Fixes build issues with IMXRT Qencoder
This commit is contained in:
Nicholas Chin
David Sidrane
parent
cfb7561e77
commit
8469de724a
@ -33,9 +33,9 @@
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*
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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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****************************************************************************/
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#include <nuttx/config.h>
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@ -56,14 +56,18 @@
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#include "imxrt_enc.h"
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/* At least one Quadrature Decoder peripheral must be enabled */
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/* This functionality is dependent on Qencoder Sensor support*/
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#if defined(CONFIG_IMXRT_ENC1) || defined(CONFIG_IMXRT_ENC2) || \
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defined(CONFIG_IMXRT_ENC3) || defined(CONFIG_IMXRT_ENC4)
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#ifndef CONFIG_SENSORS_QENCODER
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# undef CONFIG_IMXRT_ENC
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# error "Qencoder Sensor support is not enabled (CONFIG_SENSORS_QENCODER)"
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#endif
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/************************************************************************************
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#ifdef CONFIG_IMXRT_ENC
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/****************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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****************************************************************************/
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/* Debug ****************************************************************************/
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@ -246,9 +250,9 @@
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#define REV_SHIFT (4)
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#define MOD_SHIFT (5)
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/************************************************************************************
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/****************************************************************************
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* Private Types
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************************************************************************************/
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****************************************************************************/
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/* Constant configuration structure that is retained in FLASH */
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@ -288,21 +292,22 @@ struct imxrt_enc_lowerhalf_s
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* ensure atomic 32-bit reads. */
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};
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/************************************************************************************
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/****************************************************************************
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* Private Function Prototypes
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************************************************************************************/
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****************************************************************************/
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/* Helper functions */
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static inline uint16_t imxrt_enc_getreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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int offset);
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static inline uint16_t imxrt_enc_getreg16
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(FAR struct imxrt_enc_lowerhalf_s *priv, int offset);
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static inline void imxrt_enc_putreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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int offset, uint16_t value);
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static inline void imxrt_enc_modifyreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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int offset, uint16_t clearbits, uint16_t setbits);
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static inline void imxrt_enc_modifyreg16
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(FAR struct imxrt_enc_lowerhalf_s *priv, int offset,
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uint16_t clearbits, uint16_t setbits);
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void imxrt_enc_clock_enable (uint32_t base);
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void imxrt_enc_clock_disable (uint32_t base);
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static void imxrt_enc_clock_enable (uint32_t base);
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static void imxrt_enc_clock_disable (uint32_t base);
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static inline void imxrt_enc_sem_wait(FAR struct imxrt_enc_lowerhalf_s *priv);
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static inline void imxrt_enc_sem_post(FAR struct imxrt_enc_lowerhalf_s *priv);
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@ -329,9 +334,9 @@ static int imxrt_reset(FAR struct qe_lowerhalf_s *lower);
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static int imxrt_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
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unsigned long arg);
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/************************************************************************************
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/****************************************************************************
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* Private Data
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************************************************************************************/
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****************************************************************************/
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/* The lower half callback structure */
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@ -446,31 +451,31 @@ static struct imxrt_enc_lowerhalf_s imxrt_enc4_priv =
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};
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#endif
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/************************************************************************************
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/****************************************************************************
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* Private Functions
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************************************************************************************/
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****************************************************************************/
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_getreg16
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*
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* Description:
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* Get a 16-bit register value by offset
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*
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************************************************************************************/
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****************************************************************************/
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static inline uint16_t imxrt_enc_getreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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int offset)
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static inline uint16_t imxrt_enc_getreg16
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(FAR struct imxrt_enc_lowerhalf_s *priv, int offset)
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{
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return getreg16(priv->config->base + offset);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_putreg16
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*
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* Description:
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* Put a 16-bit register value by offset
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*
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************************************************************************************/
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****************************************************************************/
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static inline void imxrt_enc_putreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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int offset, uint16_t value)
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@ -478,28 +483,28 @@ static inline void imxrt_enc_putreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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putreg16(value, priv->config->base + offset);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_modifyreg16
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*
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* Description:
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* Modify a 16-bit register value by offset
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*
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************************************************************************************/
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****************************************************************************/
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static inline void imxrt_enc_modifyreg16(FAR struct imxrt_enc_lowerhalf_s *priv,
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int offset, uint16_t clearbits,
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uint16_t setbits)
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static inline void imxrt_enc_modifyreg16
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(FAR struct imxrt_enc_lowerhalf_s *priv, int offset,
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uint16_t clearbits, uint16_t setbits)
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{
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modifyreg16(priv->config->base + offset, clearbits, setbits);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_clock_enable
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*
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* Description:
