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examples/qencoder: obtain samples using the QEIOC_GETINDEX ioctl call

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Normally, the qencoder position is obtained using the QEIOC_POSITION
ioctl call. Adding the -i argument uses the QEIOC_GETINDEX to
obtain the qe_index_s struct containing the position alongisde
other fields.

Signed-off-by: Stepan Pressl <pressste@fel.cvut.cz>
This commit is contained in:
Pressl, Štěpán 2024-07-29 11:41:54 +02:00 committed by Xiang Xiao
parent 366d8db436
commit 1a7da54a9b
2 changed files with 44 additions and 12 deletions
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1
examples/qencoder/qe.h
View File

@ -39,6 +39,7 @@ struct qe_example_s
{
FAR char *devpath; /* Path to the QE device */
bool reset; /* True: set the count back to zero */
bool use_qeindex; /* True: use the QEIOC_GETINDEX call to get samples */
unsigned int nloops; /* Collect this number of samples */
unsigned int delay; /* Delay this number of seconds between samples */
};

55
examples/qencoder/qe_main.c
View File

@ -103,6 +103,7 @@ static void qe_help(void)
printf(" [-n samples] Number of samples\n");
printf(" [-t msec] Delay between samples (msec)\n");
printf(" [-r] Reset the position to zero\n");
printf(" [-i] Use the QEIOC_GETINDEX call to obtain samples\n");
printf(" [-h] Shows this message and exits\n\n");
}
@ -152,9 +153,10 @@ static void parse_args(int argc, FAR char **argv)
int index;
int nargs;
g_qeexample.reset = false;
g_qeexample.nloops = CONFIG_EXAMPLES_QENCODER_NSAMPLES;
g_qeexample.delay = CONFIG_EXAMPLES_QENCODER_DELAY;
g_qeexample.reset = false;
g_qeexample.use_qeindex = false;
g_qeexample.nloops = CONFIG_EXAMPLES_QENCODER_NSAMPLES;
g_qeexample.delay = CONFIG_EXAMPLES_QENCODER_DELAY;
for (index = 1; index < argc; )
{
@ -202,6 +204,11 @@ static void parse_args(int argc, FAR char **argv)
index++;
break;
case 'i':
g_qeexample.use_qeindex = true;
index++;
break;
case 'h':
qe_help();
exit(EXIT_SUCCESS);
@ -229,6 +236,7 @@ int main(int argc, FAR char *argv[])
int exitval = EXIT_SUCCESS;
int ret;
int nloops;
struct qe_index_s index;
/* Set the default values */
@ -295,19 +303,42 @@ int main(int argc, FAR char *argv[])
/* Get the positions data using the ioctl */
ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
if (ret < 0)
if (g_qeexample.use_qeindex)
{
printf("qe_main: ioctl(QEIOC_POSITION) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
ret = ioctl(fd, QEIOC_GETINDEX, (unsigned long)((uintptr_t)&index));
if (ret < 0)
{
printf("qe_main: ioctl(QEIOC_GETINDEX) failed: %d\n", errno);
printf("Your MCU probably does not support this ioctl call.\n");
printf("Consider using this example without the -i option.\n");
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* GETINDEX succesful */
else
{
printf("qe_main: %3d. pos: %" PRIi32 ", last index: %" PRIi32 ", hit indexes: %" \
PRIi16 "\n", nloops + 1, index.qenc_pos, index.indx_pos, index.indx_cnt);
}
}
/* Print the sample data on successful return */
else
{
printf("qe_main: %3d. %" PRIi32 "\n", nloops + 1, position);
ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
if (ret < 0)
{
printf("qe_main: ioctl(QEIOC_POSITION) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* Print the sample data on successful return */
else
{
printf("qe_main: %3d. %" PRIi32 "\n", nloops + 1, position);
}
}
/* Delay a little bit */