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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 <zephyr/drivers/uart.h>
#include <zephyr/drivers/pwm.h>
#include <string.h>
/* Stack sizes (now only one size)*/
/* To figure out how much is necessary: */
/* https://zephyr-docs.listenai.com/guides/debug_tools/thread-analyzer.html */
#define GENERAL_THREAD_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*//*Motor 1 EN A*/
#define m1enB DT_ALIAS(GPIO4_8) /*pin 5*//*Motor 1 EN B*/
#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 0*/
#define Nm1encoA INT_TO_POINTER(0)
#define m1encoB 31 /*pin 31 && encoder number 1*/
#define Nm1encoB INT_TO_POINTER(1)
/*set priorities*/
#define ENC_ISR_PRIO 1
/*encoders/PWM/PID*/
#define NUM_ENCODERS 2 /*how many encoder pins there are*/
volatile int encCount[NUM_ENCODERS] = {0};
/*misc*/
#define NO_IRQ_FLAGS 0
#define PWM_PERIOD_µS 1600 /*The lengt of an full PWM cycle in microseconds*/
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 interrupts for the encoder at same priority, need to configure FIFO in case of simultaneous call*/
IRQ_CONNECT(m1encoA, ENC_ISR_PRIO, ENCO_ISR, '0', NO_IRQ_FLAGS);
IRQ_CONNECT(m1encoB, ENC_ISR_PRIO, ENCO_ISR, '1', NO_IRQ_FLAGS);
}
int main(void){}
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