/** @brief Function initialization and configuration of QDEC driver instance.
*/
static void qdec_config(void) {
uint32_t err_code;
nrf_drv_qdec_config_t qdec_config = NRF_DRV_QDEC_DEFAULT_CONFIG;
// Initialize hardware
err_code = nrf_drv_qdec_init(&qdec_config, qdec_event_handler);
APP_ERROR_CHECK(err_code);
printf("QDEC testing started\n");
uart_printf("nrf_drv_qdec_init\n\r");
nrf_drv_qdec_enable(); // Event and corresponding interrupt are enabled.
uart_printf("nrf_drv_qdec_enable \n\r");
}
int main(void)
{
uint32_t err_code;
bool forever = true;
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_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());
while (forever)
{
// 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();
}
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
}
return -1; // this should never happen
}
