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imxrt/encoder: add support for index position capture

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This commit enhances imxrt encoder driver with index capture support.
The index is captured when the index interrupt occurs and can be passed
to application layer with QEIOC_GETINDEX ioctl call.

Signed-off-by: Michal Lenc <michallenc@seznam.cz>
This commit is contained in:
Michal Lenc 2022-09-02 14:36:47 +02:00 committed by Xiang Xiao
parent 8e2b4576bf
commit 23b27419e2
2 changed files with 159 additions and 6 deletions
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16
arch/arm/src/imxrt/Kconfig
View File

@ -1025,6 +1025,10 @@ config ENC1_HNE
endif # ENC1_HIP
config ENC1_XIE
bool "INDEX signal position capture"
default n
config ENC1_XIP
bool "INDEX signal initializes position counter"
default n
@ -1100,6 +1104,10 @@ config ENC2_HNE
endif # ENC2_HIP
config ENC2_XIE
bool "INDEX signal position capture"
default n
config ENC2_XIP
bool "INDEX signal initializes position counter"
default n
@ -1177,6 +1185,10 @@ config ENC3_HNE
endif # ENC3_HIP
config ENC3_XIE
bool "INDEX signal position capture"
default n
config ENC3_XIP
bool "INDEX signal initializes position counter"
default n
@ -1252,6 +1264,10 @@ config ENC4_HNE
endif # ENC4_HIP
config ENC4_XIE
bool "INDEX signal position capture"
default n
config ENC4_XIP
bool "INDEX signal initializes position counter"
default n

149
arch/arm/src/imxrt/imxrt_enc.c
View File

@ -80,6 +80,10 @@
# define CONFIG_ENC1_HNE 0
#endif
#ifndef CONFIG_ENC1_XIE
# define CONFIG_ENC1_XIE 0
#endif
#ifndef CONFIG_ENC1_XIP
# define CONFIG_ENC1_XIP 0
#endif
@ -121,6 +125,10 @@
# define CONFIG_ENC2_HNE 0
#endif
#ifndef CONFIG_ENC2_XIE
# define CONFIG_ENC2_XIE 0
#endif
#ifndef CONFIG_ENC2_XIP
# define CONFIG_ENC2_XIP 0
#endif
@ -162,6 +170,10 @@
# define CONFIG_ENC3_HNE 0
#endif
#ifndef CONFIG_ENC3_XIE
# define CONFIG_ENC3_XIE 0
#endif
#ifndef CONFIG_ENC3_XIP
# define CONFIG_ENC3_XIP 0
#endif
@ -203,6 +215,10 @@
# define CONFIG_ENC4_HNE 0
#endif
#ifndef CONFIG_ENC4_XIE
# define CONFIG_ENC4_XIE 0
#endif
#ifndef CONFIG_ENC4_XIP
# define CONFIG_ENC4_XIP 0
#endif
@ -236,6 +252,7 @@
#define XNE_SHIFT (3)
#define REV_SHIFT (4)
#define MOD_SHIFT (5)
#define XIE_SHIFT (6)
/****************************************************************************
* Private Types
@ -246,6 +263,7 @@
struct imxrt_qeconfig_s
{
uint32_t base; /* Register base address */
uint32_t irq; /* Encoder interrupt */
uint32_t init_val; /* Value to initialize position counters to */
uint32_t modulus; /* Modulus to use when modulo counting is enabled */
uint16_t in_filt_per; /* Period for input filter sampling in # of periph
@ -258,13 +276,18 @@ struct imxrt_qeconfig_s
* will reinitialize the position counter. Bits 4-0:
* [MOD, REV, XNE, XIP, HNE, HIP]
*/
#ifdef CONFIG_DEBUG_SENSORS
bool tst_dir_adv; /* Whether to generate down/up test signals */
uint8_t tst_period; /* Period of PHASE pulses in # of periph clock cycles */
#endif
};
struct imxrt_qedata_s
{
int32_t index_pos; /* Last position of index occurance */
uint32_t index_cnt; /* Number of index occurance */
};
/* ENC Device Private Data */
struct imxrt_enc_lowerhalf_s
@ -277,10 +300,11 @@ struct imxrt_enc_lowerhalf_s
/* IMXRT driver-specific fields: */
const struct imxrt_qeconfig_s *config; /* static configuration */
sem_t sem_excl; /* Mutual exclusion semaphore to
* ensure atomic 32-bit reads.
