diff --git a/as5013-test/nrf52-as5013-xy/nrf52-as5013-xy.ino b/as5013-test/nrf52-as5013-xy/nrf52-as5013-xy.ino
new file mode 100644
index 0000000000000000000000000000000000000000..c6021b83c8f1b616ff7b72bf7ba4cf36e8ae55a2
--- /dev/null
+++ b/as5013-test/nrf52-as5013-xy/nrf52-as5013-xy.ino
@@ -0,0 +1,251 @@
+//read raw values from as5013 hall effect array ic and pass to uarte
+//sec, 2017
+#include "radio.h"
+
+//as5013 registers
+#define ctrl_reg 0x0F
+#define x_res_reg 0x10
+#define y_res_reg 0x11
+#define T_ctrl_reg 0x2D
+#define agc_reg 0x2A
+#define c_raw_values_start 0x16 //starting address for raw sensor values
+
+#define scl_pin 0 //XL1
+#define sda_pin 1 //XL2
+#define rst_pin 3 //A1
+
+//#define n_tx_bytes 1 //only need transmit the start read address
+//#define n_rx_bytes 20 //20 values pos_low, pos_high, neg_low, neg_high for each of c1, c2, c3, c4, c5
+#define payload_size 6 //byte for x_res, byte for y_res, 2 bytes for x_act, 2 bytes for y_act
+#define framing_size 8
+
+static uint8_t txdata[2] = {0}; //the most we'll need is to send an i2c register and possibly a value.
+static uint8_t rxdata[payload_size+framing_size] = {0}; //add four bytes for xi, yi over uarte, 8 bytes for framing
+
+//uarte
+const uint8_t pin_rx = 8;
+const uint8_t pin_tx = 6;
+
+//stepper motor
+int16_t step_period = 4;
+
+//
+//UARTE
+//
+void uarte_setup(){
+ //uart with dma
+ NRF_UARTE0->PSEL.TXD = (pin_tx << UARTE_PSEL_TXD_PIN_Pos) & UARTE_PSEL_TXD_PIN_Msk;
+ NRF_UARTE0->PSEL.RXD = (pin_rx << UARTE_PSEL_RXD_PIN_Pos) & UARTE_PSEL_RXD_PIN_Msk;
+ NRF_UARTE0->CONFIG = ((UART_CONFIG_PARITY_Excluded << UARTE_CONFIG_PARITY_Pos) & UARTE_CONFIG_PARITY_Msk)
+ | ((UARTE_CONFIG_HWFC_Disabled << UARTE_CONFIG_HWFC_Pos) & UARTE_CONFIG_HWFC_Msk);
+ NRF_UARTE0->BAUDRATE = UART_BAUDRATE_BAUDRATE_Baud1M;
+ NRF_UARTE0->ENABLE = (UARTE_ENABLE_ENABLE_Enabled << UARTE_ENABLE_ENABLE_Pos) & UARTE_ENABLE_ENABLE_Msk;
+
+ NRF_UARTE0->TXD.MAXCNT = payload_size+framing_size;
+}
+
+
+//
+//TWI
+//
+void twi_set_cnts(uint8_t n_tx, uint8_t n_rx){
+ NRF_TWIM0->TXD.MAXCNT = (n_tx << TWIM_TXD_MAXCNT_MAXCNT_Pos) & TWIM_TXD_MAXCNT_MAXCNT_Msk;
+ NRF_TWIM0->RXD.MAXCNT = (n_rx << TWIM_RXD_MAXCNT_MAXCNT_Pos) & TWIM_RXD_MAXCNT_MAXCNT_Msk;
+ NRF_TWIM0->TXD.PTR = (uint32_t)(&txdata);
+ NRF_TWIM0->RXD.PTR = (uint32_t)(&rxdata);
+}
+void twi_setup(){
+ //Need to switch to internal LFCLK to disconnect from XL1 and XL2
+ NRF_CLOCK->LFCLKSRC = 0; //disconnect XL1 AND XL2 FROM LFCLK?
