arch/arm/src/tiva, include/nuttx/sensors: Reinstate TM4C qencoder driver and expand its ioctls.
arch/arm/src/tiva/Kconfig: * Add TIVA_HAVE_QEI0, TIVA_HAVE_QEI1 as applicable to each ARCH_CHIP_TM4C12*. * Add config TIVA_QEI, TIVA_HAVE_QEI0, TIVA_HAVE_QEI1. * Add config TIVA_QEI0, config TIVA_QEI1. arch/arm/src/tiva/common/tiva_qencoder.c: * Rewrite tiva_qe_setup(). * Replace tiva_qe_ppr() with tiva_qe_resetatppr(). * Add tiva_qe_resetatmaxpos(), tiva_qe_resetatindex(). arch/arm/src/tiva/hardware/tiva_qencoder.h: * Add missing definitions: SIGMODE_QUADRATURE, SIGMODE_CLK_AND_DIR, SWAP_NO_SWAP, SWAP_PHA_PHB. arch/arm/src/tiva/tiva_qencoder.h: * Rename TIVA QEI ioctl QEIOC_PPR to QEIOC_RESETATPPR. * Add TIVA QEI ioctl identifiers QEIOC_RESETATMAXPOS, QEIOC_RESETATINDEX. include/nuttx/sensors/qencoder.h: * Increase QE_TIVA_NCMDS from 3 to 5.
This commit is contained in:
Nathan Hartman
Gregory Nutt
parent
8e321aba84
commit
a36d49e975
@ -91,6 +91,8 @@ config ARCH_CHIP_TM4C123GH6ZRB
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select TIVA_HAVE_GPIOQ_IRQS
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select TIVA_HAVE_I2C4
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select TIVA_HAVE_I2C5
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select TIVA_HAVE_QEI0
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select TIVA_HAVE_QEI1
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config ARCH_CHIP_TM4C123GH6PM
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bool "TM4C123GH6PM"
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@ -105,6 +107,8 @@ config ARCH_CHIP_TM4C123GH6PM
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select TIVA_HAVE_GPIOF_IRQS
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select TIVA_HAVE_ADC0
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select TIVA_HAVE_ADC1
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select TIVA_HAVE_QEI0
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select TIVA_HAVE_QEI1
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config ARCH_CHIP_TM4C1294NCPDT
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bool "TM4C1294NCPDT"
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@ -122,6 +126,7 @@ config ARCH_CHIP_TM4C1294NCPDT
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select TIVA_HAVE_GPION_IRQS
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select TIVA_HAVE_GPIOP_IRQS
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select TIVA_HAVE_GPIOQ_IRQS
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select TIVA_HAVE_QEI0
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config ARCH_CHIP_TM4C129XNC
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bool "TM4C129XNC"
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@ -141,6 +146,7 @@ config ARCH_CHIP_TM4C129XNC
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select TIVA_HAVE_GPIOR_IRQS
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select TIVA_HAVE_GPIOS_IRQS
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select TIVA_HAVE_GPIOT_IRQS
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select TIVA_HAVE_QEI0
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config ARCH_CHIP_CC1310
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bool "CC1310 SimpleLink"
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@ -315,6 +321,18 @@ config TIVA_HAVE_ADC1
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bool
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default n
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config TIVA_QEI
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bool
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default n
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config TIVA_HAVE_QEI0
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bool
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default n
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config TIVA_HAVE_QEI1
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bool
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default n
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config TIVA_I2C
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bool
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default n
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@ -462,6 +480,18 @@ config TIVA_ADC1
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depends on TIVA_HAVE_ADC0
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select TIVA_ADC
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config TIVA_QEI0
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bool "QEI0"
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default n
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depends on TIVA_HAVE_QEI0
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select TIVA_QEI
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config TIVA_QEI1
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bool "QEI1"
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default n
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depends on TIVA_HAVE_QEI1
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select TIVA_QEI
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config TIVA_I2C0
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bool "I2C0"
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default n
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@ -94,7 +94,9 @@ static int tiva_qe_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
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static int tiva_qe_direction(struct tiva_qe_s *qe, unsigned long *dir);
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static int tiva_qe_velocity(struct tiva_qe_s *qe, unsigned long *vel);
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static int tiva_qe_ppr(struct tiva_qe_s *qe, unsigned long ppr);
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static int tiva_qe_resetatppr(struct tiva_qe_s *qe, unsigned long ppr);
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static int tiva_qe_resetatmaxpos(FAR struct tiva_qe_s *qe, unsigned long offs);
