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Convert the AS5048B to use the quadrature encoder interface.

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This commit is contained in:
Paul A. Patience 2015-08-10 10:14:44 -04:00
parent b4bc5bd796
commit 1d0e25af30
2 changed files with 162 additions and 176 deletions
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305
drivers/sensors/as5048b.c
View File

@ -49,7 +49,7 @@
#include <nuttx/i2c.h>
#include <nuttx/sensors/as5048b.h>
#if defined(CONFIG_I2C) && defined(CONFIG_AS5048B)
#if defined(CONFIG_I2C) && defined(CONFIG_QENCODER) && defined(CONFIG_AS5048B)
/****************************************************************************
* Private Types
@ -57,8 +57,9 @@
struct as5048b_dev_s
{
FAR struct i2c_dev_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
struct qe_lowerhalf_s lower; /* AS5048B quadrature encoder lower half */
FAR struct i2c_dev_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
};
/****************************************************************************
@ -66,13 +67,13 @@ struct as5048b_dev_s
****************************************************************************/
/* I2C Helpers */
static int as5048b_readb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
static int as5048b_readu8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval);
static int as5048b_readb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
static int as5048b_readu16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, FAR uint16_t *regval);
static int as5048b_writeb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
static int as5048b_writeu8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
uint8_t regval);
static int as5048b_writeb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
static int as5048b_writeu16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, uint16_t regval);
static int as5048b_readzero(FAR struct as5048b_dev_s *priv,
FAR uint16_t *zero);
@ -85,33 +86,24 @@ static int as5048b_readang(FAR struct as5048b_dev_s *priv, FAR uint16_t *ang);
/* Character Driver Methods */
static int as5048b_open(FAR struct file *filep);
static int as5048b_close(FAR struct file *filep);
static ssize_t as5048b_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t as5048b_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int as5048b_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
static int as5048b_setup(FAR struct qe_lowerhalf_s *lower);
static int as5048b_shutdown(FAR struct qe_lowerhalf_s *lower);
static int as5048b_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos);
static int as5048b_reset(FAR struct qe_lowerhalf_s *lower);
static int as5048b_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_as5048bfops =
static const struct qe_ops_s g_qeops =
{
as5048b_open,
as5048b_close,
as5048b_read,
as5048b_write,
NULL,
as5048b_setup,
as5048b_shutdown,
as5048b_position,
as5048b_reset,
as5048b_ioctl
#ifndef CONFIG_DISABLE_POLL
, NULL
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL
#endif
};
/****************************************************************************
@ -119,17 +111,16 @@ static const struct file_operations g_as5048bfops =
****************************************************************************/
/****************************************************************************
* Name: as5048b_readb8
* Name: as5048b_readu8
*
* Description:
* Read from an 8-bit register
*
****************************************************************************/
static int as5048b_readb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
static int as5048b_readu8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval)
{
uint8_t buffer;
int ret;
/* Write the register address */
@ -144,27 +135,26 @@ static int as5048b_readb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
/* Restart and read 8 bits from the register */