+ NRF_CLOCK->EVENTS_LFCLKSTARTED = 0;
+ NRF_CLOCK->TASKS_LFCLKSTART = 1;
+ while (NRF_CLOCK->EVENTS_LFCLKSTARTED == 0){}
+
+ NRF_TWIM0->ENABLE = (TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos) & TWI_ENABLE_ENABLE_Msk;
+ NRF_GPIO->PIN_CNF[scl_pin] = (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) & GPIO_PIN_CNF_DRIVE_Msk;
+ NRF_GPIO->PIN_CNF[sda_pin] = (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) & GPIO_PIN_CNF_DRIVE_Msk;
+ NRF_GPIO->DIRCLR = (1<<scl_pin)|(1<<sda_pin); //set SDA/SCL as inputs (likely not necessary)
+
+ NRF_TWIM0->PSEL.SCL = ((scl_pin << TWIM_PSEL_SCL_PIN_Pos) & TWIM_PSEL_SCL_PIN_Msk)
+ | ((TWIM_PSEL_SCL_CONNECT_Connected << TWIM_PSEL_SCL_CONNECT_Pos) & TWIM_PSEL_SCL_CONNECT_Msk);
+ NRF_TWIM0->PSEL.SDA = ((sda_pin << TWIM_PSEL_SDA_PIN_Pos) & TWIM_PSEL_SDA_PIN_Msk)
+ | ((TWIM_PSEL_SDA_CONNECT_Connected << TWIM_PSEL_SDA_CONNECT_Pos) & TWIM_PSEL_SDA_CONNECT_Msk);
+ NRF_TWIM0->FREQUENCY = (TWI_FREQUENCY_FREQUENCY_K100 << TWI_FREQUENCY_FREQUENCY_Pos) & TWI_FREQUENCY_FREQUENCY_Msk;
+ NRF_TWIM0->ADDRESS = (0x41 << TWI_ADDRESS_ADDRESS_Pos) & TWI_ADDRESS_ADDRESS_Msk;
+ NRF_TWIM0->TXD.PTR = (uint32_t)(&txdata);
+ NRF_TWIM0->RXD.PTR = (uint32_t)(&rxdata);
+ //twi_set_cnts(n_tx_bytes, n_rx_bytes);
+ //set up short between LASTTX and STOP and between LASTRX and STOP
+ NRF_TWIM0->SHORTS = ((TWIM_SHORTS_LASTTX_STOP_Enabled << TWIM_SHORTS_LASTTX_STOP_Pos) & TWIM_SHORTS_LASTTX_STOP_Msk)
+ | ((TWIM_SHORTS_LASTRX_STOP_Enabled << TWIM_SHORTS_LASTRX_STOP_Pos) & TWIM_SHORTS_LASTRX_STOP_Msk);
+ //NRF_TWIM0->ENABLE = (TWI_ENABLE_ENABLE_Enabled << TWI_ENABLE_ENABLE_Pos) & TWI_ENABLE_ENABLE_Msk;
+ //There's a typo in nrf52_bitfields, so we set this manually.
+ NRF_TWIM0->ENABLE = (6 << TWI_ENABLE_ENABLE_Pos) & TWI_ENABLE_ENABLE_Msk;
+}
+void twi_tx(){
+ // clear the stopped event
+ NRF_TWIM0->EVENTS_STOPPED = 0;
+ // triggering the STARTTX task
+ NRF_TWIM0->TASKS_STARTTX = 1;
+ while( !(NRF_TWIM0->EVENTS_STOPPED) ){}
+}
+void twi_rx(){
+ // clear the stopped event
+ NRF_TWIM0->EVENTS_STOPPED = 0;
+ // trigger the STARTRX task
+ NRF_TWIM0->TASKS_STARTRX = 1;
+ while( !(NRF_TWIM0->EVENTS_STOPPED) ){}
+}
+
+
+//
+//AS5013
+//
+void as5013_setup(){
+ NRF_GPIO->DIRSET = (1<<rst_pin); //set AS5013 nRESET pin as output
+ NRF_GPIO->OUTCLR = (1<<rst_pin); //hardware reset
+ delayMicroseconds(10);
+ NRF_GPIO->OUTSET = (1<<rst_pin); //turn on as5013
+ delayMicroseconds(1000);
+
+ //Loop check ctrl_reg until the value F0h or F1h is present
+ delay(1); //in practice even no delay is fine.
+
+ //config sensors for maximum gain
+ //twi_set_cnts(2, 0);
+ //txdata[0] = agc_reg;
+ //txdata[1] = 0x3F; //gain value, 0x3F maximum
+ //twi_tx();
+
+ //configure t_ctrl
+ twi_set_cnts(2,0);
+ txdata[0] = T_ctrl_reg;
+ txdata[1] = 4; //200% sensitivity of baseline (max = 500%)
+ twi_tx();
+ delay(1);
+}
+void as5013_read(){
+ //assume idle mode, so we must read from Y_res_int register to trigger new conversion
+ //twi_set_cnts(1, 1);
+ //txdata[0] = y_res_reg;
+ //twi_tx();
+ //twi_rx();
+ //delay(1);
+ //read x and y values
+ twi_set_cnts(1, 2);
+ txdata[0] = x_res_reg; //set up to read from this address
+ twi_tx();
+ twi_rx(); //read x and y results
+}
+
+void configure_motor(){
+ //set step speed
+ radio_buffer[0] = 2; //set step speed
+ radio_buffer[1] = step_period*1000; //10ms step period
+ radio_send_redundant();
+ //set full steps
+ radio_buffer[0] = 3; //set microstepping
+ radio_buffer[1] = 1; //M1,M0 = 1,0, half step
+ radio_send_redundant();
+ //set current limit
+ radio_buffer[0] = 4; //set current limit
+ radio_buffer[1] = 200; //
+ radio_send_redundant();
+}
+
+//
+//main
+//
+void setup() {
+ //Serial.begin(115200);
+ uarte_setup();
+ twi_setup();
+ as5013_setup();
+ radio_setup();
+
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ configure_motor();
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
+ configure_motor();
+
+ int16_t xi=0; //counter
+ int16_t yi=0; //counter
+ int16_t Nx = 100; //max number of x moves, must be even
+ int16_t Ny = 100; //max number of y moves, must be even
+ int16_t steps_per_move = 1; //1 quarter step = 312 nm (requires half stepping)
+ //int16_t steps_per_move = 8; //8 steps = 10 microns
+ //int16_t steps_per_move = 16; //16 steps = 20 microns
+
+ //insert framing.
