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Merged in young-mu/nuttx (pull request #135)

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Add QEI lower-half driver impl. for Tiva series chip
This commit is contained in:
Gregory Nutt 2016-09-21 09:16:57 -06:00
commit 28b4082020
6 changed files with 735 additions and 3 deletions
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4
arch/arm/src/tiva/Make.defs
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@ -105,6 +105,10 @@ ifeq ($(CONFIG_TIVA_PWM),y)
CHIP_CSRCS += tiva_pwm.c
endif
ifeq ($(CONFIG_TIVA_QEI),y)
CHIP_CSRCS += tiva_qencoder.c
endif
ifeq ($(CONFIG_TIVA_TIMER),y)
CHIP_CSRCS += tiva_timerlib.c
ifeq ($(CONFIG_TIVA_TIMER32_PERIODIC),y)

98
arch/arm/src/tiva/chip/tiva_qencoder.h Normal file
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@ -0,0 +1,98 @@
/************************************************************************************
* arch/arm/src/tiva/chip/tiva_qencoder.h
*
* Copyright (C) 2016 Young Mu. All rights reserved.
* Author: Young Mu <young.mu@aliyun.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __ARCH_ARM_SRC_TIVA_CHIP_TIVA_QENCODER_H
#define __ARCH_ARM_SRC_TIVA_CHIP_TIVA_QENCODER_H
/************************************************************************************
* Included Files
************************************************************************************/
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
#define TIVA_QEI_CTL_OFFSET (0x0) /* QEI Control */
#define TIVA_QEI_STAT_OFFSET (0x4) /* QEI Status */
#define TIVA_QEI_POS_OFFSET (0x8) /* QEI Position */
#define TIVA_QEI_MAXPOS_OFFSET (0xc) /* QEI Maximum Position */
#define TIVA_QEI_LOAD_OFFSET (0x10) /* QEI Timer Load */
#define TIVA_QEI_TIME_OFFSET (0x14) /* QEI Timer */
#define TIVA_QEI_COUNT_OFFSET (0x18) /* QEI Velocity Counter */
#define TIVA_QEI_SPEED_OFFSET (0x1c) /* QEI Velocity */
#define TIVA_QEI_INTEN_OFFSET (0x20) /* QEI Interrupt Enable */
#define TIVA_QEI_RIS_OFFSET (0x24) /* QEI Raw Interrupt Status */
#define TIVA_QEI_ISC_OFFSET (0x28) /* QEI Interrupt Status and Clear */
#define TIVA_QEI_CTL_FILTCNT (16) /* (Bit) Input Filter Prescale Count */
#define TIVA_QEI_CTL_FILTEN (13) /* (Bit) Enable Input Filter */
#define TIVA_QEI_CTL_STALLEN (12) /* (Bit) Stall QEI */
#define TIVA_QEI_CTL_INVI (11) /* (Bit) Invert Index Pulse */
#define TIVA_QEI_CTL_INVB (10) /* (Bit) Invert PhB */
#define TIVA_QEI_CTL_INVA (9) /* (Bit) Invert PhA */
#define TIVA_QEI_CTL_SIGMODE (2) /* (Bit) Signal Mode */
#define TIVA_QEI_CTL_SWAP (1) /* (Bit) Swap Signals */
#define TIVA_QEI_CTL_VELDIV (6) /* (Bit) Predivide Velocity */
#define VELDIV_1 (0x0) /* (Value) Divided by 1 */
#define VELDIV_2 (0x1) /* (Value) Divided by 2 */
