Beispiel #1
0
/**
 * \internal
 * \brief Common function to test frequency computation from QDEC
 *
 * \param test       Current test case
 * \param res        QDec resolution for this test
 * \param delay      Delay between each quadrature steps
 * \param freq_unit  QDec frequency unit used for this test
 * \param freq       Expected frequency for this test
 */
static void run_qdec_freq_mode(const struct test_case *test, uint16_t res,
		uint8_t delay, uint16_t freq_unit, uint16_t freq)
{
	qdec_config_t config;
	uint32_t freq_computed;

	/* Set to 0 the pins */
	generator_qenc_reset();

	/* QDec 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, freq_unit);
	qdec_config_freq_tc(&config, CONF_QDEC_FREQ_TC);
	qdec_config_revolution(&config, res);
	/* QDec enable */
	qdec_enabled(&config);

	/* Reenable dir out on pins */
	generator_qenc_reset();

	/* Launch test */
	generator_qenc(QENC_STEP_1);
	main_delay_ms(delay);
	generator_qenc(QENC_STEP_2);
	main_delay_ms(delay);
	generator_qenc(QENC_STEP_3);
	main_delay_ms(delay);
	generator_qenc(QENC_STEP_4);
	main_delay_ms(delay);
	generator_qenc(QENC_STEP_1);
	main_delay_ms(delay);
	generator_qenc(QENC_STEP_2);
	main_delay_ms(delay);
	generator_qenc(QENC_STEP_3);
	freq_computed = qdec_get_frequency(&config);
	/* 5% tolerance on Frequency */
	if (freq_unit == 1) {
		test_assert_true(test,
				(freq_computed >= (freq - ((freq * 5) / 100))) &&
				(freq_computed <= (freq + ((freq * 5) / 100))),
				"QDec frequency failure: expected %umHz, catched %umHz\r\n", freq,
				freq_computed);
	} else {
		test_assert_true(test,
				(freq_computed >= (freq - ((freq * 5) / 100))) &&
				(freq_computed <= (freq + ((freq * 5) / 100))),
				"QDec frequency failure: expected %uHz, catched %uHz\r\n", freq,
				freq_computed);
	}
}
Beispiel #2
0
/**
 * \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);
			}
		}
	}
}