stm32h7/linum-stm32h753bi: add support to qencoder
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
This commit is contained in:
Jorge Guzman
Alan Carvalho de Assis
parent
48cf91a7be
commit
738a30a421
@ -754,4 +754,18 @@ This configuration is focused on network testing using the ethernet periferal::
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56 bytes from 142.251.129.110: icmp_seq=8 time=0.0 ms
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56 bytes from 142.251.129.110: icmp_seq=9 time=0.0 ms
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10 packets transmitted, 10 received, 0% packet loss, time 10100 ms
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rtt min/avg/max/mdev = 0.000/1.000/10.000/3.000 ms
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rtt min/avg/max/mdev = 0.000/1.000/10.000/3.000 ms
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qencoder
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--------
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Configures and enables TIM5 on CH1(PA0) and CH2(PH11) to handle Quadrature Encoder:
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nsh> qe
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qe_main: Hardware initialized. Opening the encoder device: /dev/qe0
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qe_main: Number of samples: 0
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qe_main: 1. 1
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qe_main: 2. 2
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qe_main: 3. 3
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qe_main: 4. 2
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qe_main: 5. 1
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@ -0,0 +1,60 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_NSH_DISABLE_IFCONFIG is not set
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# CONFIG_NSH_DISABLE_PS is not set
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# CONFIG_STANDARD_SERIAL is not set
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# CONFIG_STM32H7_USE_LEGACY_PINMAP is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="linum-stm32h753bi"
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CONFIG_ARCH_BOARD_LINUM_STM32H753BI=y
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CONFIG_ARCH_CHIP="stm32h7"
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CONFIG_ARCH_CHIP_STM32H753BI=y
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CONFIG_ARCH_CHIP_STM32H7=y
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CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_ARMV7M_DCACHE=y
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CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
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CONFIG_ARMV7M_DTCM=y
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CONFIG_ARMV7M_ICACHE=y
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CONFIG_BOARD_LOOPSPERMSEC=43103
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CONFIG_BUILTIN=y
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CONFIG_DEBUG_FEATURES=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_EXAMPLES_ALARM=y
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CONFIG_EXAMPLES_QENCODER=y
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INTELHEX_BINARY=y
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CONFIG_LIBM=y
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CONFIG_MM_REGIONS=4
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_FILEIOSIZE=512
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CONFIG_NSH_LINELEN=64
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CONFIG_NSH_READLINE=y
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CONFIG_PREALLOC_TIMERS=4
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CONFIG_RAM_SIZE=245760
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CONFIG_RAM_START=0x20010000
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CONFIG_RAW_BINARY=y
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CONFIG_RR_INTERVAL=200
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CONFIG_RTC_ALARM=y
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CONFIG_RTC_DATETIME=y
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CONFIG_RTC_DRIVER=y
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CONFIG_SCHED_WAITPID=y
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CONFIG_SENSORS=y
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CONFIG_SENSORS_QENCODER=y
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CONFIG_START_DAY=6
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CONFIG_START_MONTH=12
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CONFIG_START_YEAR=2011
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CONFIG_STM32H7_PWR=y
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CONFIG_STM32H7_RTC=y
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CONFIG_STM32H7_TIM5=y
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CONFIG_STM32H7_TIM5_QE=y
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CONFIG_STM32H7_USART1=y
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CONFIG_SYSTEM_NSH=y
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CONFIG_TASK_NAME_SIZE=0
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CONFIG_USART1_SERIAL_CONSOLE=y
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@ -439,6 +439,10 @@
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#define GPIO_ETH_RMII_TXD1 (GPIO_ETH_RMII_TXD1_3|GPIO_SPEED_100MHz) /* PG14 */
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#define GPIO_ETH_RMII_TX_EN (GPIO_ETH_RMII_TX_EN_2|GPIO_SPEED_100MHz) /* PG11 */
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/* QEncoder - TIM5: CH1 and CH2 */
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#define GPIO_TIM5_CH1IN GPIO_TIM5_CH1IN_1 /* PA0 */
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#define GPIO_TIM5_CH2IN GPIO_TIM5_CH2IN_2 /* PH11 */
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/****************************************************************************
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* Public Data
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****************************************************************************/
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@ -60,6 +60,10 @@ if(CONFIG_USBMSC)
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list(APPEND SRCS stm32_usbmsc.c)
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endif()
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if(CONFIG_SENSORS_QENCODER)
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list(APPEND SRCS stm32_qencoder.c)
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endif()
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target_sources(board PRIVATE ${SRCS})
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set_property(GLOBAL PROPERTY LD_SCRIPT "${NUTTX_BOARD_DIR}/scripts/flash.ld")
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@ -58,6 +58,10 @@ ifeq ($(CONFIG_USBMSC),y)
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CSRCS += stm32_usbmsc.c
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endif
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ifeq ($(CONFIG_SENSORS_QENCODER),y)
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CSRCS += stm32_qencoder.c
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endif
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ifeq ($(CONFIG_BOARDCTL),y)
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CSRCS += stm32_appinitialize.c
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endif
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@ -111,6 +111,13 @@
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#define GPIO_ETH_RESET (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_100MHz |\
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GPIO_OUTPUT_CLEAR | GPIO_PORTI | GPIO_PIN4) /* PI4 */
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/* Quadrature Encoder
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*
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* Use Timer 5 (TIM3) on channels 2 and 2 for QEncoder, using PB4 and PA7.
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*/
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#define LINUMSTM32H753BI_QETIMER 5
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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@ -207,4 +214,14 @@ int stm32_pwm_setup(void);
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int stm32_w25qxxx_setup(void);
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#endif
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/****************************************************************************
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* Name: board_qencoder_initialize
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*
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* Description:
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* Initialize the quadrature encoder driver for the given timer
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*
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****************************************************************************/
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int board_qencoder_initialize(int devno, int timerno);
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#endif /* __BOARDS_ARM_STM32H7_LINUM_STM32H753BI_SRC_LINUM_STM32H753BI_H */
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@ -266,5 +266,18 @@ int stm32_bringup(void)
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usbdev_rndis_initialize(mac);
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#endif
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#if defined(CONFIG_SENSORS_QENCODER)
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/* Initialize and register the qencoder driver */
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ret = board_qencoder_initialize(0, LINUMSTM32H753BI_QETIMER);
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if (ret != OK)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to register the qencoder: %d\n",
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ret);
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return ret;
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}
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#endif
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return OK;
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}
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66
boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c
Normal file
66
boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c
Normal file
@ -0,0 +1,66 @@
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/****************************************************************************
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* boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <stdio.h>
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#include <nuttx/sensors/qencoder.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "arm_internal.h"
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#include "stm32_qencoder.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_qencoder_initialize
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*
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* Description:
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* Initialize the quadrature encoder driver for the given timer
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*
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****************************************************************************/
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int board_qencoder_initialize(int devno, int timerno)
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{
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int ret;
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char devpath[12];
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/* Initialize a quadrature encoder interface. */
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sninfo("Initializing the quadrature encoder using TIM%d\n", timerno);
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snprintf(devpath, 12, "/dev/qe%d", devno);
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ret = stm32_qeinitialize(devpath, timerno);
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if (ret < 0)
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{
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snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
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}
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return ret;
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}
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