1 files changed, 19 insertions, 8 deletions

diff --git a/code/main/teensy_player/src/main.c b/code/main/teensy_player/src/main.c
index e082f66..e113c79 100644
--- a/code/main/teensy_player/src/main.c
+++ b/code/main/teensy_player/src/main.c
@@ -16,9 +16,9 @@
 #define m1pwm1 DT_ALIAS(GPIO4_6)    /*pin 4*/
 #define m1pwm2 DT_ALIAS(GPIO4_5)    /*pin 3*/
 /*encoder pins*/
-#define m1encoA DT_ALIAS(GPIO2_12)  /*pin 32*//*encoder number 1*/
+#define m1encoA 32  /*pin 32*//*encoder number 1*/
 #define Nm1encoA INT_TO_POINTER(0)    /*gives encoder number N*/
-#define m1encoB DT_ALIAS(GPIO3_22)  /*pin 31*//*encoder number 2*/
+#define m1encoB 31  /*pin 31*//*encoder number 2*/
 #define Nm1encoB INT_TO_POINTER(1)    /*gives encoder number N*/
 
 
@@ -26,17 +26,28 @@
 #define ENC_ISR_PRIO 1 /* set encoder interrupt service routine*/
 
 
-void ENCO_ISR(void *encN){
-    if (encN == 0){
+/*variables*/
+/*encoders/PWM/PID*/
+#define NUM_ENCODERS 2     /*how many encoder pins there are*/
+volatile int encCount[NUM_ENCODERS] = {0};  /*sets all encoder counts to 0 changes of state*/
+
+/*misc*/
+#define MY_IRQ_FLAGS 0       /*no IRQ flags*/
 
+void ENCO_ISR(void *encN){
+    /*adds one to the encoder where a change of state is detected*/
+    int encoder = (int)(intptr_t)encN;
+    if (encoder >= 0 && encoder < NUM_ENCODERS) {
+        encCount[encoder]++;
     }
 
 }
 
 
-void ENC_ISR_installer(void)
-{
+void ENC_ISR_installer(void){
     /*sets up the interupts for the encoder at same priority, need to configure FIFO in case of simultanius call*/
-    IRQ_CONNECT(MY_DEV_IRQ, ENC_ISR_PRIO, m1encoA_ISR, Nm1encoA, MY_IRQ_FLAGS);
-    IRQ_CONNECT(MY_DEV_IRQ, ENC_ISR_PRIO, m1encoB_ISR, Nm1encoB, MY_IRQ_FLAGS);
+    IRQ_CONNECT(m1encoA, ENC_ISR_PRIO, ENCO_ISR, '0', MY_IRQ_FLAGS);
+    IRQ_CONNECT(m1encoB, ENC_ISR_PRIO, ENCO_ISR, '1', MY_IRQ_FLAGS);
 }
+
+int main(void){}