ret = I2C_READ(priv->i2c, &buffer, sizeof(buffer));
ret = I2C_READ(priv->i2c, regval, sizeof(*regval));
if (ret < 0)
{
sndbg("I2C_READ failed: %d\n", ret);
return ret;
}
*regval = buffer;
sndbg("addr: %02x value: %02x ret: %d\n", regaddr, *regval, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_readb16
* Name: as5048b_readu16
*
* Description:
* Read from two 8-bit registers
*
****************************************************************************/
static int as5048b_readb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
static int as5048b_readu16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, FAR uint16_t *regval)
{
uint8_t hi, lo;
@ -172,19 +162,19 @@ static int as5048b_readb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
/* Read the high 8 bits of the 13-bit value */
ret = as5048b_readb8(priv, regaddrhi, &hi);
ret = as5048b_readu8(priv, regaddrhi, &hi);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
sndbg("as5048b_readu8 failed: %d\n", ret);
return ret;
}
/* Read the low 5 bits of the 13-bit value */
ret = as5048b_readb8(priv, regaddrlo, &lo);
ret = as5048b_readu8(priv, regaddrlo, &lo);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
sndbg("as5048b_readu8 failed: %d\n", ret);
return ret;
}
@ -195,14 +185,14 @@ static int as5048b_readb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
}
/****************************************************************************
* Name: as5048b_writeb8
* Name: as5048b_writeu8
*
* Description:
* Write from an 8-bit register
*
****************************************************************************/
static int as5048b_writeb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
static int as5048b_writeu8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
uint8_t buffer[2];
@ -228,14 +218,14 @@ static int as5048b_writeb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
}
/****************************************************************************
* Name: as5048b_writeb16
* Name: as5048b_writeu16
*
* Description:
* Write to two 8-bit registers
*
****************************************************************************/
static int as5048b_writeb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
static int as5048b_writeu16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, uint16_t regval)
{
int ret;
@ -245,19 +235,19 @@ static int as5048b_writeb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
/* Write the high 8 bits of the 13-bit value */
ret = as5048b_writeb8(priv, regaddrhi, (uint8_t)(regval >> 6));
ret = as5048b_writeu8(priv, regaddrhi, (uint8_t)(regval >> 6));
if (ret < 0)
{
sndbg("as5048b_writeb8 failed: %d\n", ret);
sndbg("as5048b_writeu8 failed: %d\n", ret);
return ret;
}
/* Write the low 5 bits of the 13-bit value */
ret = as5048b_writeb8(priv, regaddrhi, (uint8_t)regval);
ret = as5048b_writeu8(priv, regaddrhi, (uint8_t)regval);
if (ret < 0)
{
sndbg("as5048b_writeb8 failed: %d\n", ret);
sndbg("as5048b_writeu8 failed: %d\n", ret);
}
return ret;
@ -274,18 +264,15 @@ static int as5048b_writeb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
static int as5048b_readzero(FAR struct as5048b_dev_s *priv,
FAR uint16_t *zero)
{
uint16_t buffer;
int ret;
ret = as5048b_readb16(priv, AS5048B_ZEROHI_REG, AS5048B_ZEROLO_REG,
&buffer);
ret = as5048b_readu16(priv, AS5048B_ZEROHI_REG, AS5048B_ZEROLO_REG, zero);
if (ret < 0)
{
sndbg("as5048b_readb16 failed: %d\n", ret);
sndbg("as5048b_readu16 failed: %d\n", ret);
return ret;
}
*zero = buffer;
sndbg("zero: %04x ret: %d\n", *zero, ret);
return ret;
}
@ -304,10 +291,10 @@ static int as5048b_writezero(FAR struct as5048b_dev_s *priv, uint16_t zero)
sndbg("zero: %04x\n", zero);
ret = as5048b_writeb16(priv, AS5048B_ZEROHI_REG, AS5048B_ZEROLO_REG, zero);
ret = as5048b_writeu16(priv, AS5048B_ZEROHI_REG, AS5048B_ZEROLO_REG, zero);
if (ret < 0)
{
sndbg("as5048b_writeb16 failed: %d\n", ret);
sndbg("as5048b_writeu16 failed: %d\n", ret);
