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Added AS5048B magnetic rotary encoder.

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This commit is contained in:
Paul A. Patience 2015-08-07 10:24:29 -04:00
parent 01c2f6c806
commit b7e0fc34c5
4 changed files with 763 additions and 0 deletions
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7
drivers/sensors/Kconfig
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@ -3,6 +3,13 @@
# see the file kconfig-language.txt in the NuttX tools repository.
#
config AS5048B
bool "AMS AS5048B Magnetic Rotary Encoder support"
default n
select I2C
---help---
Enable driver support for the AMS AS5048B magnetic rotary encoder.
config BMP180
bool "Bosch BMP180 Barometer Sensor support"
default n

4
drivers/sensors/Make.defs
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@ -45,6 +45,10 @@ endif
ifeq ($(CONFIG_I2C),y)
ifeq ($(CONFIG_AS5048B),y)
CSRCS += as5048b.c
endif
ifeq ($(CONFIG_LIS331DL),y)
CSRCS += lis331dl.c
endif

616
drivers/sensors/as5048b.c Normal file
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@ -0,0 +1,616 @@
/****************************************************************************
* drivers/sensors/as5048b.c
* Character driver for the AMS AS5048B Magnetic Rotary Encoder
*
* Copyright (C) 2015 Alexandru Duru. All rights reserved.
* Author: Alexandru Duru <alexandruduru@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <stdlib.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c.h>
#include <nuttx/sensors/as5048b.h>
#if defined(CONFIG_I2C) && defined(CONFIG_AS5048B)
/****************************************************************************
* Private Types
****************************************************************************/
struct as5048b_dev_s
{
FAR struct i2c_dev_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* I2C Helpers */
static int as5048b_readb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval);
static int as5048b_readb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, FAR uint16_t *regval);
static int as5048b_writeb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
uint8_t regval);
static int as5048b_writeb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, uint16_t regval);
static int as5048b_readzero(FAR struct as5048b_dev_s *priv,
FAR uint16_t *zero);
static int as5048b_writezero(FAR struct as5048b_dev_s *priv, uint16_t zero);
static int as5048b_readagc(FAR struct as5048b_dev_s *priv, FAR uint8_t *agc);
static int as5048b_readdiag(FAR struct as5048b_dev_s *priv,
FAR uint8_t *diag);
static int as5048b_readmag(FAR struct as5048b_dev_s *priv, FAR uint16_t *mag);
static int as5048b_readang(FAR struct as5048b_dev_s *priv, FAR uint16_t *ang);
/* Character Driver Methods */
static int as5048b_open(FAR struct file *filep);
static int as5048b_close(FAR struct file *filep);
static ssize_t as5048b_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t as5048b_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int as5048b_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_as5048bfops =
{
as5048b_open,
as5048b_close,
as5048b_read,
as5048b_write,
NULL,
as5048b_ioctl
#ifndef CONFIG_DISABLE_POLL
, NULL
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: as5048b_readb8
*
* Description:
* Read from an 8-bit register
*
****************************************************************************/
static int as5048b_readb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval)
{
uint8_t buffer;
int ret;
/* Write the register address */
I2C_SETADDRESS(priv->i2c, priv->addr, 7);
ret = I2C_WRITE(priv->i2c, &regaddr, sizeof(regaddr));
if (ret < 0)
{
sndbg("I2C_WRITE failed: %d\n", ret);
return ret;
}
/* Restart and read 8 bits from the register */
ret = I2C_READ(priv->i2c, &buffer, sizeof(buffer));
if (ret < 0)
{
sndbg("I2C_READ failed: %d\n", ret);
return ret;
}
*regval = buffer;
sndbg("addr: %02x value: %02x ret: %d\n", regaddr, *regval, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_readb16
*
* Description:
* Read from two 8-bit registers
*
****************************************************************************/
static int as5048b_readb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, FAR uint16_t *regval)
{
uint8_t hi, lo;
int ret;
/* Read the high 8 bits of the 13-bit value */
ret = as5048b_readb8(priv, regaddrhi, &hi);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
return ret;
}
/* Read the low 5 bits of the 13-bit value */
ret = as5048b_readb8(priv, regaddrlo, &lo);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
return ret;
}
*regval = (uint16_t)hi << 6 | (uint16_t)lo;
sndbg("addrhi: %02x addrlo: %02x value: %04x ret: %d\n",
regaddrhi, regaddrlo, *regval, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_writeb8
*
* Description:
* Write from an 8-bit register
*
****************************************************************************/
static int as5048b_writeb8(FAR struct as5048b_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
uint8_t buffer[2];
int ret;
sndbg("addr: %02x value: %02x\n", regaddr, regval);
/* Set up a 2-byte message to send */
buffer[0] = regaddr;
buffer[1] = regval;
/* Write the register address followed by the data (no RESTART) */
I2C_SETADDRESS(priv->i2c, priv->addr, 7);
ret = I2C_WRITE(priv->i2c, buffer, sizeof(buffer));
if (ret < 0)
{
sndbg("I2C_WRITE failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: as5048b_writeb16
*
* Description:
* Write to two 8-bit registers
*
****************************************************************************/
static int as5048b_writeb16(FAR struct as5048b_dev_s *priv, uint8_t regaddrhi,
uint8_t regaddrlo, uint16_t regval)
{
int ret;
sndbg("addrhi: %02x addrlo: %02x value: %04x\n",
regaddrhi, regaddrlo, regval);
/* Write the high 8 bits of the 13-bit value */
ret = as5048b_writeb8(priv, regaddrhi, (uint8_t)(regval >> 6));
if (ret < 0)
{
sndbg("as5048b_writeb8 failed: %d\n", ret);
return ret;
}
/* Write the low 5 bits of the 13-bit value */
ret = as5048b_writeb8(priv, regaddrhi, (uint8_t)regval);
if (ret < 0)
{
sndbg("as5048b_writeb8 failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: as5048b_readzero
*
* Description:
* Read from the zero position registers
*
****************************************************************************/
static int as5048b_readzero(FAR struct as5048b_dev_s *priv,
FAR uint16_t *zero)
{
uint16_t buffer;
int ret;
ret = as5048b_readb16(priv, AS5048B_ZEROHI_REG, AS5048B_ZEROLO_REG,
&buffer);
if (ret < 0)
{
sndbg("as5048b_readb16 failed: %d\n", ret);
return ret;
}
*zero = buffer;
sndbg("zero: %04x ret: %d\n", *zero, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_writezero
*
* Description:
* Write to the zero position registers
*
****************************************************************************/
static int as5048b_writezero(FAR struct as5048b_dev_s *priv, uint16_t zero)
{
int ret;
sndbg("zero: %04x\n", zero);
ret = as5048b_writeb16(priv, AS5048B_ZEROHI_REG, AS5048B_ZEROLO_REG, zero);
if (ret < 0)
{
sndbg("as5048b_writeb16 failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: as5048b_readagc
*
* Description:
* Read from the automatic gain control register
*
****************************************************************************/
static int as5048b_readagc(FAR struct as5048b_dev_s *priv, FAR uint8_t *agc)
{
uint8_t buffer;
int ret;
ret = as5048b_readb8(priv, AS5048B_AGC_REG, &buffer);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
return ret;
}
*agc = buffer;
sndbg("agc: %02x ret: %d\n", *agc, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_readdiag
*
* Description:
* Read from the diagnostics register
*
****************************************************************************/
static int as5048b_readdiag(FAR struct as5048b_dev_s *priv, FAR uint8_t *diag)
{
uint8_t buffer;
int ret;
ret = as5048b_readb8(priv, AS5048B_DIAG_REG, &buffer);
