From 41101abac031508ffcd854368271a994aadcbaee Mon Sep 17 00:00:00 2001 From: patacongo Date: Tue, 14 Feb 2012 15:32:57 +0000 Subject: [PATCH] Add an infrastructure to support a generic quadrature encoder driver git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4390 42af7a65-404d-4744-a932-0658087f49c3 --- arch/arm/src/stm32/Make.defs | 4 + arch/arm/src/stm32/stm32_qencoder.c | 222 ++++++++++++++++++++++++++++ arch/arm/src/stm32/stm32_qencoder.h | 72 +++++++++ 3 files changed, 298 insertions(+) create mode 100644 arch/arm/src/stm32/stm32_qencoder.c create mode 100644 arch/arm/src/stm32/stm32_qencoder.h diff --git a/arch/arm/src/stm32/Make.defs b/arch/arm/src/stm32/Make.defs index 6306f2a265..213ac0be99 100644 --- a/arch/arm/src/stm32/Make.defs +++ b/arch/arm/src/stm32/Make.defs @@ -87,6 +87,10 @@ ifeq ($(CONFIG_PWM),y) CHIP_CSRCS += stm32_pwm.c endif +ifeq ($(CONFIG_QENCODER),y) +CHIP_CSRCS += stm32_qencoder.c +endif + ifeq ($(CONFIG_CAN),y) CHIP_CSRCS += stm32_can.c endif diff --git a/arch/arm/src/stm32/stm32_qencoder.c b/arch/arm/src/stm32/stm32_qencoder.c new file mode 100644 index 0000000000..5b138b1d87 --- /dev/null +++ b/arch/arm/src/stm32/stm32_qencoder.c @@ -0,0 +1,222 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_qencoder.c + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 + +#include +#include + +#include +#include +#include + +#include "up_arch.h" +#include "stm32_qencoder.h" + +#ifdef CONFIG_QENCODER + +/************************************************************************************ + * Private Types + ************************************************************************************/ + +struct stm32_lowerhalf_s +{ + /* The first field of this state structure must be a pointer to the lower- + * half callback structure: + */ + + FAR const struct qe_ops_s *ops; /* Lower half callback structure */ + + /* STM32 driver-specific fields: */ +}; + +/************************************************************************************ + * Private Function Prototypes + ************************************************************************************/ + +/* Lower-half Quadrature Encoder Driver Methods */ + +static int stm32_setup(FAR struct qe_lowerhalf_s *lower); +static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower); +static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos); +static int stm32_reset(FAR struct qe_lowerhalf_s *lower); +static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg); + + /************************************************************************************ + * Private Data + ************************************************************************************/ +/* The lower half callback structure */ + +FAR const struct qe_ops_s g_qecallbacks = +{ + .setup = stm32_setup, + .shutdown = stm32_shutdown, + .position = stm32_position, + .reset = stm32_reset, + .ioctl = stm32_ioctl, +}; + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_setup + * + * Description: + * This method is called when the driver is opened. The lower half driver + * should configure and initialize the device so that it is ready for use. + * The initial position value should be zero. * + * + ************************************************************************************/ + +static int stm32_setup(FAR struct qe_lowerhalf_s *lower) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_shutdown + * + * Description: + * This method is called when the driver is closed. The lower half driver + * should stop data collection, free any resources, disable timer hardware, and + * put the system into the lowest possible power usage state * + * + ************************************************************************************/ + +static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_position + * + * Description: + * Return the current position measurement. + * + ************************************************************************************/ + +static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_reset + * + * Description: + * Reset the position measurement to zero. + * + ************************************************************************************/ + +static int stm32_reset(FAR struct qe_lowerhalf_s *lower) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_ioctl + * + * Description: + * Lower-half logic may support platform-specific ioctl commands + * + ************************************************************************************/ + +static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg) +{ + /* No ioctl commands supported */ + + return -ENOTTY; +} + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_qeinitialize + * + * Description: + * Initialize a quadrature encoder interface. This function must be called from + * board-specific logic after input pins have been configured. + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/qe0" + * + * Returned Values: + * Zero on success; A negated errno value is returned on failure. + * + ************************************************************************************/ + +int stm32_qeinitialize(FAR const char *devpath) +{ + FAR struct stm32_lowerhalf_s *lower; + int ret; + + /* Allocate an instance to the device-specific, lower-half state structure */ + + lower = (FAR struct stm32_lowerhalf_s *)kmalloc(sizeof(struct stm32_lowerhalf_s)); + if (lower) + { + return -ENOMEM; + } + + /* Initialize the allocated state structure */ + + lower->ops = &g_qecallbacks; + + /* Register the lower-half driver */ + + ret = qe_register(devpath, (FAR struct qe_lowerhalf_s *)lower); + if (ret < 0) + { + kfree(lower); + return ret; + } + + return OK; +} + +#endif /* CONFIG_QENCODER */ diff --git a/arch/arm/src/stm32/stm32_qencoder.h b/arch/arm/src/stm32/stm32_qencoder.h new file mode 100644 index 0000000000..5c977caad5 --- /dev/null +++ b/arch/arm/src/stm32/stm32_qencoder.h @@ -0,0 +1,72 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_qencoder.h + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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_STM32_STM32_QENCODER_H +#define __ARCH_ARM_SRC_STM32_STM32_QENCODER_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include "chip.h" + +#ifdef CONFIG_QENCODER + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_qeinitialize + * + * Description: + * Initialize a quadrature encoder interface. This function must be called from + * board-specific logic after input pins have been configured. + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/qe0" + * + * Returned Values: + * Zero on success; A negated errno value is returned on failure. + * + ************************************************************************************/ + +int stm32_qeinitialize(FAR const char *devpath); + +#endif /* CONFIG_QENCODER */ +#endif /* __ARCH_ARM_SRC_STM32_STM32_QENCODER_H */ +