/*
 * Copyright (c) 2022 Valerio Setti <valerio.setti@gmail.com>
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/sys/printk.h>

void main(void)
{
	struct sensor_value val;
	int rc;
	const struct device *const dev = DEVICE_DT_GET(DT_ALIAS(qdec0));

	if (!device_is_ready(dev)) {
		printk("Qdec device is not ready\n");
		return;
	}

	printk("Quadrature decoder sensor test\n");

	while (true) {
		rc = sensor_sample_fetch(dev);
		if (rc != 0) {
			printk("Failed to fetch sample (%d)\n", rc);
			return;
		}

		rc = sensor_channel_get(dev, SENSOR_CHAN_ROTATION, &val);
		if (rc != 0) {
			printk("Failed to get data (%d)\n", rc);
			return;
		}

		printk("Position = %d degrees", val.val1);

		k_msleep(1000);
	}
}