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static int tiva_qe_resetatindex(FAR struct tiva_qe_s *qe);
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/************************************************************************************
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* Private Data
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@ -216,23 +218,51 @@ static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower)
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return -1;
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}
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/* Set reset mode (default as INDEX_PULSE) */
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/* Get initial value of register */
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ctlreg = RESMODE_BY_INDEX_PULSE << TIVA_QEI_CTL_RESMODE;
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tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
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ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
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/* Turn off the bits we're about to control */
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ctlreg &= ~(uint32_t)((1 << TIVA_QEI_CTL_RESMODE) |
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(1 << TIVA_QEI_CTL_CAPMODE) |
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(1 << TIVA_QEI_CTL_VELEN) |
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(1 << TIVA_QEI_CTL_SIGMODE) |
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(1 << TIVA_QEI_CTL_SWAP));
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/* Set reset mode (default as MAXPOS) */
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ctlreg |= RESMODE_BY_MAXPOS << TIVA_QEI_CTL_RESMODE;
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/* Set capture mode (default as PHA_AND_PHB) */
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ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
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ctlreg |= CAPMODE_PHA_AND_PHB << TIVA_QEI_CTL_CAPMODE;
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tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
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/* Enable velocity capture */
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ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
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ctlreg |= VELEN_ENABLE << TIVA_QEI_CTL_VELEN;
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/* Set signal mode (default as quadrature) */
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ctlreg |= SIGMODE_QUADRATURE << TIVA_QEI_CTL_SIGMODE;
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/* Set swap mode (default as no swap) */
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ctlreg |= SWAP_NO_SWAP << TIVA_QEI_CTL_SWAP;
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/* Program the register */
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tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
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/* Set default maxpos value to entire uint32_t range */
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qe->maxpos = UINT32_MAX;
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tiva_qe_putreg(qe, TIVA_QEI_MAXPOS_OFFSET, qe->maxpos);
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/* Reset the position */
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tiva_qe_putreg(qe, TIVA_QEI_POS_OFFSET, 0);
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/* Set prediv (1) */
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ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
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@ -365,8 +395,16 @@ static int tiva_qe_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
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tiva_qe_velocity(qe, (unsigned long *)arg);
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break;
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case QEIOC_PPR:
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tiva_qe_ppr(qe, arg);
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case QEIOC_RESETATPPR:
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tiva_qe_resetatppr(qe, arg);
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break;
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case QEIOC_RESETATMAXPOS:
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tiva_qe_resetatmaxpos(qe, arg);
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break;
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case QEIOC_RESETATINDEX:
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tiva_qe_resetatindex(qe);
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break;
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default:
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@ -432,10 +470,13 @@ static int tiva_qe_velocity(FAR struct tiva_qe_s *qe, unsigned long *vel)
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}
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/****************************************************************************
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* Name: tiva_qe_ppr
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* Name: tiva_qe_resetatppr
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*
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* Description:
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* Set reset mode as MAXPOS and also set maxpos value
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* Set reset mode as MAXPOS and set maxpos value to number of pulses
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* per round of encoder. Note that this function multiplies the given
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* ppr by 4 because capture mode is PHA_AND_PHB, meaning we count 4
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* edges per "pulse."