}
return ret;
@ -323,17 +310,15 @@ static int as5048b_writezero(FAR struct as5048b_dev_s *priv, uint16_t zero)
static int as5048b_readagc(FAR struct as5048b_dev_s *priv, FAR uint8_t *agc)
{
uint8_t buffer;
int ret;
ret = as5048b_readb8(priv, AS5048B_AGC_REG, &buffer);
ret = as5048b_readu8(priv, AS5048B_AGC_REG, agc);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
sndbg("as5048b_readu8 failed: %d\n", ret);
return ret;
}
*agc = buffer;
sndbg("agc: %02x ret: %d\n", *agc, ret);
return ret;
}
@ -348,17 +333,15 @@ static int as5048b_readagc(FAR struct as5048b_dev_s *priv, FAR uint8_t *agc)
static int as5048b_readdiag(FAR struct as5048b_dev_s *priv, FAR uint8_t *diag)
{
uint8_t buffer;
int ret;
ret = as5048b_readb8(priv, AS5048B_DIAG_REG, &buffer);
ret = as5048b_readu8(priv, AS5048B_DIAG_REG, diag);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
sndbg("as5048b_readu8 failed: %d\n", ret);
return ret;
}
*diag = buffer;
sndbg("diag: %02x ret: %d\n", *diag, ret);
return ret;
}
@ -373,17 +356,15 @@ static int as5048b_readdiag(FAR struct as5048b_dev_s *priv, FAR uint8_t *diag)
static int as5048b_readmag(FAR struct as5048b_dev_s *priv, FAR uint16_t *mag)
{
uint16_t buffer;
int ret;
ret = as5048b_readb16(priv, AS5048B_MAGHI_REG, AS5048B_MAGLO_REG, &buffer);
ret = as5048b_readu16(priv, AS5048B_MAGHI_REG, AS5048B_MAGLO_REG, mag);
if (ret < 0)
{
sndbg("as5048b_readb16 failed: %d\n", ret);
sndbg("as5048b_readu16 failed: %d\n", ret);
return ret;
}
*mag = buffer;
sndbg("mag: %04x ret: %d\n", *mag, ret);
return ret;
}
@ -398,135 +379,141 @@ static int as5048b_readmag(FAR struct as5048b_dev_s *priv, FAR uint16_t *mag)
static int as5048b_readang(FAR struct as5048b_dev_s *priv, FAR uint16_t *ang)
{
uint16_t buffer;
int ret;
ret = as5048b_readb16(priv, AS5048B_ANGHI_REG, AS5048B_ANGLO_REG, &buffer);
ret = as5048b_readu16(priv, AS5048B_ANGHI_REG, AS5048B_ANGLO_REG, ang);
if (ret < 0)
{
sndbg("as5048b_readb16 failed: %d\n", ret);
sndbg("as5048b_readu16 failed: %d\n", ret);
return ret;
}
*ang = buffer;
sndbg("ang: %04x ret: %d\n", *ang, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_open
* Name: as5048b_setup
*
* Description:
* This function is called whenever the device is opened
* This method is called when the driver is opened
*
****************************************************************************/
static int as5048b_open(FAR struct file *filep)
static int as5048b_setup(FAR struct qe_lowerhalf_s *lower)
{
return OK;
}
/****************************************************************************
* Name: as5048b_close
* Name: as5048b_shutdown
*
* Description:
* This function is called whenever the device is closed
* This method is called when the driver is closed
*
****************************************************************************/
static int as5048b_close(FAR struct file *filep)
static int as5048b_shutdown(FAR struct qe_lowerhalf_s *lower)
{
return OK;
}
/****************************************************************************
* Name: as5048b_read
* Name: as5048b_position
*
* Description:
* Return the current position measurement
*
****************************************************************************/
static ssize_t as5048b_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
static int as5048b_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos)
{
FAR struct inode *inode = filep->f_inode;
FAR struct as5048b_dev_s *priv = inode->i_private;
FAR uint16_t *ptr;
ssize_t nsamples;
ssize_t i;
int ret;
FAR struct as5048b_dev_s *priv = (FAR struct as5048b_dev_s *)lower;
uint16_t ang;
int ret;
/* How many samples were requested? */
ptr = (FAR uint16_t *)buffer;
nsamples = buflen / sizeof(*ptr);
sndbg("buflen: %u nsamples: %d\n", buflen, nsamples);
/* Get the requested number of samples */
for (i = 0; i < nsamples; i++)
ret = as5048b_readang(priv, &ang);
if (ret < 0)
{
uint16_t ang = 0;