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* Ungate ENC clock
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*
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************************************************************************************/
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****************************************************************************/
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void imxrt_enc_clock_enable (uint32_t base)
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{
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@ -511,6 +516,9 @@ void imxrt_enc_clock_enable (uint32_t base)
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{
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imxrt_clockall_enc2();
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}
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#if (defined(CONFIG_ARCH_FAMILY_IMXRT105x) || \
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defined(CONFIG_ARCH_FAMILY_IMXRT106x))
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else if (base == IMXRT_ENC3_BASE)
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{
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imxrt_clockall_enc3();
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@ -519,15 +527,16 @@ void imxrt_enc_clock_enable (uint32_t base)
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{
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imxrt_clockall_enc4();
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}
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#endif /* CONFIG_ARCH_FAMILY_IMXRT105x || CONFIG_ARCH_FAMILY_IMXRT106x */
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_clock_disable
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*
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* Description:
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* Gate ENC clock
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*
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************************************************************************************/
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****************************************************************************/
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void imxrt_enc_clock_disable (uint32_t base)
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{
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@ -539,6 +548,9 @@ void imxrt_enc_clock_disable (uint32_t base)
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{
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imxrt_clockoff_enc2();
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}
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#if (defined(CONFIG_ARCH_FAMILY_IMXRT105x) || \
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defined(CONFIG_ARCH_FAMILY_IMXRT106x))
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else if (base == IMXRT_ENC3_BASE)
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{
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imxrt_clockoff_enc3();
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@ -547,35 +559,36 @@ void imxrt_enc_clock_disable (uint32_t base)
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{
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imxrt_clockoff_enc4();
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}
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#endif /* CONFIG_ARCH_FAMILY_IMXRT105x || CONFIG_ARCH_FAMILY_IMXRT106x */
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_sem_wait
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*
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* Description:
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* Take exclusive access to the position register, waiting as necessary
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*
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************************************************************************************/
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****************************************************************************/
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static inline void imxrt_enc_sem_wait(FAR struct imxrt_enc_lowerhalf_s *priv)
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{
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nxsem_wait_uninterruptible(&priv->sem_excl);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_sem_post
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*
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* Description:
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* Release the mutual exclusion semaphore
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*
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************************************************************************************/
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****************************************************************************/
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static inline void imxrt_enc_sem_post(struct imxrt_enc_lowerhalf_s *priv)
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{
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nxsem_post(&priv->sem_excl);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_reconfig
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*
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* Description:
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@ -589,9 +602,10 @@ static inline void imxrt_enc_sem_post(struct imxrt_enc_lowerhalf_s *priv)
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*
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* Returns: 0 on success. Negated errno on failure.
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_enc_reconfig(FAR struct imxrt_enc_lowerhalf_s *priv, uint16_t args)
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static int imxrt_enc_reconfig(FAR struct imxrt_enc_lowerhalf_s *priv,
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uint16_t args)
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{
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uint16_t clear = 0;
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uint16_t set = 0;
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@ -674,7 +688,7 @@ static int imxrt_enc_reconfig(FAR struct imxrt_enc_lowerhalf_s *priv, uint16_t a
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return OK;
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_set_initial_val
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*
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* Description:
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@ -682,10 +696,10 @@ static int imxrt_enc_reconfig(FAR struct imxrt_enc_lowerhalf_s *priv, uint16_t a
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*
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* Input Parameters:
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* priv - A reference to the IMXRT enc lower-half structure
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* value - New initial value that the position counters will take upon reset or
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* roll-over.
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* value - New initial value that the position counters will take upon
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* reset or roll-over.
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*
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************************************************************************************/
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****************************************************************************/
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static void imxrt_enc_set_initial_val(FAR struct imxrt_enc_lowerhalf_s *priv,
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uint32_t value)
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@ -694,7 +708,7 @@ static void imxrt_enc_set_initial_val(FAR struct imxrt_enc_lowerhalf_s *priv,
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imxrt_enc_putreg16(priv, IMXRT_ENC_UINIT_OFFSET, (value >> 16) & 0xffff);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_modulo_enable
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*
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* Description:
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@ -704,7 +718,7 @@ static void imxrt_enc_set_initial_val(FAR struct imxrt_enc_lowerhalf_s *priv,
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* priv - A reference to the IMXRT enc lower-half structure
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* modulus - The maximum position counter value before roll-over.
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*
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************************************************************************************/
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****************************************************************************/
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static void imxrt_enc_modulo_enable(FAR struct imxrt_enc_lowerhalf_s *priv,
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uint32_t modulus)
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@ -715,7 +729,7 @@ static void imxrt_enc_modulo_enable(FAR struct imxrt_enc_lowerhalf_s *priv,
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imxrt_enc_modifyreg16(priv, IMXRT_ENC_CTRL2_OFFSET, 0, ENC_CTRL2_MOD);
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_modulo_disable
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*
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* Description:
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@ -724,7 +738,7 @@ static void imxrt_enc_modulo_enable(FAR struct imxrt_enc_lowerhalf_s *priv,
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* Input Parameters:
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* priv - A reference to the IMXRT enc lowerhalf structure
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*
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************************************************************************************/
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****************************************************************************/
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static void imxrt_enc_modulo_disable(FAR struct imxrt_enc_lowerhalf_s *priv)
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{
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@ -733,7 +747,7 @@ static void imxrt_enc_modulo_disable(FAR struct imxrt_enc_lowerhalf_s *priv)
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#ifdef CONFIG_DEBUG_SENSORS
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_enc_test_gen
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*
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* Description:
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@ -749,9 +763,10 @@ static void imxrt_enc_modulo_disable(FAR struct imxrt_enc_lowerhalf_s *priv)
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*
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* Returns: 0 on success. Negated errno on failure.