*/
FAR const struct imxrt_qeconfig_s *config; /* static configuration */
struct qe_index_s *data;
sem_t sem_excl; /* Mutual exclusion semaphore to
* ensure atomic 32-bit reads.
*/
};
/****************************************************************************
@ -312,6 +336,8 @@ static void imxrt_enc_modulo_enable(struct imxrt_enc_lowerhalf_s *priv,
uint32_t modulus);
static void imxrt_enc_modulo_disable(struct imxrt_enc_lowerhalf_s *priv);
static int imxrt_enc_index(int irq, void *context, FAR void *arg);
#ifdef CONFIG_DEBUG_SENSORS
static int imxrt_enc_test_gen(struct imxrt_enc_lowerhalf_s *priv,
uint16_t value);
@ -350,12 +376,14 @@ static const struct qe_ops_s g_qecallbacks =
static const struct imxrt_qeconfig_s imxrt_enc1_config =
{
.base = IMXRT_ENC1_BASE,
.irq = IMXRT_IRQ_ENC1,
.init_val = CONFIG_ENC1_INITVAL,
.modulus = CONFIG_ENC1_MODULUS,
.in_filt_per = CONFIG_ENC1_FILTPER,
.in_filt_cnt = CONFIG_ENC1_FILTCNT,
.init_flags = CONFIG_ENC1_HIP << HIP_SHIFT |
CONFIG_ENC1_HNE << HNE_SHIFT |
CONFIG_ENC1_XIE << XIE_SHIFT |
CONFIG_ENC1_XIP << XIP_SHIFT |
CONFIG_ENC1_XNE << XNE_SHIFT |
CONFIG_ENC1_DIR << REV_SHIFT |
@ -367,10 +395,18 @@ static const struct imxrt_qeconfig_s imxrt_enc1_config =
#endif
};
static struct qe_index_s imxrt_enc1_data =
{
.qenc_pos = 0,
.indx_pos = 0,
.indx_cnt = 0,
};
static struct imxrt_enc_lowerhalf_s imxrt_enc1_priv =
{
.ops = &g_qecallbacks,
.ops = &g_qecallbacks,
.config = &imxrt_enc1_config,
.data = &imxrt_enc1_data,
};
#endif
@ -378,12 +414,14 @@ static struct imxrt_enc_lowerhalf_s imxrt_enc1_priv =
static const struct imxrt_qeconfig_s imxrt_enc2_config =
{
.base = IMXRT_ENC2_BASE,
.irq = IMXRT_IRQ_ENC2,
.init_val = CONFIG_ENC2_INITVAL,
.modulus = CONFIG_ENC2_MODULUS,
.in_filt_per = CONFIG_ENC2_FILTPER,
.in_filt_cnt = CONFIG_ENC2_FILTCNT,
.init_flags = CONFIG_ENC2_HIP << HIP_SHIFT |
CONFIG_ENC2_HNE << HNE_SHIFT |
CONFIG_ENC2_XIE << XIE_SHIFT |
CONFIG_ENC2_XIP << XIP_SHIFT |
CONFIG_ENC2_XNE << XNE_SHIFT |
CONFIG_ENC2_DIR << REV_SHIFT |
@ -395,10 +433,18 @@ static const struct imxrt_qeconfig_s imxrt_enc2_config =
#endif
};
static struct qe_index_s imxrt_enc2_data =
{
.qenc_pos = 0,
.indx_pos = 0,
.indx_cnt = 0,
};
static struct imxrt_enc_lowerhalf_s imxrt_enc2_priv =
{
.ops = &g_qecallbacks,
.config = &imxrt_enc2_config,
