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esp32-devkitc: Add board support to Rotary Encoder

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Reviewed-by: Petro Karashchenko <petro.karashchenko@gmail.com>
This commit is contained in:
Alan Carvalho de Assis 2022-10-16 15:59:46 -03:00 committed by Petro Karashchenko
parent 655faa33d4
commit 0dfd1f004d
5 changed files with 163 additions and 0 deletions
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73
boards/xtensa/esp32/common/include/board_qencoder.h Normal file
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@ -0,0 +1,73 @@
/****************************************************************************
* boards/xtensa/esp32/common/include/board_qencoder.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_QENCODER_H
#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_QENCODER_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Inline Functions
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: board_qencoder_initialize
*
* Description:
* Initialize the quadrature encoder driver for the given timer
*
****************************************************************************/
int board_qencoder_initialize(int devno, int timerno);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_QENCODER_H */

4
boards/xtensa/esp32/common/src/Make.defs
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@ -36,6 +36,10 @@ ifeq ($(CONFIG_ESP32_I2S),y)
CSRCS += esp32_board_i2sdev.c
endif
ifeq ($(CONFIG_ESP32_PCNT_AS_QE),y)
CSRCS += esp32_qencoder.c
endif
ifeq ($(CONFIG_AUDIO_CS4344),y)
CSRCS += esp32_cs4344.c
endif

65
boards/xtensa/esp32/common/src/esp32_qencoder.c Normal file
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@ -0,0 +1,65 @@
/****************************************************************************
* boards/xtensa/esp32/common/src/esp32_qencoder.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <stdio.h>
#include <nuttx/sensors/qencoder.h>
#include <arch/board/board.h>
#include "esp32_qencoder.h"
#include "chip.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_qencoder_initialize
*
* Description:
* Initialize the quadrature encoder driver for the given timer
*
****************************************************************************/
int board_qencoder_initialize(int devno, int pcntno)
{
int ret;
char devpath[12];
/* Initialize a quadrature encoder interface. */
sninfo("Initializing the quadrature encoder using PCNT%d\n", pcntno);
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno);
ret = esp32_qeinitialize(devpath, pcntno);
if (ret < 0)
{
snerr("ERROR: esp32_qeinitialize failed: %d\n", ret);
}
return ret;
}

4
boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
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@ -46,6 +46,10 @@
#define GPIO_LED1 2
/* PCNT Quadrature Encoder IDs */
#define PCNT_QE0_ID 0
/* MCP2515 Interrupt pin */
#define GPIO_MCP2515_IRQ 22

17
boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
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@ -91,6 +91,10 @@
# include "esp32_i2s.h"
#endif
#ifdef CONFIG_ESP32_PCNT_AS_QE
# include "board_qencoder.h"
#endif
#ifdef CONFIG_I2CMULTIPLEXER_TCA9548A
# include "esp32_tca9548a.h"
#endif
@ -398,6 +402,19 @@ int esp32_bringup(void)
}
#endif
#ifdef CONFIG_SENSORS_QENCODER
/* Initialize and register the qencoder driver */
ret = board_qencoder_initialize(0, PCNT_QE0_ID);
if (ret != OK)
{
syslog(LOG_ERR,
"ERROR: Failed to register the qencoder: %d\n",
ret);
return ret;
}
#endif
/* Register the TCA9548A Multiplexer before others I2C drivers to allow it
* be used by other drivers. Look at esp32_ms5611.c how to use it.
*/