From 5addcbc556b26b9cb48fc14a810a99468ad8f21c Mon Sep 17 00:00:00 2001
From: tock <michaelamurray2357@gmail.com>
Date: Thu, 17 Sep 2020 05:22:43 +0800
Subject: [PATCH 1/8] Adds all relevant qdec files

---
 examples/tests/qdec_callback/Makefile | 11 +++++++
 examples/tests/qdec_callback/main.c   | 46 +++++++++++++++++++++++++++
 examples/tests/qdec_timer/Makefile    | 11 +++++++
 examples/tests/qdec_timer/main.c      | 46 +++++++++++++++++++++++++++
 libtock/qdec.c                        | 21 ++++++++++++
 libtock/qdec.h                        | 19 +++++++++++
 6 files changed, 154 insertions(+)
 create mode 100644 examples/tests/qdec_callback/Makefile
 create mode 100644 examples/tests/qdec_callback/main.c
 create mode 100644 examples/tests/qdec_timer/Makefile
 create mode 100644 examples/tests/qdec_timer/main.c
 create mode 100644 libtock/qdec.c
 create mode 100644 libtock/qdec.h

diff --git a/examples/tests/qdec_callback/Makefile b/examples/tests/qdec_callback/Makefile
new file mode 100644
index 000000000..54d6a7969
--- /dev/null
+++ b/examples/tests/qdec_callback/Makefile
@@ -0,0 +1,11 @@
+# Makefile for user application
+
+# Specify this directory relative to the current application.
+TOCK_USERLAND_BASE_DIR = ../../..
+
+# Which files to compile.
+C_SRCS := $(wildcard *.c)
+
+# Include userland master makefile. Contains rules and flags for actually
+# building the application.
+include $(TOCK_USERLAND_BASE_DIR)/AppMakefile.mk
diff --git a/examples/tests/qdec_callback/main.c b/examples/tests/qdec_callback/main.c
new file mode 100644
index 000000000..1225565f8
--- /dev/null
+++ b/examples/tests/qdec_callback/main.c
@@ -0,0 +1,46 @@
+#include <led.h>
+#include <qdec.h>
+#include <tock.h>
+#include <timer.h>
+
+static void qdec_callback(int qdec_num,
+                          __attribute__ ((unused)) int val,
+                          __attribute__ ((unused)) int arg2,
+                          __attribute__ ((unused)) void *ud) {
+  printf("QDEC Absolute Position: %d\n", qdec_num);
+
+  // Set LEDs based on acc value
+  // Note: LED rules arbitrarily chosen by developer
+  if (qdec_num > 0) {
+    led_on(0);
+    led_off(1);
+    led_off(2);
+  }  else if (qdec_num == 0) {
+    led_on(1);
+    led_off(0);
+    led_off(2);
+  } else if (qdec_num < 0) {
+    led_on(2);
+    led_off(0);
+    led_off(1);
+  }
+}
+
+int main(void) {
+  printf("Starting The [QDEC] Test App for Callbacks\n");
+  if (!qdec_exists()) {
+    printf("No QDEC driver\n");
+    return -1;
+  }
+  qdec_enable();
+  if (qdec_subscribe(qdec_callback, NULL) != 0) {
+    printf("Can't subscribe  to interrupt results!");
+    return -1;
+  }
+  if (!qdec_interrupt_enable()) {
+    printf("Can't enable interrupts!\n");
+    return -1;
+  }
+  printf("QDEC has been fully initiated!\n");
+  return 0;
+}
diff --git a/examples/tests/qdec_timer/Makefile b/examples/tests/qdec_timer/Makefile
new file mode 100644
index 000000000..54d6a7969
--- /dev/null
+++ b/examples/tests/qdec_timer/Makefile
@@ -0,0 +1,11 @@
+# Makefile for user application
+
+# Specify this directory relative to the current application.
+TOCK_USERLAND_BASE_DIR = ../../..
+
+# Which files to compile.
+C_SRCS := $(wildcard *.c)
+
+# Include userland master makefile. Contains rules and flags for actually
+# building the application.
+include $(TOCK_USERLAND_BASE_DIR)/AppMakefile.mk
diff --git a/examples/tests/qdec_timer/main.c b/examples/tests/qdec_timer/main.c
new file mode 100644
index 000000000..d21984cb4
--- /dev/null
+++ b/examples/tests/qdec_timer/main.c
@@ -0,0 +1,46 @@
+#include <led.h>
+#include <qdec.h>
+#include <tock.h>
+#include <timer.h>
+
+static void timer_fired ( __attribute__ ((unused)) int arg0,
+                          __attribute__ ((unused)) int arg1,
+                          __attribute__ ((unused)) int arg2,
+                          __attribute__ ((unused)) void *ud) {
+  int qdec_num = qdec_displacement();
+  printf("Displacement val: %d\n", qdec_num);
+
+  // Set LEDs based on acc value
+  // Note: LED rules arbitrarily chosen by developer
+  if (qdec_num%2 == 0 && qdec_num > 0) {
+    led_on(0);
+    led_off(1);
+    led_off(2);
+  }  else if (qdec_num%2 != 0) {
+    led_on(1);
+    led_off(0);
+    led_off(2);
+  } else if (qdec_num%2 == 0 && qdec_num < 0) {
+    led_on(2);
+    led_off(0);
+    led_off(1);
+  } 
+}
+
+int main(void) {
+  printf("Starting The [QDEC] Test App for Timers\n");
+  if (!qdec_exists()) {
+    printf("No QDEC driver\n");
+    return -1;
+  }
+  qdec_enable();
+  if (!qdec_interrupt_enable()) {
+    printf("Can't enable interrupts!\n");
+    return -1;
+  }
+  printf("QDEC has been fully initiated!\n");
+  static tock_timer_t timer;
+  timer_every(500, timer_fired, NULL, &timer);
+  printf("Timer set!\n");
+  return 0;
+}
diff --git a/libtock/qdec.c b/libtock/qdec.c
new file mode 100644
index 000000000..ca15a48a3
--- /dev/null
+++ b/libtock/qdec.c
@@ -0,0 +1,21 @@
+#include "qdec.h"
+
+bool qdec_exists(void) {
+  return command(DRIVER_NUM_QDEC, 1, 0, 0) >= 0;
+}
+
+bool qdec_enable(void) {
+  return command(DRIVER_NUM_QDEC, 2, 0, 0) >= 0;
+}
+
+bool qdec_interrupt_enable(void) {
+  return command(DRIVER_NUM_QDEC, 3, 0, 0) >= 0;
+}
+
+int qdec_subscribe(subscribe_cb callback, void* callback_args) {
+  return subscribe(DRIVER_NUM_QDEC, 0, callback, callback_args);
+}
+
+int qdec_displacement(void) {
+  return command(DRIVER_NUM_QDEC, 4, 0, 0);
+}
diff --git a/libtock/qdec.h b/libtock/qdec.h
new file mode 100644
index 000000000..a07d05cc1
--- /dev/null
+++ b/libtock/qdec.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "tock.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define DRIVER_NUM_QDEC 0x90003
+
+bool qdec_exists(void);
+bool qdec_enable(void);
+bool qdec_interrupt_enable(void);
+int qdec_subscribe(subscribe_cb callback, void* callback_args);
+int qdec_displacement(void);
+
+#ifdef __cplusplus
+}
+#endif