+ for(uint8_t bi=0; bi<framing_size; bi++){
+ rxdata[payload_size+bi] = bi;
+ }
+ /*rxdata[n_rx_bytes+4] = (uint8_t)0;
+ rxdata[n_rx_bytes+5] = (uint8_t)1;
+ rxdata[n_rx_bytes+6] = (uint8_t)2;
+ rxdata[n_rx_bytes+7] = (uint8_t)3;
+ rxdata[n_rx_bytes+8] = (uint8_t)4;
+ rxdata[n_rx_bytes+9] = (uint8_t)5;
+ rxdata[n_rx_bytes+10] = (uint8_t)6;
+ rxdata[n_rx_bytes+11] = (uint8_t)7;*/
+
+ //move negative half total distance in both directions at start
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = -steps_per_move*Nx/2; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*Nx*steps_per_move+1);
+
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = -steps_per_move*Ny/2; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*Ny*steps_per_move+1);
+
+ while(1){
+ as5013_read();
+ rxdata[2] = (uint8_t)(xi);
+ rxdata[3] = (uint8_t)(xi>>8);
+ rxdata[4] = (uint8_t)(yi);
+ rxdata[5] = (uint8_t)(yi>>8);
+ NRF_UARTE0->TXD.PTR = (uint32_t)(&rxdata); //reset pointer to start of buffer
+ NRF_UARTE0->TASKS_STARTTX = 1; //trigger start task to send data to host
+
+ delay(1); //for demonstration, not really necessary.
+
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = steps_per_move; //move 10 steps forward
+ radio_send_redundant(); //send command
+ delay(step_period*steps_per_move+1);
+ xi++;
+
+ if (xi==Nx){
+ xi=0;
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0: X axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = -steps_per_move*Nx; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*Nx*steps_per_move+1);
+
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = steps_per_move; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*steps_per_move+1);
+ yi++;
+ }
+ if (yi==Ny){
+ delay(10);
+ yi=0;
+ NRF_RADIO->TXADDRESS = 0x01UL; // Set device address 1: Y axis
+ radio_buffer[0] = 1; //send a move command
+ radio_buffer[1] = -steps_per_move*Ny; //move back to start
+ radio_send_redundant(); //send command
+ delay(step_period*Ny*steps_per_move+1);
+ }
+ }
+}
+
+
+void loop() {}
diff --git a/as5013-test/nrf52-as5013-xy/radio.h b/as5013-test/nrf52-as5013-xy/radio.h
new file mode 100644
index 0000000000000000000000000000000000000000..ab8fa106d0a9da62a5a263dbf5f3f47b6531e292
--- /dev/null
+++ b/as5013-test/nrf52-as5013-xy/radio.h
@@ -0,0 +1,114 @@
+#define PACKET_BASE_ADDRESS_LENGTH (2UL) //Packet base address length field size in bytes
+#define PACKET_LENGTH 4
+#define REDUNDANCY_COUNT 10 //number of transmissions to ensure delivery... hack.
