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#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/sys/printk.h>
#include <zephyr/sys/__assert.h>
#include <string.h>
/* size of stack area used by each thread */
#define STACKSIZE 1024
/*the pinout configuration*/
/*https://docs.zephyrproject.org/latest/boards/pjrc/teensy4/doc/index.html*/
/*motors pins*/
#define m1enA DT_ALIAS(GPIO2_10) /*pin 6*/
#define m1enB DT_ALIAS(GPIO4_8) /*pin 5*/
#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 Nm1encoA INT_TO_POINTER(0) /*gives encoder number N*/
#define m1encoB DT_ALIAS(GPIO3_22) /*pin 31*//*encoder number 2*/
#define Nm1encoB INT_TO_POINTER(1) /*gives encoder number N*/
/*set priorities*/
#define ENC_ISR_PRIO 1 /* set encoder interrupt service routine*/
void ENCO_ISR(void *encN){
if (encN == 0){
}
}
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);
}
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