From 5488c0d10dc27938e86134e806a4a1b401d97f02 Mon Sep 17 00:00:00 2001
From: tock <michaelamurray2357@gmail.com>
Date: Thu, 17 Sep 2020 09:52:29 +0800
Subject: [PATCH 2/8] Formats files

---
 examples/tests/qdec_callback/main.c |  2 +-
 examples/tests/qdec_timer/main.c    | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/examples/tests/qdec_callback/main.c b/examples/tests/qdec_callback/main.c
index 1225565f8..edcd2f8f5 100644
--- a/examples/tests/qdec_callback/main.c
+++ b/examples/tests/qdec_callback/main.c
@@ -1,7 +1,7 @@
 #include <led.h>
 #include <qdec.h>
-#include <tock.h>
 #include <timer.h>
+#include <tock.h>
 
 static void qdec_callback(int qdec_num,
                           __attribute__ ((unused)) int val,
diff --git a/examples/tests/qdec_timer/main.c b/examples/tests/qdec_timer/main.c
index d21984cb4..e1c09be5a 100644
--- a/examples/tests/qdec_timer/main.c
+++ b/examples/tests/qdec_timer/main.c
@@ -1,7 +1,7 @@
 #include <led.h>
 #include <qdec.h>
-#include <tock.h>
 #include <timer.h>
+#include <tock.h>
 
 static void timer_fired ( __attribute__ ((unused)) int arg0,
                           __attribute__ ((unused)) int arg1,
@@ -12,19 +12,19 @@ static void timer_fired ( __attribute__ ((unused)) int arg0,
 
