void generator_qenc_enable(PORT_t *port, uint8_t pins_base,
volatile void *timer, uint8_t revolution, uint32_t freq, bool dir )
{
#if XMEGA_E
Assert((TC4_t *)timer == &TCC4);
#endif
/* Store parameter in static global variable */
generator_qenc_port = port;
generator_qenc_pins_base = pins_base;
generator_qenc_revolution = revolution;
generator_qenc_timer = timer;
/* Clear all pins on test port */
port->DIRSET = QENC_PH0_PH90_INDEX_PINS << generator_qenc_pins_base;
port->OUTCLR = QENC_PH0_PH90_INDEX_PINS << generator_qenc_pins_base;
tc_enable(timer);
tc_set_wgm(timer, TC_WG_NORMAL);
generator_qenc_set_freq(freq);
generator_qenc_set_direction(dir);
/* Enable low level interrupt on CCA */
tc_set_overflow_interrupt_level(timer, TC_INT_LVL_LO);
/* Set interrupt callback function for CCA */
tc_set_overflow_interrupt_callback(timer,
generator_qenc_timer_ccaint_handler);
}
/**
* \brief Main application routine
* - Configure system clock
* - Call QDec driver API to configure it and enable it
* - Call generator of quadrature encoder
* - Get position, direction and frequency and display its
*/
int main( void )
{
const usart_serial_options_t usart_serial_options = {
.baudrate = CONF_TEST_BAUDRATE,
.charlength = CONF_TEST_CHARLENGTH,
.paritytype = CONF_TEST_PARITY,
.stopbits = CONF_TEST_STOPBITS,
};
qdec_config_t config;
uint16_t qdec_position, qdec_position_prev = 0;
uint32_t generator_qenc_freq = 2000 / QUADRATURE_RESOLUTION;
bool generator_qenc_dir = true;
/* Usual initializations */
board_init();
sysclk_init();
sleepmgr_init();
irq_initialize_vectors();
cpu_irq_enable();
stdio_serial_init(CONF_TEST_USART, &usart_serial_options);
printf("\x0C\n\r-- QDec Example --\n\r");
printf("-- Compiled: %s %s --\n\r\n\r", __DATE__, __TIME__);
/* QDec configuration
* Here, we use the default hardware ressources
* proposed by default configuration.
*/
qdec_get_config_defaults(&config);
qdec_config_phase_pins(&config, CONF_QDEC_PORT, CONF_QDEC_PINS_BASE,
false, 1);
qdec_config_tc(&config, CONF_QDEC_TC);
qdec_config_enable_freq(&config, 1);
qdec_config_freq_tc(&config, CONF_QDEC_FREQ_TC);
qdec_config_revolution(&config, QUADRATURE_RESOLUTION);
/* QDec enable */
qdec_enabled(&config);
/* Generate quadrature encoder signals */
generator_qenc_enable(CONF_QDEC_PORT, CONF_QDEC_PINS_BASE,
CONF_GENERATOR_QENC_TC, QUADRATURE_RESOLUTION,
generator_qenc_freq, generator_qenc_dir);
while (1) {
/* read position */
qdec_position = qdec_get_position(&config);
if (qdec_position_prev != qdec_position) {
/* New position then display it */
qdec_position_prev = qdec_position;
printf("%02u", qdec_position);
/* display direction */
if (qdec_get_direction(&config)) {
printf(" ++");
} else {
printf(" --");
}
/* Display frequency */
printf(" %5umHz\r\n", qdec_get_frequency(&config));
}
/* Manage Quadrature encoder generator through UART */
if (usart_rx_is_complete(CONF_TEST_USART)) {
char key = getchar();
if (key == 'd') {
generator_qenc_dir = !generator_qenc_dir;
generator_qenc_set_direction(generator_qenc_dir);
}
if (key == '-') {
if (generator_qenc_freq > QUADRATURE_GENERATOR_FREQ_STEP) {
generator_qenc_freq -= QUADRATURE_GENERATOR_FREQ_STEP;
generator_qenc_set_freq(generator_qenc_freq);
}
}
if (key == '+') {
generator_qenc_freq += QUADRATURE_GENERATOR_FREQ_STEP;
generator_qenc_set_freq(generator_qenc_freq);
}
}
}
}