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_enc_test_gen(FAR struct imxrt_enc_lowerhalf_s *priv, uint16_t value)
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static int imxrt_enc_test_gen(FAR struct imxrt_enc_lowerhalf_s *priv,
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uint16_t value)
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{
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if (value >> 9)
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{
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@ -775,29 +790,31 @@ static int imxrt_enc_test_gen(FAR struct imxrt_enc_lowerhalf_s *priv, uint16_t v
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#endif /* CONFIG_DEBUG_SENSORS */
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/************************************************************************************
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/****************************************************************************
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* Device Driver Operations
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************************************************************************************/
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****************************************************************************/
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_setup
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*
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* Description:
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* This method is called when the driver is opened. The lower half driver
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* should configure and initialize the device so that it is ready for use.
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* The initial position value is set to the user-specified INIT register values.
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* The initial position value is set to the user-specified INIT register
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* values.
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_setup(FAR struct qe_lowerhalf_s *lower)
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{
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FAR struct imxrt_enc_lowerhalf_s *priv = (FAR struct imxrt_enc_lowerhalf_s *)lower;
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FAR struct imxrt_qeconfig_s *config = priv->config;
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FAR struct imxrt_enc_lowerhalf_s *priv =
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(FAR struct imxrt_enc_lowerhalf_s *)lower;
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FAR const struct imxrt_qeconfig_s *config = priv->config;
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uint32_t regval;
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/* Ungate the clock */
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imxrt_enc_clock_enable(priv->config->base);
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imxrt_enc_clock_enable(config->base);
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/* Initialize the registers */
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@ -847,7 +864,7 @@ static int imxrt_setup(FAR struct qe_lowerhalf_s *lower)
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return OK;
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_shutdown
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*
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* Description:
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@ -855,7 +872,7 @@ static int imxrt_setup(FAR struct qe_lowerhalf_s *lower)
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* should stop data collection, and put the system into the lowest possible
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* power usage state
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_shutdown(FAR struct qe_lowerhalf_s *lower)
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{
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@ -887,13 +904,13 @@ static int imxrt_shutdown(FAR struct qe_lowerhalf_s *lower)
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return OK;
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_position
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*
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* Description:
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* Return the current position measurement.
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos)
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{
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@ -934,13 +951,13 @@ static int imxrt_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos)
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return OK;
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_reset
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*
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* Description:
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* Reset the position measurement to the value of the INIT registers.
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_reset(FAR struct qe_lowerhalf_s *lower)
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{
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@ -955,13 +972,13 @@ static int imxrt_reset(FAR struct qe_lowerhalf_s *lower)
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return OK;
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}
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_ioctl
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*
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* Description:
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* Lower-half logic may support platform-specific ioctl commands
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*
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************************************************************************************/
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****************************************************************************/
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static int imxrt_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
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unsigned long arg)
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@ -1004,11 +1021,11 @@ static int imxrt_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
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return OK;
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}
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/************************************************************************************
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/****************************************************************************
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* Public Functions
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************************************************************************************/
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****************************************************************************/
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/************************************************************************************
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/****************************************************************************
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* Name: imxrt_qeinitialize
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*
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* Description:
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@ -1022,7 +1039,7 @@ static int imxrt_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
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* Returned Value:
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* Zero on success; A negated errno value is returned on failure.
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*
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************************************************************************************/
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****************************************************************************/
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int imxrt_qeinitialize(FAR const char *devpath, int enc)
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{
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@ -1064,9 +1081,9 @@ int imxrt_qeinitialize(FAR const char *devpath, int enc)
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if (ret < 0)
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{
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snerr("ERROR: qe_register failed: %d\n", ret);
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return ret;
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}
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return ret;
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}
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#endif /* CONFIG_IMXRT_ENC1 || CONFIG_IMXRT_ENC2 || \
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* CONFIG_IMXRT_ENC3 || CONFIG_IMXRT_ENC4 */
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#endif /* CONFIG_IMXRT_ENC */
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@ -43,11 +43,11 @@
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#include <nuttx/config.h>
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#include "chip.h"
|
||||
#include "chip/imxrt_enc.h"
|
||||
#include "hardware/imxrt_enc.h"
|
||||
|
||||
/************************************************************************************
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
****************************************************************************/
|
||||
|
||||
#define QEIOC_POSDIFF _QEIOC(QE_IMXRT_FIRST)
|
||||
#define QEIOC_REVOLUTION _QEIOC(QE_IMXRT_FIRST + 1)
|
||||
@ -61,7 +61,7 @@
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
/****************************************************************************
|
||||
* Name: imxrt_qeinitialize
|
||||
*
|
||||
* Description:
|
||||
@ -75,7 +75,7 @@
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
************************************************************************************/
|
||||
****************************************************************************/
|
||||
|
||||
int imxrt_qeinitialize(FAR const char *devpath, int enc);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user