#define VELDIV_4 (0x2) /* (Value) Divided by 4 */
#define VELDIV_8 (0x3) /* (Value) Divided by 8 */
#define VELDIV_16 (0x4) /* (Value) Divided by 16 */
#define VELDIV_32 (0x5) /* (Value) Divided by 32 */
#define VELDIV_64 (0x6) /* (Value) Divided by 64 */
#define VELDIV_128 (0x7) /* (Value) Divided by 128 */
#define TIVA_QEI_CTL_VELEN (5) /* (Bit) Capture Velocity */
#define VELEN_DISABLE (0) /* (value) Disable Velocity Capture */
#define VELEN_ENABLE (1) /* (value) Enable Velocity Capture */
#define TIVA_QEI_CTL_RESMODE (4) /* (Bit) Reset Mode */
#define RESMODE_BY_MAXPOS (0) /* (Value) Reset by MAXPOS */
#define RESMODE_BY_INDEX_PULSE (1) /* (Value) Reset by Index Pulse */
#define TIVA_QEI_CTL_CAPMODE (3) /* (Bit) Capture Mode */
#define CAPMODE_ONLY_PHA (0) /* (Value) Count PhA both edges */
#define CAPMODE_PHA_AND_PHB (1) /* (Value) Count PhA and PhB both edges */
#define TIVA_QEI_CTL_ENABLE (0) /* (Bit) Enable QEI */
#define QEI_DISABLE (0) /* (Value) Disable QEI */
#define QEI_ENABLE (1) /* (Value) Enable QEI */
#define TIVA_QEI_STAT_DIRECTION (1) /* (Bit) Direction of Rotation */
#define DIRECTION_FORWARD (0) /* (Value) Forward */
#define DIRECTION_BACKWARD (1) /* (Value) Backward */
#endif /* __ARCH_ARM_SRC_TIVA_CHIP_TIVA_QENCODER_H */

4
arch/arm/src/tiva/chip/tm4c129_syscontrol.h
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@ -1901,7 +1901,9 @@
/* QE Interface Power Control */
#define SYSCON_PCQEI_P0 (1 << 0) /* Bit 0: QEI Module 0 Power Control */
#define SYSCON_PCQEI(n) (1 << (n)) /* Bit n: QEI module n Power Control */
# define SYSCON_PCQEI_P0 (1 << 0) /* Bit 0: QEI Module 0 Power Control */
# define SYSCON_PCQEI_P1 (1 << 1) /* Bit 1: QEI Module 1 Power Control */
/* EEPROM Power Control */

500
arch/arm/src/tiva/tiva_qencoder.c Normal file
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@ -0,0 +1,500 @@
/************************************************************************************
* arch/arm/src/tiva/tiva_qencoder.c
*
* Copyright (C) 2016 Young Mu. All rights reserved.
* Author: Young Mu <young.mu@aliyun.com>
*
* The basic structure of this driver derives in spirit (if nothing more)
* from the NuttX STM32 QEI driver which has:
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Authors: Gregory Nutt <gnutt@nuttx.org>
* Diego Sanchez <dsanchez@nx-engineering.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <nuttx/sensors/qencoder.h>
#include "up_arch.h"
#include "tiva_gpio.h"
#include "tiva_qencoder.h"
#include "tiva_enablepwr.h"
#include "tiva_enableclks.h"
#include "chip/tiva_qencoder.h"
#include "chip/tiva_pinmap.h"
#include "chip/tm4c_memorymap.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
#define qeierr(fmt, args...) printf("%s(%d): " fmt, __FUNCTION__, __LINE__, ##args);
