From ac9e564d6ac6f434e90c4673f8e758ce54612a15 Mon Sep 17 00:00:00 2001
From: "Miguel I." <miguel.iglesias.molina@gmail.com>
Date: Mon, 8 Sep 2025 22:07:54 +0200
Subject: [PATCH] aparently working, more test is needed

---
 drivers/actuator/actuator.c | 22 +++++++++++++---------
 src/main.c                  |  5 +++--
 2 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/drivers/actuator/actuator.c b/drivers/actuator/actuator.c
index cd0114c..6d5a929 100644
--- a/drivers/actuator/actuator.c
+++ b/drivers/actuator/actuator.c
@@ -5,8 +5,7 @@
 #include <zephyr/logging/log.h>
 #include <zephyr/device.h>
 #include <zephyr/drivers/counter.h>
-
-LOG_MODULE_REGISTER(actuator, LOG_LEVEL_INF);
+#include <stdlib.h>
 
 /* === GPIOs from devicetree === */
 #define USER_NODE DT_PATH(zephyr_user)
@@ -48,7 +47,7 @@ static void pwm_isr(const struct device *dev,
 static int configure_gpio(void)
 {
     if (!device_is_ready(do1.port) || !device_is_ready(do2.port) || !device_is_ready(do_en.port)) {
-        LOG_ERR("GPIO device not ready");
+        printk("GPIO device not ready");
         return -ENODEV;
     }
 
@@ -64,7 +63,7 @@ static void start_counter(uint32_t us)
     int err = counter_get_value(counter_dev, &now_ticks);
     if (err)
     {
-        LOG_ERR("Failed to get counter value (%d)", err);
+        printk("Failed to get counter value (%d)", err);
         return;
     }
 
@@ -76,7 +75,12 @@ static void start_counter(uint32_t us)
     alarm_cfg.callback = pwm_isr;
     alarm_cfg.user_data = NULL;
 
-    counter_set_channel_alarm(counter_dev, 0, &alarm_cfg);
+     err = counter_set_channel_alarm(counter_dev, 0, &alarm_cfg);
+    if (err)
+    {
+        printk("Failed to set channel alarm (%d)", err);
+        return;
+    }
 }
 
 /* === ISR callback === */
@@ -146,7 +150,7 @@ int actuator_init(enum actuator_mode mode)
     if (ret) return ret;
 
     if (!device_is_ready(counter_dev)) {
-        LOG_ERR("Counter device not ready");
+        printk("Counter device not ready");
         return -ENODEV;
     }
 
@@ -155,7 +159,7 @@ int actuator_init(enum actuator_mode mode)
     current_mode = mode;
     initialized = true;
     active_phase = false;
-    LOG_INF("Actuator initialized in mode %d", mode);
+    printk("Actuator initialized in mode %d", mode);
 
     return 0;
 }
@@ -174,7 +178,7 @@ int actuator_motor_set_speed(int speed_percent)
 
     motor_speed = speed_percent;
     active_phase = false;
-    start_counter(1); /* trigger ISR soon */
+    start_counter(100); /* trigger ISR soon */
     return 0;
 }
 
@@ -186,6 +190,6 @@ int actuator_servo_set_angle(int angle_deg)
 
     servo_angle = angle_deg;
     active_phase = false;
-    start_counter(1); /* trigger ISR soon */
+    start_counter(100); /* trigger ISR soon */
     return 0;
 }
diff --git a/src/main.c b/src/main.c
index 84e7261..44917ab 100644
--- a/src/main.c
+++ b/src/main.c
@@ -27,10 +27,11 @@ int main(void)
         return 0;
     }
 
-    actuator_init(ACTUATOR_MODE_MOTOR);
+    actuator_init(ACTUATOR_MODE_SERVO);
     actuator_enable(1);
 
-    actuator_motor_set_speed(50); // -100..100 %
+    actuator_servo_set_angle(100);
+    //actuator_motor_set_speed(-50); // -100..100 %
     /* Init modules */
     led_init();
     button_init();