Ensure reliable and consistent movement data in your motion tracking and control systems with TCUT1800X01 and PIC18F47K42

/*!
 * \file 
 * \brief Opto Encoder 3 Click example
 * 
 * # Description
 * The demo application displays the counter value or displays the status of each O pins.
 *
 * The demo application is composed of two sections :
 * 
 * ## Application Init 
 * Configures the driver and logger, and selects the demo application mode.
 * 
 * ## Application Task  
 * Depending on the demo application mode set in the application init it:
 *    - Measures and displays the value of the counter - DEMO_CNT mode; or
 *    - Draws the status of each O pin - DEMO_GRAPH mode.
 * 
 * \author Luka Filipovic
 *
 */
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "optoencoder3.h"

// ------------------------------------------------------------------ VARIABLES

static optoencoder3_t optoencoder3;
static log_t logger;

optoencoder3_pins_t pins;
static uint8_t example_setter;
static uint8_t old_state = 0xFF;
static uint8_t state = 0;

// ------------------------------------------------------------------ MACRO

#define DEMO_CNT    1
#define DEMO_GRAPH  2

// ------------------------------------------------------- ADDITIONAL FUNCTIONS

void draw_pins_status( void )
{
    optoencoder3_read_all_pins( &optoencoder3, &pins );

    state = pins.pin_o1 | ( pins.pin_o2 << 1 ) | ( pins.pin_o3 << 2 ) | ( pins.pin_o4 << 3 );
    
    if ( old_state != state )
    {
        log_printf( &logger, "-Pins status:\r\n" );
        
        if ( pins.pin_o1 == OPTOENCODER3_PIN_ACTIVE )
        {
            log_printf( &logger, "*  " );
        }
        else
        {
            log_printf( &logger, "o  " );
        }

        if ( pins.pin_o3 == OPTOENCODER3_PIN_ACTIVE )
        {
            log_printf( &logger, "*\r\n" );
        }
        else
        {
            log_printf( &logger, "o\r\n" );
        }

        if ( pins.pin_o2 == OPTOENCODER3_PIN_ACTIVE )
        {
            log_printf( &logger, "*  " );
        }
        else
        {
            log_printf( &logger, "o  " );
        }

        if ( pins.pin_o4 == OPTOENCODER3_PIN_ACTIVE )
        {
            log_printf( &logger, "*" );
        }
        else
        {
            log_printf( &logger, "o" );
        }

        log_printf( &logger, "\r\n" );
    }
    
    old_state = state;
}

void view_counters ( void )
{
    uint8_t cnt;
    int8_t swipe_cnt;
    
    cnt = optoencoder3_cnt( &optoencoder3 );
    swipe_cnt = optoencoder3_dir_cnt( &optoencoder3 );
    
    if ( old_state != cnt )
    {
        log_printf( &logger, "---Counter number of swipes and direction counter:\r\n" );
        log_printf( &logger, "* Counter : %d \r\n", ( uint16_t ) cnt );
        log_printf( &logger, "* Direction counter : %d \r\n", ( int16_t ) swipe_cnt );
        log_printf( &logger, " _________________________________\r\n\r\n\r\n" );
    }
    
    old_state = cnt;
}

// ------------------------------------------------------ APPLICATION FUNCTIONS

void application_init ( void )
{
    log_cfg_t log_cfg;
    optoencoder3_cfg_t cfg;

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info(&logger, "---- Application Init ----");

    //  Click initialization.

    optoencoder3_cfg_setup( &cfg );
    OPTOENCODER3_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    optoencoder3_init( &optoencoder3, &cfg );

    optoencoder3_enable ( &optoencoder3, OPTOENCODER3_ENABLE );
    
    example_setter = DEMO_CNT;
}

void application_task ( void )
{
    if ( example_setter == DEMO_GRAPH )
    {
        draw_pins_status(  );
    }
    else if ( example_setter == DEMO_CNT )
    {
        view_counters(  );
    }
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}


// ------------------------------------------------------------------------ END