#ifndef CONFIG_DEBUG
# undef CONFIG_DEBUG_QE
#endif
#ifdef CONFIG_DEBUG_QEI
# define qeidbg dbg
# ifdef CONFIG_DEBUG_VERBOSE
# define qeivdbg vdbg
# else
# define qeivdbg(x...)
# endif
#else
# define qeidbg(x...)
# define qeivdbg(x...)
#endif
/************************************************************************************
* Private Types
************************************************************************************/
struct tiva_qe_s
{
const struct qe_ops_s *ops;
uint8_t id;
uintptr_t base;
uint32_t idx;
uint32_t pha;
uint32_t phb;
uint32_t pulses;
};
/************************************************************************************
* Private Function Prototypes
************************************************************************************/
static inline void tiva_qe_putreg(struct tiva_qe_s *qe, unsigned int offset, uint32_t regval);
static inline uint32_t tiva_qe_getreg(struct tiva_qe_s *qe, unsigned int offset);
static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower);
static int tiva_qe_shutdown(FAR struct qe_lowerhalf_s *lower);
static int tiva_qe_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos);
static int tiva_qe_reset(FAR struct qe_lowerhalf_s *lower);
static int tiva_qe_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg);
static int tiva_qe_direction(struct tiva_qe_s *qe, unsigned long *dir);
static int tiva_qe_velocity(struct tiva_qe_s *qe, unsigned long *vel);
/************************************************************************************
* Private Data
************************************************************************************/
static const struct qe_ops_s g_qe_ops =
{
.setup = tiva_qe_setup,
.shutdown = tiva_qe_shutdown,
.position = tiva_qe_position,
.reset = tiva_qe_reset,
.ioctl = tiva_qe_ioctl,
};
#ifdef CONFIG_TIVA_QEI0
static struct tiva_qe_s g_qe0 =
{
.ops = &g_qe_ops,
.id = 0,
.base = TIVA_QEI0_BASE,
.idx = GPIO_QEI0_IDX,
.pha = GPIO_QEI0_PHA,
.phb = GPIO_QEI0_PHB,
# ifdef CONFIG_TIVA_QEI0_PULSES
.pulses = CONFIG_TIVA_QEI0_PULSES,
# else
.pulses = 0,
# endif
};
#endif
#ifdef CONFIG_TIVA_QEI1
static struct tiva_qe_s g_qe1 =
{
.ops = &g_qe_ops,
.id = 1,
.base = TIVA_QEI1_BASE,
.idx = GPIO_QEI1_IDX,
.pha = GPIO_QEI1_PHA,
.phb = GPIO_QEI1_PHB,
# ifdef CONFIG_TIVA_QEI1_PULSES
.pulses = CONFIG_TIVA_QEI1_PUSLSE,
# else
.pulses = 0,
# endif
};
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Name: tiva_qe_getreg
*
* Description:
* Get a 32-bit register value by offset
*
************************************************************************************/
static inline uint32_t tiva_qe_getreg(struct tiva_qe_s *qe, unsigned int offset)
{
uintptr_t regaddr = qe->base + offset;
return getreg32(regaddr);
}
/************************************************************************************
* Name: tiva_qe_putreg
*
* Description:
* Put a 32-bit register value by offset
*
************************************************************************************/
static inline void tiva_qe_putreg(struct tiva_qe_s *qe, unsigned int offset, uint32_t regval)
{
uintptr_t regaddr = qe->base + offset;
putreg32(regval, regaddr);
}
/****************************************************************************
* Name: qe_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
* will be configured and initialized the device so that it is ready for
* use. It will not, however, output pulses until the start method is
* called.
*
* Input parameters:
* lower - A reference to the lower half QEI driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower)
{
uint32_t ctlreg = 0;
FAR struct tiva_qe_s *qe = (FAR struct tiva_qe_s *)lower;
qeidbg("setup QEI %d\n", qe->id);
/* Enable GPIO port, GPIO pin type and GPIO alternate function */
/* (refer to TM4C1294NC 24.4.2-4) */
int ret;
ret = tiva_configgpio(qe->idx);
if (ret < 0)
{
qeierr("tiva_configgpio failed (%x)\n", qe->idx);
return -1;
}
ret = tiva_configgpio(qe->pha);
if (ret < 0)
{
qeierr("tiva_configgpio failed (%x)\n", qe->pha);
return -1;
}
ret = tiva_configgpio(qe->phb);
if (ret < 0)
{
qeierr("tiva_configgpio failed (%x)\n", qe->phb);
return -1;
}
/* Set reset mode */
/* (refer to TM4C1294NC 24.4.5.1) */
if (qe->pulses == 0) {
ctlreg = RESMODE_BY_INDEX_PULSE << TIVA_QEI_CTL_RESMODE;
} else {
ctlreg = RESMODE_BY_MAXPOS << TIVA_QEI_CTL_RESMODE;
}
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set capture mode (PHA_AND_PHB) */
/* (refer to TM4C1294NC 24.4.5.1) */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= CAPMODE_PHA_AND_PHB << TIVA_QEI_CTL_CAPMODE;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set maxpos */
/* (refer to TM4C1294NC 24.4.5.2) */
tiva_qe_putreg(qe, TIVA_QEI_MAXPOS_OFFSET, qe->pulses * 4);
/* Enable velocity capture */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= VELEN_ENABLE << TIVA_QEI_CTL_VELEN;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set prediv (1) */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= VELDIV_1 << TIVA_QEI_CTL_VELDIV;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set period load (1s for TM4C1294NC) */
tiva_qe_putreg(qe, TIVA_QEI_LOAD_OFFSET, 120000000);
/* Enable the QEI */
/* (refer to TM4C1294NC 24.4.6) */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= QEI_ENABLE << TIVA_QEI_CTL_ENABLE;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
return OK;
}
/****************************************************************************
* Name: qe_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* stop data collection, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*
* Input parameters:
* lower - A reference to the lower half QEI driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_shutdown(FAR struct qe_lowerhalf_s *lower)
{
FAR struct tiva_qe_s *qe = (FAR struct tiva_qe_s *)lower;
qeidbg("shutdown QEI %d\n", qe->id);
/* Disable the QEI */
tiva_qe_putreg(qe, TIVA_SYSCON_SRQEI_OFFSET, SYSCON_SRQEI(qe->id));
return OK;
}
/****************************************************************************
* Name: tiva_qe_reset
*
* Description:
* Reset the position measurement to zero.