+static int16_t radio_buffer[PACKET_LENGTH] = {0};
+
+//static int16_t reference_buffer[PACKET_LENGTH] = {0}; //for checking against receipt
+
+
+//
+//RADIO
+//
+void radio_setup(){
+ NRF_RADIO->POWER = RADIO_POWER_POWER_Disabled; //turn off radio to reset registers
+ delay(10);
+ NRF_RADIO->POWER = RADIO_POWER_POWER_Enabled; //turn on radio
+ delay(10);
+
+ NRF_RADIO->TXPOWER = (RADIO_TXPOWER_TXPOWER_Pos3dBm << RADIO_TXPOWER_TXPOWER_Pos);
+ NRF_RADIO->FREQUENCY = 11UL; // 2400 + X MHz
+ NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_2Mbit << RADIO_MODE_MODE_Pos);
+
+ NRF_RADIO->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
+ NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
+ NRF_RADIO->BASE1 = 0x02345678UL; // Base address for prefix 0
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0 to use when transmitting
+ NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive
+ //NRF_RADIO->RXADDRESSES = 0x02UL; // Enable device address 1 to use to select which addresses to receive
+
+ // Packet configuration
+ NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S1LEN_Pos) | (0 << RADIO_PCNF0_S0LEN_Pos) | (0 << RADIO_PCNF0_LFLEN_Pos);
+ NRF_RADIO->PCNF1 = (RADIO_PCNF1_WHITEEN_Enabled << RADIO_PCNF1_WHITEEN_Pos) |
+ ((PACKET_LENGTH) << RADIO_PCNF1_STATLEN_Pos) |
+ (RADIO_PCNF1_ENDIAN_Big << RADIO_PCNF1_ENDIAN_Pos) |
+ (2 << RADIO_PCNF1_BALEN_Pos);
+ NRF_RADIO->CRCCNF = (RADIO_CRCCNF_LEN_Three << RADIO_CRCCNF_LEN_Pos); // Number of checksum bits
+ NRF_RADIO->CRCINIT = 0xFFFFUL; // Initial value
+ NRF_RADIO->CRCPOLY = 0x18D; //x8 + x7 + x3 + x2 + 1 = 110001101
+ NRF_RADIO->MODECNF0 |= RADIO_MODECNF0_RU_Fast << RADIO_MODECNF0_RU_Pos; //turn on fast ramp up
+ NRF_RADIO->SHORTS = 0; //turn off all shortcuts, for debug
+ NRF_RADIO->PACKETPTR = (uint32_t)&radio_buffer; //set pointer to packet buffer
+ //start HFCLK
+ NRF_CLOCK->TASKS_HFCLKSTART = 1;
+ while(!(NRF_CLOCK->HFCLKSTAT & CLOCK_HFCLKSTAT_STATE_Msk)); //wait for hfclk to start
+ delay(10);
+}
+
+void radio_wait_for_end(){ while(!(NRF_RADIO->EVENTS_END)); NRF_RADIO->EVENTS_END = 0;} //clear end event
+void radio_wait_for_ready(){ while(!(NRF_RADIO->EVENTS_READY)); NRF_RADIO->EVENTS_READY = 0;} //clear ready event
+void radio_disable(){
+ NRF_RADIO->EVENTS_DISABLED = 0; //clear disabled event
+ NRF_RADIO->TASKS_DISABLE = 1;
+ while(!(NRF_RADIO->EVENTS_DISABLED));
+}
+void radio_send(){
+ NRF_RADIO->EVENTS_READY = 0; //clear ready event
+ NRF_RADIO->TASKS_TXEN=1; //trigger tx enable task
+ delayMicroseconds(20);
+ //radio_wait_for_ready(); //only generated when actually switching to tx mode
+ NRF_RADIO->TASKS_START=1; //start
+ radio_wait_for_end();
+}
+void radio_send_redundant(){
+ for(int i=0; i<REDUNDANCY_COUNT; i++){
+ radio_send();
+ }
+}
+
+int radio_recv(){
+ //return number of packets before CRC match
+ NRF_RADIO->EVENTS_CRCOK = 0;
+ //NRF_RADIO->EVENTS_CRCERROR = 0;
+ int i=1;
+ while(true){
+ NRF_RADIO->EVENTS_READY = 0; //clear ready event
+ NRF_RADIO->TASKS_RXEN=1; //trigger rx enable task
+ delayMicroseconds(20);
+ //radio_wait_for_ready(); //only generated when actually switching to rx mode
+ NRF_RADIO->TASKS_START=1;
+ radio_wait_for_end();
+ if (NRF_RADIO->EVENTS_CRCOK == 1){ break;}
+ i++;
+ }
+ return i;
+}
+
+
+/*
+// start of 3 way handshake implementation
+void copy_buffer_to_reference(){
+ for(int i=0; i++; i<PACKET_LENGTH){
+ reference_buffer[i] = radio_buffer[i];
+ }
+}
+bool buffer_matches_reference(){
+ bool match = true;
+ for(int i=0; i++; i<PACKET_LENGTH){
+ if (reference_buffer[i] != radio_buffer[i]){
+ match = false;
+ break;
+ }
+ }
+ return match;
+}
+void radio_send_with_handshake(){
+ copy_buffer_to_reference();
+ radio_send(); //send packet
+ int crc_match = radio_recv(); //receive ack
+ if crc_match && buffer_matches_reference(){
+ radio_send(); //send ack
+ }
+}
+*/
+
+