.data = &imxrt_enc2_data,
};
#endif
@ -406,12 +452,14 @@ static struct imxrt_enc_lowerhalf_s imxrt_enc2_priv =
static const struct imxrt_qeconfig_s imxrt_enc3_config =
{
.base = IMXRT_ENC3_BASE,
.irq = IMXRT_IRQ_ENC3,
.init_val = CONFIG_ENC3_INITVAL,
.modulus = CONFIG_ENC3_MODULUS,
.in_filt_per = CONFIG_ENC3_FILTPER,
.in_filt_cnt = CONFIG_ENC3_FILTCNT,
.init_flags = CONFIG_ENC3_HIP << HIP_SHIFT |
CONFIG_ENC3_HNE << HNE_SHIFT |
CONFIG_ENC3_XIE << XIE_SHIFT |
CONFIG_ENC3_XIP << XIP_SHIFT |
CONFIG_ENC3_XNE << XNE_SHIFT |
CONFIG_ENC3_DIR << REV_SHIFT |
@ -423,10 +471,18 @@ static const struct imxrt_qeconfig_s imxrt_enc3_config =
#endif
};
static struct qe_index_s imxrt_enc3_data =
{
.qenc_pos = 0,
.indx_pos = 0,
.indx_cnt = 0,
};
static struct imxrt_enc_lowerhalf_s imxrt_enc3_priv =
{
.ops = &g_qecallbacks,
.config = &imxrt_enc3_config,
.data = &imxrt_enc3_data,
};
#endif
@ -434,12 +490,14 @@ static struct imxrt_enc_lowerhalf_s imxrt_enc3_priv =
static const struct imxrt_qeconfig_s imxrt_enc4_config =
{
.base = IMXRT_ENC4_BASE,
.irq = IMXRT_IRQ_ENC4,
.init_val = CONFIG_ENC4_INITVAL,
.modulus = CONFIG_ENC4_MODULUS,
.in_filt_per = CONFIG_ENC4_FILTPER,
.in_filt_cnt = CONFIG_ENC4_FILTCNT,
.init_flags = CONFIG_ENC4_HIP << HIP_SHIFT |
CONFIG_ENC4_HNE << HNE_SHIFT |
CONFIG_ENC4_XIE << XIE_SHIFT |
CONFIG_ENC4_XIP << XIP_SHIFT |
CONFIG_ENC4_XNE << XNE_SHIFT |
CONFIG_ENC4_DIR << REV_SHIFT |
@ -451,10 +509,18 @@ static const struct imxrt_qeconfig_s imxrt_enc4_config =
#endif
};
static struct qe_index_s imxrt_enc4_data =
{
.qenc_pos = 0,
.indx_pos = 0,
.indx_cnt = 0,
};
static struct imxrt_enc_lowerhalf_s imxrt_enc4_priv =
{
.ops = &g_qecallbacks,
.config = &imxrt_enc4_config,
.data = &imxrt_enc4_data,
};
#endif
@ -640,6 +706,15 @@ static int imxrt_enc_reconfig(struct imxrt_enc_lowerhalf_s *priv,
clear |= ENC_CTRL_HNE;
}
if ((args >> XIE_SHIFT) & 1)
{
set |= ENC_CTRL_XIE;
}
else
{
clear |= ENC_CTRL_XIE;
}
if ((args >> XIP_SHIFT) & 1)
{
set |= ENC_CTRL_XIP;
@ -752,6 +827,41 @@ static void imxrt_enc_modulo_disable(struct imxrt_enc_lowerhalf_s *priv)
imxrt_enc_modifyreg16(priv, IMXRT_ENC_CTRL2_OFFSET, ENC_CTRL2_MOD, 0);
}
/****************************************************************************
* Name: imxrt_enc_index
*
* Description:
* Get the index position and increments index count.
