From 738a30a4213a38158d3f8136faa6f563a054e424 Mon Sep 17 00:00:00 2001 From: Jorge Guzman Date: Sat, 6 Jul 2024 09:11:02 -0300 Subject: [PATCH] stm32h7/linum-stm32h753bi: add support to qencoder Signed-off-by: Jorge Guzman --- .../boards/linum-stm32h753bi/index.rst | 16 ++++- .../configs/qencoder/defconfig | 60 +++++++++++++++++ .../stm32h7/linum-stm32h753bi/include/board.h | 4 ++ .../linum-stm32h753bi/src/CMakeLists.txt | 4 ++ .../stm32h7/linum-stm32h753bi/src/Makefile | 4 ++ .../linum-stm32h753bi/src/linum-stm32h753bi.h | 17 +++++ .../linum-stm32h753bi/src/stm32_bringup.c | 13 ++++ .../linum-stm32h753bi/src/stm32_qencoder.c | 66 +++++++++++++++++++ 8 files changed, 183 insertions(+), 1 deletion(-) create mode 100644 boards/arm/stm32h7/linum-stm32h753bi/configs/qencoder/defconfig create mode 100644 boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c diff --git a/Documentation/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst b/Documentation/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst index 7a2c3d5ac7..55fd0f249f 100644 --- a/Documentation/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst +++ b/Documentation/platforms/arm/stm32h7/boards/linum-stm32h753bi/index.rst @@ -754,4 +754,18 @@ This configuration is focused on network testing using the ethernet periferal:: 56 bytes from 142.251.129.110: icmp_seq=8 time=0.0 ms 56 bytes from 142.251.129.110: icmp_seq=9 time=0.0 ms 10 packets transmitted, 10 received, 0% packet loss, time 10100 ms - rtt min/avg/max/mdev = 0.000/1.000/10.000/3.000 ms \ No newline at end of file + rtt min/avg/max/mdev = 0.000/1.000/10.000/3.000 ms + +qencoder +-------- + +Configures and enables TIM5 on CH1(PA0) and CH2(PH11) to handle Quadrature Encoder: + + nsh> qe + qe_main: Hardware initialized. Opening the encoder device: /dev/qe0 + qe_main: Number of samples: 0 + qe_main: 1. 1 + qe_main: 2. 2 + qe_main: 3. 3 + qe_main: 4. 2 + qe_main: 5. 1 diff --git a/boards/arm/stm32h7/linum-stm32h753bi/configs/qencoder/defconfig b/boards/arm/stm32h7/linum-stm32h753bi/configs/qencoder/defconfig new file mode 100644 index 0000000000..745971d558 --- /dev/null +++ b/boards/arm/stm32h7/linum-stm32h753bi/configs/qencoder/defconfig @@ -0,0 +1,60 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_STANDARD_SERIAL is not set +# CONFIG_STM32H7_USE_LEGACY_PINMAP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="linum-stm32h753bi" +CONFIG_ARCH_BOARD_LINUM_STM32H753BI=y +CONFIG_ARCH_CHIP="stm32h7" +CONFIG_ARCH_CHIP_STM32H753BI=y +CONFIG_ARCH_CHIP_STM32H7=y +CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y +CONFIG_ARMV7M_DTCM=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_BOARD_LOOPSPERMSEC=43103 +CONFIG_BUILTIN=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_EXAMPLES_ALARM=y +CONFIG_EXAMPLES_QENCODER=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +CONFIG_LIBM=y +CONFIG_MM_REGIONS=4 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_PREALLOC_TIMERS=4 +CONFIG_RAM_SIZE=245760 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_RTC_ALARM=y +CONFIG_RTC_DATETIME=y +CONFIG_RTC_DRIVER=y +CONFIG_SCHED_WAITPID=y +CONFIG_SENSORS=y +CONFIG_SENSORS_QENCODER=y +CONFIG_START_DAY=6 +CONFIG_START_MONTH=12 +CONFIG_START_YEAR=2011 +CONFIG_STM32H7_PWR=y +CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_TIM5=y +CONFIG_STM32H7_TIM5_QE=y +CONFIG_STM32H7_USART1=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USART1_SERIAL_CONSOLE=y diff --git a/boards/arm/stm32h7/linum-stm32h753bi/include/board.h b/boards/arm/stm32h7/linum-stm32h753bi/include/board.h index 1568e8ff31..594ed09015 100644 --- a/boards/arm/stm32h7/linum-stm32h753bi/include/board.h +++ b/boards/arm/stm32h7/linum-stm32h753bi/include/board.h @@ -439,6 +439,10 @@ #define GPIO_ETH_RMII_TXD1 (GPIO_ETH_RMII_TXD1_3|GPIO_SPEED_100MHz) /* PG14 */ #define GPIO_ETH_RMII_TX_EN (GPIO_ETH_RMII_TX_EN_2|GPIO_SPEED_100MHz) /* PG11 */ +/* QEncoder - TIM5: CH1 and CH2 */ +#define GPIO_TIM5_CH1IN GPIO_TIM5_CH1IN_1 /* PA0 */ +#define GPIO_TIM5_CH2IN GPIO_TIM5_CH2IN_2 /* PH11 */ + /**************************************************************************** * Public Data ****************************************************************************/ diff --git a/boards/arm/stm32h7/linum-stm32h753bi/src/CMakeLists.txt b/boards/arm/stm32h7/linum-stm32h753bi/src/CMakeLists.txt index 89d40328ad..69027401bf 100644 --- a/boards/arm/stm32h7/linum-stm32h753bi/src/CMakeLists.txt +++ b/boards/arm/stm32h7/linum-stm32h753bi/src/CMakeLists.txt @@ -60,6 +60,10 @@ if(CONFIG_USBMSC) list(APPEND SRCS stm32_usbmsc.c) endif() +if(CONFIG_SENSORS_QENCODER) + list(APPEND SRCS stm32_qencoder.c) +endif() + target_sources(board PRIVATE ${SRCS}) set_property(GLOBAL PROPERTY LD_SCRIPT "${NUTTX_BOARD_DIR}/scripts/flash.ld") diff --git a/boards/arm/stm32h7/linum-stm32h753bi/src/Makefile b/boards/arm/stm32h7/linum-stm32h753bi/src/Makefile index 3ba420bd68..38a08c9bd3 100644 --- a/boards/arm/stm32h7/linum-stm32h753bi/src/Makefile +++ b/boards/arm/stm32h7/linum-stm32h753bi/src/Makefile @@ -58,6 +58,10 @@ ifeq ($(CONFIG_USBMSC),y) CSRCS += stm32_usbmsc.c endif +ifeq ($(CONFIG_SENSORS_QENCODER),y) +CSRCS += stm32_qencoder.c +endif + ifeq ($(CONFIG_BOARDCTL),y) CSRCS += stm32_appinitialize.c endif diff --git a/boards/arm/stm32h7/linum-stm32h753bi/src/linum-stm32h753bi.h b/boards/arm/stm32h7/linum-stm32h753bi/src/linum-stm32h753bi.h index 72a6a9284e..19942b0ca2 100644 --- a/boards/arm/stm32h7/linum-stm32h753bi/src/linum-stm32h753bi.h +++ b/boards/arm/stm32h7/linum-stm32h753bi/src/linum-stm32h753bi.h @@ -111,6 +111,13 @@ #define GPIO_ETH_RESET (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_100MHz |\ GPIO_OUTPUT_CLEAR | GPIO_PORTI | GPIO_PIN4) /* PI4 */ +/* Quadrature Encoder + * + * Use Timer 5 (TIM3) on channels 2 and 2 for QEncoder, using PB4 and PA7. + */ + +#define LINUMSTM32H753BI_QETIMER 5 + /**************************************************************************** * Public Function Prototypes ****************************************************************************/ @@ -207,4 +214,14 @@ int stm32_pwm_setup(void); int stm32_w25qxxx_setup(void); #endif +/**************************************************************************** + * Name: board_qencoder_initialize + * + * Description: + * Initialize the quadrature encoder driver for the given timer + * + ****************************************************************************/ + +int board_qencoder_initialize(int devno, int timerno); + #endif /* __BOARDS_ARM_STM32H7_LINUM_STM32H753BI_SRC_LINUM_STM32H753BI_H */ diff --git a/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c b/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c index c093ca3d4e..c50094ca8e 100644 --- a/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c +++ b/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_bringup.c @@ -266,5 +266,18 @@ int stm32_bringup(void) usbdev_rndis_initialize(mac); #endif +#if defined(CONFIG_SENSORS_QENCODER) + /* Initialize and register the qencoder driver */ + + ret = board_qencoder_initialize(0, LINUMSTM32H753BI_QETIMER); + if (ret != OK) + { + syslog(LOG_ERR, + "ERROR: Failed to register the qencoder: %d\n", + ret); + return ret; + } +#endif + return OK; } diff --git a/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c b/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c new file mode 100644 index 0000000000..308adfc861 --- /dev/null +++ b/boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c @@ -0,0 +1,66 @@ +/**************************************************************************** + * boards/arm/stm32h7/linum-stm32h753bi/src/stm32_qencoder.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_internal.h" +#include "stm32_qencoder.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_qencoder_initialize + * + * Description: + * Initialize the quadrature encoder driver for the given timer + * + ****************************************************************************/ + +int board_qencoder_initialize(int devno, int timerno) +{ + int ret; + char devpath[12]; + + /* Initialize a quadrature encoder interface. */ + + sninfo("Initializing the quadrature encoder using TIM%d\n", timerno); + snprintf(devpath, 12, "/dev/qe%d", devno); + ret = stm32_qeinitialize(devpath, timerno); + if (ret < 0) + { + snerr("ERROR: stm32_qeinitialize failed: %d\n", ret); + } + + return ret; +}