/* Read the next uint16_t angle value */
ret = as5048b_readang(priv, &ang);
if (ret < 0)
{
sndbg("as5048b_readang failed: %d\n", ret);
return (ssize_t)ret;
}
/* Save the angle value in the user buffer */
*ptr++ = ang;
sndbg("as5048b_readang failed: %d\n", ret);
return ret;
}
return nsamples * sizeof(*ptr);
*pos = (int32_t)ang;
return ret;
}
/****************************************************************************
* Name: as5048b_write
* Name: as5048b_reset
*
* Description:
* Reset the position measurement to zero
*
****************************************************************************/
static ssize_t as5048b_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
static int as5048b_reset(FAR struct qe_lowerhalf_s *lower)
{
return -ENOSYS;
FAR struct as5048b_dev_s *priv = (FAR struct as5048b_dev_s *)lower;
uint16_t ang;
int ret;
ret = as5048b_writezero(priv, 0);
if (ret < 0)
{
sndbg("as5048b_writezero failed: %d\n", ret);
return ret;
}
ret = as5048b_readang(priv, &ang);
if (ret < 0)
{
sndbg("as5048b_readang failed: %d\n", ret);
return ret;
}
ret = as5048b_writezero(priv, ang);
if (ret < 0)
{
sndbg("as5048b_writezero failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: as5048b_ioctl
****************************************************************************/
static int as5048b_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
static int as5048b_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct as5048b_dev_s *priv = inode->i_private;
int ret = OK;
FAR struct as5048b_dev_s *priv = (FAR struct as5048b_dev_s *)lower;
int ret = OK;
switch (cmd)
{
/* Read from the zero position registers. Arg: uint16_t* pointer. */
/* Read from the zero position registers. Arg: int32_t* pointer. */
case SNIOC_READZERO:
case QEIOC_ZEROPOSITION:
{
FAR uint16_t *ptr = (FAR uint16_t *)((uintptr_t)arg);
ret = as5048b_readzero(priv, ptr);
FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg);
uint16_t zero;
DEBUGASSERT(ptr != NULL);
ret = as5048b_readzero(priv, &zero);
if (ret == OK)
{
*ptr = (int32_t)zero;
}
sndbg("zero: %04x ret: %d\n", *ptr, ret);
}
break;
/* Write to the zero position registers. Arg: uint16_t value. */
case SNIOC_WRITEZERO:
ret = as5048b_writezero(priv, (uint16_t)arg);
sndbg("zero: %04x ret: %d\n", *(uint16_t *)arg, ret);
break;
/* Read from the automatic gain control register. Arg: uint8_t* pointer. */
case SNIOC_READAGC:
case QEIOC_AUTOGAINCTL:
{
FAR uint8_t *ptr = (FAR uint8_t *)((uintptr_t)arg);
DEBUGASSERT(ptr != NULL);
ret = as5048b_readagc(priv, ptr);
sndbg("agc: %02x ret: %d\n", *ptr, ret);
}
@ -534,26 +521,33 @@ static int as5048b_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
/* Read from the diagnostics register. Arg: uint8_t* pointer. */
case SNIOC_READDIAG:
case QEIOC_DIAGNOSTICS:
{
FAR uint8_t *ptr = (FAR uint8_t *)((uintptr_t)arg);
DEBUGASSERT(ptr != NULL);
ret = as5048b_readdiag(priv, ptr);
sndbg("diag: %02x ret: %d\n", *ptr, ret);
}
break;
/* Read from the magnitude registers. Arg: uint16_t* pointer. */
/* Read from the magnitude registers. Arg: int32_t* pointer. */
case SNIOC_READMAG:
case QEIOC_MAGNITUDE:
{
FAR uint16_t *ptr = (FAR uint16_t *)((uintptr_t)arg);
ret = as5048b_readmag(priv, ptr);
FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg);
uint16_t mag;
DEBUGASSERT(ptr != NULL);
ret = as5048b_readmag(priv, &mag);
if (ret == OK)
{
*ptr = (int32_t)mag;
}
sndbg("mag: %04x ret: %d\n", *ptr, ret);
}
break;
default:
sndbg("Unrecognized cmd: %d\n", cmd);
sndbg("Unrecognized cmd: %d arg: %ld\n", cmd, arg);
ret = -ENOTTY;
break;
}
@ -566,28 +560,27 @@ static int as5048b_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
****************************************************************************/
/****************************************************************************
* Name: as5048b_register
* Name: as5048b_initialize
*
* Description:
* Register the AS5048B character device as 'devpath'.