*
* Input parameters:
* lower - A reference to the lower half QEI driver state structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_reset(FAR struct qe_lowerhalf_s *lower)
{
FAR struct tiva_qe_s *qe = (FAR struct tiva_qe_s *)lower;
qeidbg("reset QEI %d\n", qe->id);
tiva_qe_putreg(qe, TIVA_QEI_POS_OFFSET, 0);
return OK;
}
/****************************************************************************
* Name: tiva_qe_position
*
* Description:
* Return the position mesaured by QEI.
*
* Input parameters:
* lower - A reference to the lower half QEI driver state structure
* pos - pointer to the position returned
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos)
{
FAR struct tiva_qe_s *qe = (FAR struct tiva_qe_s *)lower;
qeidbg("get position of QEI %d\n", qe->id);
/* (refer to TM4C1294NC 24.4.8) */
*pos = (int32_t)tiva_qe_getreg(qe, TIVA_QEI_POS_OFFSET);
return OK;
}
/****************************************************************************
* Name: tiva_qe_ioctl
*
* Description:
* Lower-half logic may support platform-specific ioctl commands
*
* Input parameters:
* lower - A reference to the lower half QEI driver state structure
* cmd - The ioctl command
* arg - The argument accompanying the ioctl command
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg)
{
FAR struct tiva_qe_s *qe = (FAR struct tiva_qe_s *)lower;
qeidbg("ioctl QEI %d\n", qe->id);
switch (cmd)
{
case QEIOC_DIRECTION:
tiva_qe_direction(qe, (unsigned long *)arg);
break;
case QEIOC_VELOCITY:
tiva_qe_velocity(qe, (unsigned long *)arg);
break;
default:
qeierr("invalid cmd %x\n", cmd);
break;
}
return OK;
}
/****************************************************************************
* Name: tiva_qe_direction
*
* Description:
* Return the direction mesaured by QEI.
*
* Input parameters:
* qe - A reference to the TIVA QEI structure
* dir - pointer to the direction returned
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_direction(FAR struct tiva_qe_s *qe, unsigned long *dir)
{
qeidbg("get direction of QEI %d\n", qe->id);
uint32_t statreg;
statreg = tiva_qe_getreg(qe, TIVA_QEI_STAT_OFFSET);
int32_t dirbit;
dirbit = (statreg & (1 << TIVA_QEI_STAT_DIRECTION)) == DIRECTION_FORWARD ? 1 : -1;
*dir = dirbit;
return OK;
}
/****************************************************************************
* Name: tiva_qe_direction
*
* Description:
* Return the velocity mesaured by QEI.
*
* Input parameters:
* qe - A reference to the TIVA QEI structure
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_velocity(FAR struct tiva_qe_s *qe, unsigned long *vel)
{
qeidbg("get direction of QEI %d\n", qe->id);
*vel = (int32_t)tiva_qe_getreg(qe, TIVA_QEI_SPEED_OFFSET);
return OK;
}
/************************************************************************************
* Name: tiva_qei_initialize
*
* Description:
* Enable power and clock for quadrature encoder interface. This function
* must be called from board-specific logic.
*
* Input Parameters:
* id - A number identifying certain QEI.
*
* Returned Value:
* On success, a pointer to the SAMA5 lower half QEI driver is returned.
* NULL is returned on any failure.