   // Set LEDs based on acc value
   // Note: LED rules arbitrarily chosen by developer
-  if (qdec_num%2 == 0 && qdec_num > 0) {
+  if (qdec_num % 2 == 0 && qdec_num > 0) {
     led_on(0);
     led_off(1);
     led_off(2);
-  }  else if (qdec_num%2 != 0) {
+  }  else if (qdec_num % 2 != 0)  {
     led_on(1);
     led_off(0);
     led_off(2);
-  } else if (qdec_num%2 == 0 && qdec_num < 0) {
+  } else if (qdec_num % 2 == 0 && qdec_num < 0) {
     led_on(2);
     led_off(0);
     led_off(1);
-  } 
+  }
 }
 
 int main(void) {

From 0d90890d4e719c95c62ad0bf1fa48e1415591330 Mon Sep 17 00:00:00 2001
From: tock <michaelamurray2357@gmail.com>
Date: Sat, 19 Sep 2020 11:47:35 +0800
Subject: [PATCH 3/8] Updates available qdec functions and their comments as
 well as led code in the main of qdec_callback

---
 examples/tests/qdec_callback/main.c | 23 ++++++++++-------------
 libtock/qdec.c                      |  6 +++++-
 libtock/qdec.h                      | 18 ++++++++++++++++++
 3 files changed, 33 insertions(+), 14 deletions(-)

diff --git a/examples/tests/qdec_callback/main.c b/examples/tests/qdec_callback/main.c
index edcd2f8f5..e16f3840b 100644
--- a/examples/tests/qdec_callback/main.c
+++ b/examples/tests/qdec_callback/main.c
@@ -9,20 +9,17 @@ static void qdec_callback(int qdec_num,
                           __attribute__ ((unused)) void *ud) {
   printf("QDEC Absolute Position: %d\n", qdec_num);
 
-  // Set LEDs based on acc value
+  // Alter LED blink rate based on acc value
   // Note: LED rules arbitrarily chosen by developer
-  if (qdec_num > 0) {
-    led_on(0);
-    led_off(1);
-    led_off(2);
-  }  else if (qdec_num == 0) {
-    led_on(1);
-    led_off(0);
-    led_off(2);
-  } else if (qdec_num < 0) {
-    led_on(2);
-    led_off(0);
-    led_off(1);
+  int num_leds = led_count();
+  if (num_leds > 0) {
+    if (qdec_num > 0) {
+      led_off(1);
+    }  else if (qdec_num == 0) {
+      led_on(1);
+    } else if (qdec_num < 0) {
+      led_off(1);
+    }
   }
 }
 
diff --git a/libtock/qdec.c b/libtock/qdec.c
index ca15a48a3..9ea5f765e 100644
--- a/libtock/qdec.c
+++ b/libtock/qdec.c
@@ -1,10 +1,14 @@
 #include "qdec.h"
 
 bool qdec_exists(void) {
-  return command(DRIVER_NUM_QDEC, 1, 0, 0) >= 0;
+  return command(DRIVER_NUM_QDEC, 0, 0, 0) >= 0;
 }
 
 bool qdec_enable(void) {
+  return command(DRIVER_NUM_QDEC, 1, 0, 0) >= 0;
+}
+
+bool qdec_disable(void) {
   return command(DRIVER_NUM_QDEC, 2, 0, 0) >= 0;
 }
 
diff --git a/libtock/qdec.h b/libtock/qdec.h
index a07d05cc1..73ce58c81 100644
--- a/libtock/qdec.h
+++ b/libtock/qdec.h
@@ -1,3 +1,14 @@
+/**
+ * Quadrature Decoder (QDEC)
+ *
+ * A QDEC provides buffered decoding of quadrature-encoded signals. It is suitable
+ * for mechanical and optical sensors.
+ *
+ * Use for the QDEC would be hooking up a rotary encoder or other optical encoder to
+ * the respective ports and using the below series of function to decode the signals
+ * sent by the encoders and turn them into useful metrics (i.e. displacement)
+ *
+ */
 #pragma once
 
