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samples: sensor: add qdec emulation support

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Add emulation option to the qdec sample.

Signed-off-by: Jeppe Odgaard <jeppe.odgaard@prevas.dk>
This commit is contained in:
Jeppe Odgaard 2022-12-23 08:03:52 +01:00 • committed by Maureen Helm
commit 35d60dbd0e
1 changed files with 60 additions and 1 deletions
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61
samples/sensor/qdec/src/main.c
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@ -9,6 +9,63 @@
#include <zephyr/drivers/sensor.h>
#include <zephyr/sys/printk.h>
#define QUAD_ENC_EMUL_ENABLED \
DT_NODE_EXISTS(DT_ALIAS(qenca)) && DT_NODE_EXISTS(DT_ALIAS(qencb))
#if QUAD_ENC_EMUL_ENABLED
#include <zephyr/drivers/gpio.h>
#define QUAD_ENC_EMUL_PERIOD 100
static const struct gpio_dt_spec phase_a =
GPIO_DT_SPEC_GET(DT_ALIAS(qenca), gpios);
static const struct gpio_dt_spec phase_b =
GPIO_DT_SPEC_GET(DT_ALIAS(qencb), gpios);
void qenc_emulate_work_handler(struct k_work *work)
{
gpio_pin_toggle_dt(&phase_a);
k_msleep(1);
gpio_pin_toggle_dt(&phase_b);
}
K_WORK_DEFINE(qenc_emulate_work, qenc_emulate_work_handler);
void qenc_emulate_timer_handler(struct k_timer *dummy)
{
k_work_submit(&qenc_emulate_work);
}
K_TIMER_DEFINE(qenc_emulate_timer, qenc_emulate_timer_handler, NULL);
void qenc_emulate_init(void)
{
printk("Quadrature encoder emulator enabled with %u ms period\n",
QUAD_ENC_EMUL_PERIOD);
if (!device_is_ready(phase_a.port)) {
printk("%s: device not ready.", phase_a.port->name);
return;
}
gpio_pin_configure_dt(&phase_a, GPIO_OUTPUT);
if (!device_is_ready(phase_b.port)) {
printk("%s: device not ready.", phase_b.port->name);
return;
}
gpio_pin_configure_dt(&phase_b, GPIO_OUTPUT);
k_timer_start(&qenc_emulate_timer, K_MSEC(QUAD_ENC_EMUL_PERIOD),
K_MSEC(QUAD_ENC_EMUL_PERIOD));
}
#else
void qenc_emulate_init(void) { };
#endif /* QUAD_ENC_EMUL_ENABLED */
void main(void)
{
struct sensor_value val;
@ -22,6 +79,8 @@ void main(void)
printk("Quadrature decoder sensor test\n");
qenc_emulate_init();
while (true) {
rc = sensor_sample_fetch(dev);
if (rc != 0) {
@ -35,7 +94,7 @@ void main(void)
return;
}
printk("Position = %d degrees", val.val1);
printk("Position = %d degrees\n", val.val1);
k_msleep(1000);
}