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*
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* Input Parameters:
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* qe - A reference to the TIVA QEI structure
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@ -446,7 +487,30 @@ static int tiva_qe_velocity(FAR struct tiva_qe_s *qe, unsigned long *vel)
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*
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****************************************************************************/
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static int tiva_qe_ppr(FAR struct tiva_qe_s *qe, unsigned long ppr)
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static int tiva_qe_resetatppr(FAR struct tiva_qe_s *qe, unsigned long ppr)
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{
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/* maxpos is 4 times of ppr since we set capture mode as PHA_AND_PHB */
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return tiva_qe_resetatmaxpos(qe, ppr * 4);
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}
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/****************************************************************************
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* Name: tiva_qe_resetatmaxpos
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*
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* Description:
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* Set reset mode as MAXPOS and set maxpos value as given.
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*
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* Input Parameters:
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* qe - A reference to the TIVA QEI structure
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* maxpos - Maximum position count at which QEI resets. To get the full
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* range, give UINT32_MAX.
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure
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*
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****************************************************************************/
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static int tiva_qe_resetatmaxpos(FAR struct tiva_qe_s *qe, unsigned long maxpos)
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{
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sninfo("set maxpos reset mode and maxpos value of QEI %d\n", qe->id);
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@ -458,9 +522,7 @@ static int tiva_qe_ppr(FAR struct tiva_qe_s *qe, unsigned long ppr)
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lower = (FAR struct qe_lowerhalf_s *)qe;
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tiva_qe_shutdown(lower);
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/* maxpos is 4 times of ppr since we set capture mode as PHA_AND_PHB */
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qe->maxpos = ppr * 4;
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qe->maxpos = maxpos;
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/* Set reset mode as MAXPOS */
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@ -482,6 +544,48 @@ static int tiva_qe_ppr(FAR struct tiva_qe_s *qe, unsigned long ppr)
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return OK;
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}
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/****************************************************************************
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* Name: tiva_qe_resetatindex
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*
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* Description:
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* Set reset mode as INDEX
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*
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* Input Parameters:
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* qe - A reference to the TIVA QEI structure
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure
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*
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****************************************************************************/
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static int tiva_qe_resetatindex(FAR struct tiva_qe_s *qe)
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{
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sninfo("set index reset mode of QEI %d\n", qe->id);
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FAR struct qe_lowerhalf_s *lower;
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uint32_t ctlreg = 0;
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/* Disable the QEI */
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lower = (FAR struct qe_lowerhalf_s *)qe;
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tiva_qe_shutdown(lower);
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/* Set reset mode as INDEX */
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ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
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ctlreg &= ~(uint32_t)(1 << TIVA_QEI_CTL_RESMODE);
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ctlreg |= RESMODE_BY_INDEX_PULSE << TIVA_QEI_CTL_RESMODE;
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tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
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/* Enable the QEI */
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ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
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ctlreg |= QEI_ENABLE << TIVA_QEI_CTL_ENABLE;
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tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
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return OK;
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}
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/************************************************************************************
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* Name: tiva_qei_initialize
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*
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@ -56,14 +56,14 @@
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#define TIVA_QEI_RIS_OFFSET (0x24) /* QEI Raw Interrupt Status */
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#define TIVA_QEI_ISC_OFFSET (0x28) /* QEI Interrupt Status and Clear */
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/* QEI_CTL register */
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#define TIVA_QEI_CTL_FILTCNT (16) /* (Bit) Input Filter Prescale Count */