 #include "tock.h"
@@ -8,10 +19,17 @@ extern "C" {
 
 #define DRIVER_NUM_QDEC 0x90003
 
+/*Verifies the existence of the QDEC*/
 bool qdec_exists(void);
+/*Enables the QDEC*/
 bool qdec_enable(void);
+/*Disables the QDEC*/
+bool qdec_disable(void);
+/*Enables QDEC interrupts needed to get displacement values*/
 bool qdec_interrupt_enable(void);
+/*Subscribes the app to QDEC interrupt calls*/
 int qdec_subscribe(subscribe_cb callback, void* callback_args);
+/*Gets the displacement of the QDEC from its last stopped position*/
 int qdec_displacement(void);
 
 #ifdef __cplusplus

From dba1e6e75cae7633a4a8cc991ca3290f152fe5d7 Mon Sep 17 00:00:00 2001
From: tock <michaelamurray2357@gmail.com>
Date: Sat, 19 Sep 2020 11:51:53 +0800
Subject: [PATCH 4/8] Removes all led code

---
 examples/tests/qdec_callback/main.c | 13 -------------
 examples/tests/qdec_timer/main.c    | 16 ----------------
 2 files changed, 29 deletions(-)

diff --git a/examples/tests/qdec_callback/main.c b/examples/tests/qdec_callback/main.c
index e16f3840b..9ff890459 100644
--- a/examples/tests/qdec_callback/main.c
+++ b/examples/tests/qdec_callback/main.c
@@ -8,19 +8,6 @@ static void qdec_callback(int qdec_num,
                           __attribute__ ((unused)) int arg2,
                           __attribute__ ((unused)) void *ud) {
   printf("QDEC Absolute Position: %d\n", qdec_num);
-
-  // Alter LED blink rate based on acc value
-  // Note: LED rules arbitrarily chosen by developer
-  int num_leds = led_count();
-  if (num_leds > 0) {
-    if (qdec_num > 0) {
-      led_off(1);
-    }  else if (qdec_num == 0) {
-      led_on(1);
-    } else if (qdec_num < 0) {
-      led_off(1);
-    }
-  }
 }
 
 int main(void) {
diff --git a/examples/tests/qdec_timer/main.c b/examples/tests/qdec_timer/main.c
index e1c09be5a..59006cd7d 100644
--- a/examples/tests/qdec_timer/main.c
+++ b/examples/tests/qdec_timer/main.c
@@ -9,22 +9,6 @@ static void timer_fired ( __attribute__ ((unused)) int arg0,
                           __attribute__ ((unused)) void *ud) {
   int qdec_num = qdec_displacement();
   printf("Displacement val: %d\n", qdec_num);
-
-  // Set LEDs based on acc value
-  // Note: LED rules arbitrarily chosen by developer
-  if (qdec_num % 2 == 0 && qdec_num > 0) {
-    led_on(0);
-    led_off(1);
-    led_off(2);
-  }  else if (qdec_num % 2 != 0)  {
-    led_on(1);
-    led_off(0);
-    led_off(2);
-  } else if (qdec_num % 2 == 0 && qdec_num < 0) {
-    led_on(2);
-    led_off(0);
-    led_off(1);
-  }
 }
 
 int main(void) {

From adc18582f8f78be190fbbb7823fb7781edd808ac Mon Sep 17 00:00:00 2001
From: tock <michaelamurray2357@gmail.com>
Date: Sat, 19 Sep 2020 12:20:48 +0800
Subject: [PATCH 5/8] Adds shell README files

---
 examples/tests/qdec_callback/README.md | 1 +
 examples/tests/qdec_timer/README.md    | 7 +++++++
 2 files changed, 8 insertions(+)
 create mode 100644 examples/tests/qdec_callback/README.md
 create mode 100644 examples/tests/qdec_timer/README.md

diff --git a/examples/tests/qdec_callback/README.md b/examples/tests/qdec_callback/README.md
new file mode 100644
index 000000000..2f376469d
--- /dev/null
+++ b/examples/tests/qdec_callback/README.md
@@ -0,0 +1 @@
+QDEC Callback Test
diff --git a/examples/tests/qdec_timer/README.md b/examples/tests/qdec_timer/README.md
new file mode 100644
index 000000000..426902c2e
--- /dev/null
+++ b/examples/tests/qdec_timer/README.md
@@ -0,0 +1,7 @@
+QDEC Timer Test
+
+This test's purposed is to ensure the interrupts work
+as expected and the approximately correct displacement
+is being returned with each fire of the timer.
+
+To verify the test is working properly 