* Initialize the AS5048B device.
*
* Input Parameters:
* devpath - The full path to the driver to register,
* for example "/dev/angle0".
* i2c - An instance of the I2C interface to use to communicate
* with the AS5048B.
* addr - The I2C address of the AS5048B.
* i2c - An I2C driver instance.
* addr - The I2C address of the AS5048B.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
* A new lower half quadrature encoder interface for the AS5048B on success;
* NULL on failure.
*
****************************************************************************/
int as5048b_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint8_t addr)
FAR struct qe_lowerhalf_s *as5048b_initialize(FAR struct i2c_dev_s *i2c,
uint8_t addr)
{
FAR struct as5048b_dev_s *priv;
int ret;
DEBUGASSERT(i2c != NULL);
/* Initialize the device's structure */
@ -595,22 +588,14 @@ int as5048b_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
if (priv == NULL)
{
sndbg("Failed to allocate instance\n");
return -ENOMEM;
return NULL;
}
priv->i2c = i2c;
priv->addr = addr;
priv->lower.ops = &g_qeops;
priv->i2c = i2c;
priv->addr = addr;
/* Register the character driver */
ret = register_driver(devpath, &g_as5048bfops, 0666, priv);
if (ret < 0)
{
sndbg("Failed to register driver: %d\n", ret);
kmm_free(priv);
}
return ret;
return &priv->lower;
}
#endif /* CONFIG_I2C && CONFIG_AS5048B */
#endif /* CONFIG_I2C && CONFIG_QENCODER && CONFIG_AS5048B */

33
include/nuttx/sensors/as5048b.h
View File

@ -41,8 +41,11 @@
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/i2c.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/i2c.h>
#include <nuttx/sensors/qencoder.h>
#if defined(CONFIG_I2C) && defined(CONFIG_QENCODER) && defined(CONFIG_AS5048B)
/****************************************************************************
* Pre-processor Definitions
@ -58,11 +61,10 @@
/* IOCTL Commands ***********************************************************/
#define SNIOC_READZERO _SNIOC(0x0001) /* Arg: uint16_t* pointer */
#define SNIOC_WRITEZERO _SNIOC(0x0002) /* Arg: uint16_t value */
#define SNIOC_READAGC _SNIOC(0x0004) /* Arg: uint8_t* pointer */
#define SNIOC_READDIAG _SNIOC(0x0005) /* Arg: uint8_t* pointer */
#define SNIOC_READMAG _SNIOC(0x0006) /* Arg: uint16_t* pointer */
#define QEIOC_ZEROPOSITION _QEIOC(QEIOC_USER+0) /* Arg: int32_t* pointer */
#define QEIOC_AUTOGAINCTL _QEIOC(QEIOC_USER+1) /* Arg: uint8_t* pointer */
#define QEIOC_DIAGNOSTICS _QEIOC(QEIOC_USER+2) /* Arg: uint8_t* pointer */
#define QEIOC_MAGNITUDE _QEIOC(QEIOC_USER+3) /* Arg: int32_t* pointer */
/* Resolution ***************************************************************/
@ -108,29 +110,28 @@ extern "C"
#endif
/****************************************************************************
* Name: as5048b_register
* Name: as5048b_initialize
*
* Description:
* Register the AS5048B character device as 'devpath'.
* Initialize the AS5048B device.
*
* Input Parameters:
* devpath - The full path to the driver to register,
* for example "/dev/angle0".
* i2c - An instance of the I2C interface to use to communicate
* with the AS5048B.
* addr - The I2C address of the AS5048B.
* i2c - An I2C driver instance.
* addr - The I2C address of the AS5048B.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
* A new lower half quadrature encoder interface for the AS5048B on success;
* NULL on failure.
*
****************************************************************************/
int as5048b_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint8_t addr);
FAR struct qe_lowerhalf_s *as5048b_initialize(FAR struct i2c_dev_s *i2c,
uint8_t addr);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_I2C && CONFIG_QENCODER && CONFIG_AS5048B */
#endif /* __INCLUDE_NUTTX_SENSORS_AS5048B */