*
************************************************************************************/
FAR struct qe_lowerhalf_s *tiva_qei_initialize(int id)
{
assert(id >= 0);
FAR struct tiva_qe_s *qe;
FAR struct qe_lowerhalf_s *lower;
switch (id)
{
#ifdef CONFIG_TIVA_QEI0
case 0:
qe = &g_qe0;
break;
#endif
#ifdef CONFIG_TIVA_QEI1
case 1:
qe = &g_qe1;
break;
#endif
default:
qeierr("ERROR: invalid QEI %d\n", id);
return NULL;
}
/* Enable QEI clock (refer to TM4C1294NC 24.4.1) */
tiva_qei_enablepwr(qe->id);
tiva_qei_enableclk(qe->id);
/* Make sure that the QEI enable bit has been cleared */
lower = (FAR struct qe_lowerhalf_s *)qe;
tiva_qe_shutdown(lower);
return lower;
}

58
arch/arm/src/tiva/tiva_qencoder.h Normal file
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@ -0,0 +1,58 @@
/************************************************************************************
* arch/arm/src/tiva/tiva_qencoder.h
*
* Copyright (C) 2016 Young Mu. All rights reserved.
* Author: Young Mu <young.mu@aliyun.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H
#define __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/sensors/qencoder.h>
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
#define QEIOC_DIRECTION _QEIOC(QEIOC_USER)
#define QEIOC_VELOCITY _QEIOC(QEIOC_USER+1)
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
FAR struct qe_lowerhalf_s *tiva_qei_initialize(int id);
#endif /* __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H */

74
configs/tm4c1294-launchpad/src/tm4c_bringup.c
View File

@ -50,6 +50,7 @@
#include "tiva_i2c.h"
#include "tiva_pwm.h"
#include "tiva_qencoder.h"
#include "tm4c1294-launchpad.h"
/****************************************************************************
@ -64,9 +65,16 @@
# define HAVE_PWM
#endif
#ifdef CONFIG_TM4C1294_LAUNCHPAD_QEI
# define HAVE_QEI
#endif
#define PWM_PATH_FMT "/dev/pwm%d"
#define PWM_PATH_FMTLEN (10)
#define QEI_PATH_FMT "/dev/qei%d"
#define QEI_PATH_FMTLEN (10)
/****************************************************************************
* Private Functions
****************************************************************************/
@ -172,7 +180,7 @@ void tm4c_pwm_register(int channel)
dev = tiva_pwm_initialize(channel);
if (dev == NULL)
{
pwmerr("ERROR: Failed to get PWM%d interface\n", channel);
_err("ERROR: Failed to get PWM%d interface\n", channel);
}
else
{
@ -180,7 +188,7 @@ void tm4c_pwm_register(int channel)
ret = pwm_register(pwm_path, dev);
if (ret < 0)
{
pwmerr("ERROR: Failed to register PWM%d driver: %d\n",
_err("ERROR: Failed to register PWM%d driver: %d\n",
channel, ret);
}
}
@ -225,6 +233,62 @@ static void tm4c_pwm(void)
}
#endif
/****************************************************************************
* Name: tm4c_qei_register
*
* Description:
* Register a QEI dev file with the upper_level QEI driver.
*
* Input Parameters:
* id - A number identifying the QEI.
*
* Returned Value:
* None.
*
****************************************************************************/
void tm4c_qei_register(int id)
{
FAR struct qe_lowerhalf_s *dev;
int ret;
char qe_path[QEI_PATH_FMTLEN];
dev = tiva_qei_initialize(id);
if (dev == NULL)
{
_err("ERROR: Failed to get QEI %d\n", id);
}
else
{
snprintf(qe_path, QEI_PATH_FMTLEN, QEI_PATH_FMT, id);
ret = qe_register(qe_path, dev);
if (ret < 0)
{
_err("ERROR: Failed to register QEI %d driver: %d\n", id, ret);
}
}
}
/****************************************************************************
* Name: tm4c_qei
*
* Description:
* Register QEI drivers for the QEI tool.
*
****************************************************************************/
#ifdef HAVE_QEI
static void tm4c_qei(void)
{
#ifdef CONFIG_TIVA_QEI0
tm4c_qei_register(0);
#endif
#ifdef CONFIG_TIVA_QEI1
tm4c_qei_register(1);
#endif
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
@ -253,6 +317,12 @@ int tm4c_bringup(void)
tm4c_pwm();
#endif
#ifdef HAVE_QEI
/* Register QEI drivers */
tm4c_qei();
#endif
#ifdef HAVE_TIMER
/* Initialize the timer driver */