176 lines
6.4 KiB
C
176 lines
6.4 KiB
C
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/**
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* Copyright (c) 2014 - 2020, Nordic Semiconductor ASA
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into a Nordic
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* Semiconductor ASA integrated circuit in a product or a software update for
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* such product, must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other
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* materials provided with the distribution.
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*
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* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* Nordic Semiconductor ASA integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be reverse
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* engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/** @file
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* @defgroup nrf_qdec_example main.c
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* @{
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* @ingroup nrf_qdec_example
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* @brief QDEC example application main file.
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*
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* This is an example quadrature decoder application.
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* The example requires that the QDEC A,B inputs are connected with the QENC A,B outputs and
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* the QDEC LED output is connected with the QDEC LED input.
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*
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* The example uses the software quadrature encoder simulator QENC.
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* The quadrature encoder simulator uses one channel of the GPIOTE module.
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* The state of the encoder changes on the inactive edge of the sampling clock generated by the LED output.
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*
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* In an infinite loop, QENC produces a variable number of positive and negative pulses
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* synchronously with bursts of clock impulses generated by QDEC at the LED output.
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* The pulses are counted by QDEC operating in a REPORT mode.
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* The pulses counted by QDEC are compared with the pulses generated by QENC.
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* The test stops if there is a difference between the number of pulses counted and generated.
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*
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdio.h>
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#include "nrf.h"
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#include "bsp.h"
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#include "nrf_delay.h"
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#include "nrf_drv_qdec.h"
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#include "nrf_error.h"
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#include "app_error.h"
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#include "qenc_sim.h"
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#include "nordic_common.h"
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#include "nrf_log.h"
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#include "nrf_log_ctrl.h"
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#include "nrf_log_default_backends.h"
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static volatile bool m_report_ready_flag = false;
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static volatile bool m_first_report_flag = true;
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static volatile uint32_t m_accdblread;
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static volatile int32_t m_accread;
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#if (QDEC_CONFIG_LEDPRE >= 128)
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#warning "This example assumes that the QDEC LED changes state. Make sure that 'Sample Period' in QDEC config is less than 'LED pre-time'."
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#endif
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static void qdec_event_handler(nrf_drv_qdec_event_t event)
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{
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if (event.type == NRF_QDEC_EVENT_REPORTRDY)
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{
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m_accdblread = event.data.report.accdbl;
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m_accread = event.data.report.acc;
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m_report_ready_flag = true;
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nrf_drv_qdec_disable();
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}
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}
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void check_report(int32_t expected)
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{
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// only first run is specific...
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if ((expected > 0) && m_first_report_flag)
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{
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expected --;
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}
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else if ((expected < 0) && m_first_report_flag)
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{
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expected ++;
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}
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// Error checking and printing
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if ( m_accdblread != 0 )
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{
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NRF_LOG_ERROR("m_accdblread was expected to have value 0 but is %u", (unsigned int)m_accdblread);
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APP_ERROR_HANDLER(0);
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}
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if ( m_accread != expected )
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{
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NRF_LOG_ERROR("m_accread should be %d but is %d", (int)expected, (int)m_accread);
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APP_ERROR_HANDLER(0);
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}
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m_first_report_flag = false; // clear silently after first run
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}
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int main(void)
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{
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uint32_t err_code;
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uint32_t number_of_pulses;
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uint32_t min_number_of_pulses = 2;
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uint32_t max_number_of_pulses = 0;
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int32_t pulses;
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int32_t sign = 1;
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err_code = NRF_LOG_INIT(NULL);
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APP_ERROR_CHECK(err_code);
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NRF_LOG_DEFAULT_BACKENDS_INIT();
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// Initialize hardware
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err_code = nrf_drv_qdec_init(NULL, qdec_event_handler);
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APP_ERROR_CHECK(err_code);
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max_number_of_pulses = nrf_qdec_reportper_to_value(QDEC_CONFIG_REPORTPER);
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// Initialize quadrature encoder simulator
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qenc_init((nrf_qdec_ledpol_t)nrf_qdec_ledpol_get());
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NRF_LOG_INFO("QDEC testing started.");
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while (true)
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{
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// change a number and sign of pulses produced by simulator in a loop
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for (number_of_pulses=min_number_of_pulses; number_of_pulses<= max_number_of_pulses; number_of_pulses++ )
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{
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pulses = sign * number_of_pulses; // pulses have sign
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qenc_pulse_count_set(pulses); // set pulses to be produced by encoder
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nrf_drv_qdec_enable(); // start burst sampling clock, clock will be stopped by REPORTRDY event
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while (! m_report_ready_flag) // wait for a report
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{
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__WFE();
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}
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NRF_LOG_RAW_INFO("*");
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m_report_ready_flag = false;
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check_report(pulses); // check if pulse count is as expected, assert otherwise
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}
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min_number_of_pulses = 1; // only first run is specific, for 1 there would be no call back...
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sign = -sign; // change sign of pulses in a loop
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NRF_LOG_FLUSH();
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}
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}
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/** @} */
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