boards/arm/imxrt/teensy-4.x: added support for encoder
Signed-off-by: Michal Lenc <michallenc@seznam.cz>
This commit is contained in:
Michal Lenc
Xiang Xiao
parent
7bcd50955f
commit
0851036ae3
@ -98,6 +98,16 @@ selecting ``CONFIG_TEENSY_40=y``.
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This configuration runs over LPUART1 (pins 24 and 25 on Teensy). Communication
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over USB console can be turn on, but it causes problems with FlexCAN.
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enc-4.1
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-------
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This is an nsh configuration (see above) with added support of incremental
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encoder. Phase A is connected to GPIO_EMC_07 (pin 33), phase B to GPIO_EMC_06
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(pin 4) and INDEX to GPIO_B0_12 (pin 32). Only encoder 1 is connected to those
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pins.
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Function of the encoder can be tested by application "qe".
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netnsh-4.1
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----------
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49
boards/arm/imxrt/teensy-4.x/configs/enc-4.1/defconfig
Normal file
49
boards/arm/imxrt/teensy-4.x/configs/enc-4.1/defconfig
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@ -0,0 +1,49 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="teensy-4.x"
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CONFIG_ARCH_BOARD_TEENSY_4X=y
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CONFIG_ARCH_CHIP="imxrt"
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CONFIG_ARCH_CHIP_IMXRT=y
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CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_ARMV7M_DCACHE=y
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CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
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CONFIG_ARMV7M_ICACHE=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_BOARD_LOOPSPERMSEC=104926
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CONFIG_BUILTIN=y
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CONFIG_ENC1_XIP=y
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CONFIG_EXAMPLES_QENCODER=y
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CONFIG_FS_PROCFS=y
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CONFIG_IDLETHREAD_STACKSIZE=2048
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CONFIG_IMXRT_ENC1=y
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CONFIG_IMXRT_LPUART1=y
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CONFIG_INTELHEX_BINARY=y
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CONFIG_IOB_NBUFFERS=24
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CONFIG_IOB_NCHAINS=24
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CONFIG_LPUART1_SERIAL_CONSOLE=y
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CONFIG_MAX_TASKS=16
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CONFIG_MM_IOB=y
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_FILEIOSIZE=512
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CONFIG_NSH_LINELEN=64
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CONFIG_NSH_READLINE=y
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CONFIG_RAM_SIZE=1048576
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CONFIG_RAM_START=0x20200000
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CONFIG_SCHED_HPWORK=y
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CONFIG_SENSORS=y
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CONFIG_SENSORS_QENCODER=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_START_DAY=14
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CONFIG_START_MONTH=3
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CONFIG_SYSTEM_NSH=y
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CONFIG_TEENSY_41=y
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CONFIG_USER_ENTRYPOINT="nsh_main"
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CONFIG_WQUEUE_NOTIFIER=y
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@ -58,4 +58,8 @@ ifeq ($(CONFIG_LCD_ST7789),y)
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CSRCS += imxrt_st7789.c
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endif
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ifeq ($(CONFIG_IMXRT_ENC),y)
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CSRCS += imxrt_enc.c
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endif
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include $(TOPDIR)/boards/Board.mk
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@ -183,6 +183,16 @@ int imxrt_bringup(void)
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}
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#endif
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#ifdef CONFIG_IMXRT_ENC
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/* Initialize ENC and register the ENC driver. */
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ret = imxrt_enc_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: imxrt_enc_initialize() failed: %d\n", ret);
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}
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#endif
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UNUSED(ret);
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return OK;
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}
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133
boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c
Normal file
133
boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c
Normal file
@ -0,0 +1,133 @@
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/****************************************************************************
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* boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/board.h>
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#include <nuttx/sensors/qencoder.h>
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#include "imxrt_enc.h"
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#include "imxrt_xbar.h"
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#include "teensy-4.h"
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#if defined(CONFIG_IMXRT_ENC) && defined(CONFIG_SENSORS_QENCODER)
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: imxrt_enc_initialize
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*
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* Description:
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* Initialize the quadrature encoder driver for the given timer
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*
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****************************************************************************/
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int imxrt_enc_initialize(void)
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{
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int ret;
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#ifdef CONFIG_IMXRT_ENC1
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/* Initialize a quadrature encoder interface. */
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imxrt_config_gpio(GPIO_ENC1_PHASE_A);
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imxrt_config_gpio(GPIO_ENC1_PHASE_B);