*
****************************************************************************/
static int imxrt_enc_index(int irq, void *context, FAR void *arg)
{
FAR struct imxrt_enc_lowerhalf_s *priv =
(FAR struct imxrt_enc_lowerhalf_s *)arg;
FAR const struct imxrt_qeconfig_s *config = priv->config;
FAR struct qe_index_s *data = priv->data;
uint16_t regval = getreg16(config->base + IMXRT_ENC_CTRL_OFFSET);
if ((regval & ENC_CTRL_XIRQ) != 0)
{
/* Clear the interrupt */
regval |= ENC_CTRL_XIRQ;
putreg16(regval, config->base + IMXRT_ENC_CTRL_OFFSET);
/* Get index position */
imxrt_position(arg, &data->indx_pos);
/* Increment index count */
priv->data->indx_cnt += 1;
}
return OK;
}
#ifdef CONFIG_DEBUG_SENSORS
/****************************************************************************
@ -867,6 +977,18 @@ static int imxrt_setup(struct qe_lowerhalf_s *lower)
imxrt_enc_putreg16(priv, IMXRT_ENC_TST_OFFSET, regval);
#endif
if ((config->init_flags && XIE_SHIFT) == 1)
{
ret = irq_attach(config->irq, imxrt_enc_index, priv);
if (ret < 0)
{
snerr("ERROR: irq_attach failed: %d\n", ret);
return ret;
}
up_enable_irq(config->irq);
}
/* Control and Control 2 register */
regval = ENC_CTRL_SWIP;
@ -874,6 +996,7 @@ static int imxrt_setup(struct qe_lowerhalf_s *lower)
regval |= ((config->init_flags >> HIP_SHIFT) & 1) ? ENC_CTRL_HIP : 0;
regval |= ((config->init_flags >> HNE_SHIFT) & 1) ? ENC_CTRL_HNE : 0;
regval |= ((config->init_flags >> XIP_SHIFT) & 1) ? ENC_CTRL_XIP : 0;
regval |= ((config->init_flags >> XIE_SHIFT) & 1) ? ENC_CTRL_XIE : 0;
regval |= ((config->init_flags >> XNE_SHIFT) & 1) ? ENC_CTRL_XNE : 0;
imxrt_enc_putreg16(priv, IMXRT_ENC_CTRL_OFFSET, regval);
@ -913,6 +1036,15 @@ static int imxrt_shutdown(struct qe_lowerhalf_s *lower)
imxrt_enc_putreg16(priv, IMXRT_ENC_TST_OFFSET, 0);
#endif
/* Disable interrupts if used */
if ((priv->config->init_flags && XIE_SHIFT) == 1)
{
up_disable_irq(priv->config->irq);
irq_detach(priv->config->irq);
}
imxrt_enc_putreg16(priv, IMXRT_ENC_FILT_OFFSET, 0);
imxrt_enc_putreg16(priv, IMXRT_ENC_LINIT_OFFSET, 0);
imxrt_enc_putreg16(priv, IMXRT_ENC_UINIT_OFFSET, 0);
@ -1027,6 +1159,7 @@ static int imxrt_ioctl(struct qe_lowerhalf_s *lower, int cmd,
unsigned long arg)
{
struct imxrt_enc_lowerhalf_s *priv = (struct imxrt_enc_lowerhalf_s *)lower;
FAR struct qe_index_s *data = priv->data;
switch (cmd)
{
/* QEIOC_POSDIFF:
@ -1055,6 +1188,10 @@ static int imxrt_ioctl(struct qe_lowerhalf_s *lower, int cmd,
case QEIOC_RESETATMAX:
imxrt_enc_modulo_disable(priv);
break;
case QEIOC_GETINDEX:
imxrt_position(lower, &data->qenc_pos);
*((struct qe_index_s *)arg) = *data;
break;
#ifdef CONFIG_DEBUG_SENSORS
case QEIOC_TEST_GEN: