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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 32 /*pin 32*//*encoder number 1*/
#define Nm1encoA INT_TO_POINTER(0) /*gives encoder number N*/
#define m1encoB 31 /*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*/
/*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){
/*sets up the interupts for the encoder at same priority, need to configure FIFO in case of simultanius call*/
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){}
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