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imxrt_config_gpio(GPIO_ENC1_INDEX);
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/* Connect XBAR pins */
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ret = imxrt_xbar_connect(IMXRT_XBARA1_OUT_ENC1_PHASE_AIN_SEL_OFFSET,
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IMXRT_XBARA1_IN_IOMUX_XBAR_IO09);
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if (ret < 0)
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{
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snerr("ERROR: imxrt_xbar_connect failed: %d\n", ret);
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return -ENODEV;
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}
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ret = imxrt_xbar_connect(IMXRT_XBARA1_OUT_ENC1_PHASE_BIN_SEL_OFFSET,
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IMXRT_XBARA1_IN_IOMUX_XBAR_IO08);
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if (ret < 0)
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{
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snerr("ERROR: imxrt_xbar_connect failed: %d\n", ret);
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return -ENODEV;
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}
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ret = imxrt_xbar_connect(IMXRT_XBARA1_OUT_ENC1_INDEX_SEL_OFFSET,
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IMXRT_XBARA1_IN_IOMUX_XBAR_IO10);
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if (ret < 0)
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{
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snerr("ERROR: imxrt_xbar_connect failed: %d\n", ret);
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return -ENODEV;
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}
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ret = imxrt_qeinitialize("dev/qe0", 1);
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if (ret < 0)
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{
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snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret);
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return -ENODEV;
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}
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#endif
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#ifdef CONFIG_IMXRT_ENC2
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/* Initialize a quadrature encoder interface. */
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ret = imxrt_qeinitialize("dev/qe1", 2)
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if (ret < 0)
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{
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snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret);
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return -ENODEV;
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}
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#endif
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#ifdef CONFIG_IMXRT_ENC3
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/* Initialize a quadrature encoder interface. */
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ret = imxrt_qeinitialize("dev/qe2", 3)
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if (ret < 0)
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{
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snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret);
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return -ENODEV;
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}
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#endif
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#ifdef CONFIG_IMXRT_ENC4
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/* Initialize a quadrature encoder interface. */
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ret = imxrt_qeinitialize("dev/qe4", 4)
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if (ret < 0)
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{
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snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret);
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return -ENODEV;
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}
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#endif
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UNUSED(ret);
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return OK;
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}
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#endif /* CONFIG_IMXRT_ENC */
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@ -35,6 +35,7 @@
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# include "imxrt_gpio.h"
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# include "imxrt_iomuxc.h"
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# include "hardware/imxrt_pinmux.h"
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/****************************************************************************
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* Pre-processor Definitions
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@ -111,6 +112,12 @@
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#define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
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GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */
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/* Quadrature Encoder */
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#define GPIO_ENC1_PHASE_A (GPIO_XBAR1_INOUT09_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT3) /* EMC_07 */
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#define GPIO_ENC1_PHASE_B (GPIO_XBAR1_INOUT08_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT3) /* EMC_06 */
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#define GPIO_ENC1_INDEX (GPIO_XBAR1_INOUT10_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT1) /* B0_12 */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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@ -167,6 +174,18 @@ int imxrt_can_setup(void);
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int imxrt_adc_initialize(void);
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#endif
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/****************************************************************************
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* Name: imxrt_enc_initialize
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*
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* Description:
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* Initialize the quadrature encoder driver for the given timer
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*
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****************************************************************************/
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#ifdef CONFIG_IMXRT_ENC
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int imxrt_enc_initialize(void);
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#endif
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/****************************************************************************
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* Name: imxrt_i2c_setup
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*
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