/**
* \internal
* \brief QDEC Unit Test Clean up for XMEGA PORT D and QDEC
*
* \param test Current test case
* \param config Configuration of QDec
* \param sequence Test sequence to execute
* \param seq_size size of test sequence
*/
static void generator_qenc_seq(const struct test_case *test,
qdec_config_t *config, struct qenc_step *sequence, uint8_t seq_size)
{
uint16_t pos;
for (uint8_t i = 0; i < seq_size; i++) {
generator_qenc(sequence[i].encoder);
main_delay_ms(10);
pos = qdec_get_position(config);
test_assert_true(test, sequence[i].qdec_pos == pos,
"QDec sequence failure: expected %u, catched %u\r\n",
sequence[i].qdec_pos, pos);
}
}
void app_sampling_task(void)
{
static uint16_t time_stamp;
static uint8_t time_last;
uint8_t time_pos;
adc_result_t light;
char string[30];
uint8_t light_bar_pos;
irqflags_t flags;
static uint16_t qdec_position_last = 2;
uint16_t qdec_position;
/* Manage frequency sample through Quadrature encoder */
qdec_position = qdec_get_position(&qdec_config) / 2;
if (qdec_position != qdec_position_last) {
/* Quadrature encoder have changed */
qdec_position_last = qdec_position;
app_sampling_rate = (qdec_position_last + 1) * 2;
flags = cpu_irq_save();
if (app_sampling_rtc_run) {
time_stamp = rtc_get_time();
rtc_set_alarm_relative(app_sampling_rate - 1);
}
cpu_irq_restore(flags);
app_sampling_display_rate();
}
/* Update sampling progress bar */
time_pos = ((rtc_get_time() - time_stamp) * 8) / app_sampling_rate;
if (time_pos > 8) {
time_pos = 8;
}
if (time_last > time_pos) {
gfx_mono_draw_filled_circle(
DISPLAY_SAMPLING_PROCIRCLE_POS_X,
DISPLAY_SAMPLING_PROCIRCLE_POS_Y,
DISPLAY_SAMPLING_PROCIRCLE_RADIUS,
GFX_PIXEL_CLR,
GFX_WHOLE);
}
if (time_last != time_pos) {
gfx_mono_draw_filled_circle(
DISPLAY_SAMPLING_PROCIRCLE_POS_X,
DISPLAY_SAMPLING_PROCIRCLE_POS_Y,
DISPLAY_SAMPLING_PROCIRCLE_RADIUS,
GFX_PIXEL_SET,
(1lu << time_pos) - 1);
}
time_last = time_pos;
/* Manage FIFO about sensor data */
if (2 > fifo_get_used_size(&app_sampling_fifo_desc)) {
return; /* Not enought data */
}
/* Get values */
time_stamp = fifo_pull_uint16_nocheck(&app_sampling_fifo_desc);
light = (adc_result_t)fifo_pull_uint16_nocheck(&app_sampling_fifo_desc);
/* Display values through USART */
sprintf(string, "%4u,%02us - %3d light\r\n",
time_stamp / 4, (time_stamp % 4) * 25,
light);
printf("%s", string);
/* Update light progress bar */
light_bar_pos = ((uint32_t)light * DISPLAY_LIGHT_PROBAR_MAX_SIZE_X)
/ 2048lu;
if (light_bar_pos > DISPLAY_LIGHT_PROBAR_MAX_SIZE_X) {
light_bar_pos = DISPLAY_LIGHT_PROBAR_MAX_SIZE_X;
}
gfx_mono_draw_filled_rect(DISPLAY_LIGHT_PROBAR_POS_X,
DISPLAY_LIGHT_PROBAR_POS_Y,
light_bar_pos,
DISPLAY_LIGHT_PROBAR_SIZE_Y,
GFX_PIXEL_SET);
gfx_mono_draw_filled_rect(DISPLAY_LIGHT_PROBAR_POS_X + light_bar_pos,
DISPLAY_LIGHT_PROBAR_POS_Y,
DISPLAY_LIGHT_PROBAR_MAX_SIZE_X - light_bar_pos,
DISPLAY_LIGHT_PROBAR_SIZE_Y,
GFX_PIXEL_CLR);
}
/**
* \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);
}
}
}
}