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#define TIVA_QEI_CTL_FILTEN (13) /* (Bit) Enable Input Filter */
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#define TIVA_QEI_CTL_STALLEN (12) /* (Bit) Stall QEI */
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#define TIVA_QEI_CTL_INVI (11) /* (Bit) Invert Index Pulse */
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#define TIVA_QEI_CTL_INVB (10) /* (Bit) Invert PhB */
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#define TIVA_QEI_CTL_INVA (9) /* (Bit) Invert PhA */
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#define TIVA_QEI_CTL_SIGMODE (2) /* (Bit) Signal Mode */
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#define TIVA_QEI_CTL_SWAP (1) /* (Bit) Swap Signals */
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#define TIVA_QEI_CTL_VELDIV (6) /* (Bit) Predivide Velocity */
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#define VELDIV_1 (0x0) /* (Value) Divided by 1 */
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@ -87,12 +87,23 @@
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#define CAPMODE_ONLY_PHA (0) /* (Value) Count PhA both edges */
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#define CAPMODE_PHA_AND_PHB (1) /* (Value) Count PhA and PhB both edges */
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#define TIVA_QEI_CTL_SIGMODE (2) /* (Bit) Signal Mode */
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#define SIGMODE_QUADRATURE (0) /* (Value) PhA and PhB are Quadrature signals */
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#define SIGMODE_CLK_AND_DIR (1) /* (Value) PhA is CLK, PhB is DIR */
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#define TIVA_QEI_CTL_SWAP (1) /* (Bit) Swap PhA/PhB Signals */
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#define SWAP_NO_SWAP (0) /* (Value) No swapping */
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#define SWAP_PHA_PHB (1) /* (Value) Swap PhA and PhB */
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#define TIVA_QEI_CTL_ENABLE (0) /* (Bit) Enable QEI */
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#define QEI_DISABLE (0) /* (Value) Disable QEI */
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#define QEI_ENABLE (1) /* (Value) Enable QEI */
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/* QEI_STAT register */
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#define TIVA_QEI_STAT_DIRECTION (1) /* (Bit) Direction of Rotation */
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#define DIRECTION_FORWARD (0) /* (Value) Forward */
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#define DIRECTION_BACKWARD (1) /* (Value) Backward */
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#endif /* __ARCH_ARM_SRC_TIVA_HARDWARE_TIVA_QENCODER_H */
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@ -1,44 +1,44 @@
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/************************************************************************************
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* arch/arm/src/tiva/tiva_qencoder.h
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*
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* Copyright (C) 2016 Young Mu. All rights reserved.
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* Author: Young Mu <young.mu@aliyun.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* 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
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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* arch/arm/src/tiva/tiva_qencoder.h
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*
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* Copyright (C) 2016 Young Mu. All rights reserved.
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* Author: Young Mu <young.mu@aliyun.com>
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
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* 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
|
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* distribution.
|
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* 3. Neither the name NuttX nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
|
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* 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
|
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* 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
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H
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#define __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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* Included Files
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************************************************************************************/
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#include <nuttx/sensors/qencoder.h>
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@ -48,11 +48,13 @@
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#define QEIOC_DIRECTION _QEIOC(QE_TIVA_FIRST)
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#define QEIOC_VELOCITY _QEIOC(QE_TIVA_FIRST+1)
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#define QEIOC_PPR _QEIOC(QE_TIVA_FIRST+2)
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#define QEIOC_RESETATPPR _QEIOC(QE_TIVA_FIRST+2)
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#define QEIOC_RESETATMAXPOS _QEIOC(QE_TIVA_FIRST+3)
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#define QEIOC_RESETATINDEX _QEIOC(QE_TIVA_FIRST+4)
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
FAR struct qe_lowerhalf_s *tiva_qei_initialize(int id);
|
||||
|
||||
|
||||
@ -48,11 +48,13 @@
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************
|
||||
* CONFIG_SENSORS_QENCODER - Enables support for the quadrature encoder upper half
|
||||
*/
|
||||
|
||||
/* IOCTL Commands ***********************************************************/
|
||||
|
||||
/* The Quadrature Encode module uses a standard character driver framework.
|
||||
* However, since the driver is a device control interface rather than a
|
||||
* data transfer interface, the majority of the functionality is implemented
|
||||
@ -80,7 +82,7 @@
|
||||
/* See arch/arm/src/tiva/tiva_qencoder.h (Not usable at that location) */
|
||||
|
||||
#define QE_TIVA_FIRST (QE_FIRST + QE_NCMDS)
|
||||
#define QE_TIVA_NCMDS 3
|
||||
#define QE_TIVA_NCMDS 5
|
||||
|
||||
/* See include/nuttx/sensors/as5048b.h */
|
||||
|
||||
@ -90,6 +92,7 @@
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* This is the vtable that is used to by the upper half quadrature encoder
|
||||
* to call back into the lower half quadrature encoder.
|
||||
*/
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user