1 files changed, 53 insertions, 0 deletions
diff --git a/testhal/STM32/STM32F0xx/qei/main.c b/testhal/STM32/STM32F0xx/qei/main.c
new file mode 100644
index 0000000..14bae80
--- /dev/null
+++ b/testhal/STM32/STM32F0xx/qei/main.c
@@ -0,0 +1,53 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  static QEIConfig qeicfg = {
+    QEI_MODE_QUADRATURE,
+    QEI_BOTH_EDGES,
+    QEI_DIRINV_FALSE,
+  };
+
+  qeiStart(&QEID3, &qeicfg);
+  qeiEnable(&QEID3);
+
+  uint16_t qei;
+  while (1) {
+     qei = qeiGetCount(&QEID3);
+     if (qei & 1)
+       palSetPad(GPIOC, GPIOC_LED_GREEN);
+     else
+       palClearPad(GPIOC, GPIOC_LED_GREEN);
+  }
+}