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Diffstat (limited to 'thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/main.c')
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diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/main.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/main.c new file mode 100644 index 0000000..5b9a930 --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/main.c @@ -0,0 +1,175 @@ +/** + * Copyright (c) 2014 - 2018, Nordic Semiconductor ASA + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form, except as embedded into a Nordic + * Semiconductor ASA integrated circuit in a product or a software update for + * such product, must reproduce the above copyright notice, this list of + * conditions and the following disclaimer in the documentation and/or other + * materials provided with the distribution. + * + * 3. Neither the name of Nordic Semiconductor ASA nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * 4. This software, with or without modification, must only be used with a + * Nordic Semiconductor ASA integrated circuit. + * + * 5. Any software provided in binary form under this license must not be reverse + * engineered, decompiled, modified and/or disassembled. + * + * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS + * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES + * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE + * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT + * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ +/** @file +* @defgroup nrf_qdec_example main.c +* @{ +* @ingroup nrf_qdec_example +* @brief QDEC example application main file. +* +* This is an example quadrature decoder application. +* The example requires that the QDEC A,B inputs are connected with the QENC A,B outputs and +* the QDEC LED output is connected with the QDEC LED input. +* +* The example uses the software quadrature encoder simulator QENC. +* The quadrature encoder simulator uses one channel of the GPIOTE module. +* The state of the encoder changes on the inactive edge of the sampling clock generated by the LED output. +* +* In an infinite loop, QENC produces a variable number of positive and negative pulses +* synchronously with bursts of clock impulses generated by QDEC at the LED output. +* The pulses are counted by QDEC operating in a REPORT mode. +* The pulses counted by QDEC are compared with the pulses generated by QENC. +* The test stops if there is a difference between the number of pulses counted and generated. +* +*/ + +#include <stdbool.h> +#include <stdint.h> +#include <string.h> +#include <stdio.h> + +#include "nrf.h" +#include "bsp.h" +#include "nrf_delay.h" +#include "nrf_drv_qdec.h" +#include "nrf_error.h" +#include "app_error.h" +#include "qenc_sim.h" +#include "nordic_common.h" + +#include "nrf_log.h" +#include "nrf_log_ctrl.h" +#include "nrf_log_default_backends.h" + +static volatile bool m_report_ready_flag = false; +static volatile bool m_first_report_flag = true; +static volatile uint32_t m_accdblread; +static volatile int32_t m_accread; + + +#if (QDEC_CONFIG_LEDPRE >= 128) + #warning "This example assumes that the QDEC LED changes state. Make sure that 'Sample Period' in QDEC config is less than 'LED pre-time'." +#endif + +static void qdec_event_handler(nrf_drv_qdec_event_t event) +{ + if (event.type == NRF_QDEC_EVENT_REPORTRDY) + { + m_accdblread = event.data.report.accdbl; + m_accread = event.data.report.acc; + m_report_ready_flag = true; + nrf_drv_qdec_disable(); + } +} + +void check_report(int32_t expected) +{ + // only first run is specific... + if ((expected > 0) && m_first_report_flag) + { + expected --; + } + else if ((expected < 0) && m_first_report_flag) + { + expected ++; + } + + // Error checking and printing + if ( m_accdblread != 0 ) + { + NRF_LOG_ERROR("m_accdblread was expected to have value 0 but is %u", (unsigned int)m_accdblread); + APP_ERROR_HANDLER(0); + } + if ( m_accread != expected ) + { + NRF_LOG_ERROR("m_accread should be %d but is %d", (int)expected, (int)m_accread); + APP_ERROR_HANDLER(0); + } + m_first_report_flag = false; // clear silently after first run + +} + +int main(void) +{ + uint32_t err_code; + uint32_t number_of_pulses; + uint32_t min_number_of_pulses = 2; + uint32_t max_number_of_pulses = 0; + int32_t pulses; + int32_t sign = 1; + + err_code = NRF_LOG_INIT(NULL); + APP_ERROR_CHECK(err_code); + + NRF_LOG_DEFAULT_BACKENDS_INIT(); + + // Initialize hardware + err_code = nrf_drv_qdec_init(NULL, qdec_event_handler); + APP_ERROR_CHECK(err_code); + + max_number_of_pulses = nrf_qdec_reportper_to_value(QDEC_CONFIG_REPORTPER); + + // Initialize quadrature encoder simulator + qenc_init((nrf_qdec_ledpol_t)nrf_qdec_ledpol_get()); + + NRF_LOG_INFO("QDEC testing started."); + + while (true) + { + // change a number and sign of pulses produced by simulator in a loop + for (number_of_pulses=min_number_of_pulses; number_of_pulses<= max_number_of_pulses; number_of_pulses++ ) + { + pulses = sign * number_of_pulses; // pulses have sign + qenc_pulse_count_set(pulses); // set pulses to be produced by encoder + nrf_drv_qdec_enable(); // start burst sampling clock, clock will be stopped by REPORTRDY event + while (! m_report_ready_flag) // wait for a report + { + __WFE(); + } + NRF_LOG_RAW_INFO("*"); + m_report_ready_flag = false; + check_report(pulses); // check if pulse count is as expected, assert otherwise + } + min_number_of_pulses = 1; // only first run is specific, for 1 there would be no call back... + sign = -sign; // change sign of pulses in a loop + NRF_LOG_FLUSH(); + } +} + +/** @} */ |