From 4384599e5c03de45aa6e491e314c448078e2e43c Mon Sep 17 00:00:00 2001
From: mmurray22 <36782608+mmurray22@users.noreply.github.com>
Date: Sun, 20 Sep 2020 13:57:45 -0700
Subject: [PATCH 6/8] Updates README

---
 examples/tests/qdec_timer/README.md | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/examples/tests/qdec_timer/README.md b/examples/tests/qdec_timer/README.md
index 426902c2e..17b788863 100644
--- a/examples/tests/qdec_timer/README.md
+++ b/examples/tests/qdec_timer/README.md
@@ -4,4 +4,13 @@ This test's purposed is to ensure the interrupts work
 as expected and the approximately correct displacement
 is being returned with each fire of the timer.
 
-To verify the test is working properly 
+To verify the test is working properly, fire up the QDEC 
+timer program, and without touching the encoder, you should 
+see the statement 'Displacement val: 0' print on the screen
+every 500 seconds. Turning the QDEC in the positive direction
+one click will change the print statement to 'Displacement 
+val: 4' for one timer fired instance and then return back to
+'Displacement val: 0'. Similarly, turning it in the negative 
+direction one click will change the print statement to 
+'Displacement val: -4' for one timer fired instance and then 
+return back to 'Displacement val: 0'..

From 3a34b952bde0deea219d570cea947a42e67df6cc Mon Sep 17 00:00:00 2001
From: mmurray22 <36782608+mmurray22@users.noreply.github.com>
Date: Sun, 20 Sep 2020 14:04:50 -0700
Subject: [PATCH 7/8] Removes further period

---
 examples/tests/qdec_timer/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/tests/qdec_timer/README.md b/examples/tests/qdec_timer/README.md
index 17b788863..04780af0f 100644
--- a/examples/tests/qdec_timer/README.md
+++ b/examples/tests/qdec_timer/README.md
@@ -13,4 +13,4 @@ val: 4' for one timer fired instance and then return back to
 'Displacement val: 0'. Similarly, turning it in the negative 
 direction one click will change the print statement to 
 'Displacement val: -4' for one timer fired instance and then 
-return back to 'Displacement val: 0'..
+return back to 'Displacement val: 0'.

From 9c5f2e9b39f39ef0c307e5c88f50a30d60cf8b89 Mon Sep 17 00:00:00 2001
From: mmurray22 <36782608+mmurray22@users.noreply.github.com>
Date: Sun, 20 Sep 2020 14:13:21 -0700
Subject: [PATCH 8/8] Updates README for qdec callback program

---
 examples/tests/qdec_callback/README.md | 34 ++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/examples/tests/qdec_callback/README.md b/examples/tests/qdec_callback/README.md
index 2f376469d..64684509a 100644
--- a/examples/tests/qdec_callback/README.md
+++ b/examples/tests/qdec_callback/README.md
@@ -1 +1,35 @@
 QDEC Callback Test
+
+This test's purposed is to ensure the interrupts work
+as expected and the callbacks work as expected every 
+time the QDEC is rotated.
+
+To verify the test is working properly, fire up the QDEC 
+timer program, and without touching the encoder, you should 
+see the following initial statements (If anything else is printed, 
+that is a signal that there was an error when setting up the QDEC):
+
+'Starting The [QDEC] Test App for Callbacks
+QDEC has been fully initiated!'
+
+Then, turning the QDEC in the positive direction
+one click will invoke the callback method and a new statment will
+be printed: 
+
+QDEC Absolute Position: 1
+QDEC Absolute Position: 2
+QDEC Absolute Position: 3
+QDEC Absolute Position: 4
+
+Similarly, turning the QDEC in the negative direction (from the initial 
+starting location) one click will invoke the callback method and a new 
+statment will be printed: 
+
+QDEC Absolute Position: -1
+QDEC Absolute Position: -2
+QDEC Absolute Position: -3
+QDEC Absolute Position: -4
+
+These are good initial tests to ensure the QDEC is working as expected.
+Continue the QDEC in both directions and see if the progression of values 
+displayed on the screen are logical.