if (ret < 0)
{
sndbg("as5048b_readb8 failed: %d\n", ret);
return ret;
}
*diag = buffer;
sndbg("diag: %02x ret: %d\n", *diag, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_readmag
*
* Description:
* Read from the magnitude registers
*
****************************************************************************/
static int as5048b_readmag(FAR struct as5048b_dev_s *priv, FAR uint16_t *mag)
{
uint16_t buffer;
int ret;
ret = as5048b_readb16(priv, AS5048B_MAGHI_REG, AS5048B_MAGLO_REG, &buffer);
if (ret < 0)
{
sndbg("as5048b_readb16 failed: %d\n", ret);
return ret;
}
*mag = buffer;
sndbg("mag: %04x ret: %d\n", *mag, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_readang
*
* Description:
* Read from the angle registers
*
****************************************************************************/
static int as5048b_readang(FAR struct as5048b_dev_s *priv, FAR uint16_t *ang)
{
uint16_t buffer;
int ret;
ret = as5048b_readb16(priv, AS5048B_ANGHI_REG, AS5048B_ANGLO_REG, &buffer);
if (ret < 0)
{
sndbg("as5048b_readb16 failed: %d\n", ret);
return ret;
}
*ang = buffer;
sndbg("ang: %04x ret: %d\n", *ang, ret);
return ret;
}
/****************************************************************************
* Name: as5048b_open
*
* Description:
* This function is called whenever the device is opened
*
****************************************************************************/
static int as5048b_open(FAR struct file *filep)
{
return OK;
}
/****************************************************************************
* Name: as5048b_close
*
* Description:
* This function is called whenever the device is closed
*
****************************************************************************/
static int as5048b_close(FAR struct file *filep)
{
return OK;
}
/****************************************************************************
* Name: as5048b_read
****************************************************************************/
static ssize_t as5048b_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct as5048b_dev_s *priv = inode->i_private;
FAR uint16_t *ptr;
ssize_t nsamples;
ssize_t i;
int ret;
/* How many samples were requested? */
ptr = (FAR uint16_t *)buffer;
nsamples = buflen / sizeof(*ptr);
sndbg("buflen: %u nsamples: %d\n", buflen, nsamples);
/* Get the requested number of samples */
for (i = 0; i < nsamples; i++)
{
uint16_t ang = 0;
/* Read the next uint16_t angle value */
ret = as5048b_readang(priv, &ang);
if (ret < 0)
{
sndbg("as5048b_readang failed: %d\n", ret);
return (ssize_t)ret;
}
/* Save the angle value in the user buffer */
*ptr++ = ang;
}
return nsamples * sizeof(*ptr);
}
/****************************************************************************
* Name: as5048b_write
****************************************************************************/
static ssize_t as5048b_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: as5048b_ioctl
****************************************************************************/
static int as5048b_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct as5048b_dev_s *priv = inode->i_private;
int ret = OK;
switch (cmd)
{
/* Read from the zero position registers. Arg: uint16_t* pointer. */
case SNIOC_READZERO:
{
FAR uint16_t *ptr = (FAR uint16_t *)((uintptr_t)arg);
ret = as5048b_readzero(priv, ptr);
sndbg("zero: %04x ret: %d\n", *ptr, ret);
}
break;
/* Write to the zero position registers. Arg: uint16_t value. */
case SNIOC_WRITEZERO:
ret = as5048b_writezero(priv, (uint16_t)arg);
sndbg("zero: %04x ret: %d\n", *(uint16_t *)arg, ret);
break;
/* Read from the automatic gain control register. Arg: uint8_t* pointer. */
case SNIOC_READAGC:
{
FAR uint8_t *ptr = (FAR uint8_t *)((uintptr_t)arg);
ret = as5048b_readagc(priv, ptr);
sndbg("agc: %02x ret: %d\n", *ptr, ret);
}
break;
/* Read from the diagnostics register. Arg: uint8_t* pointer. */
case SNIOC_READDIAG:
{
FAR uint8_t *ptr = (FAR uint8_t *)((uintptr_t)arg);
ret = as5048b_readdiag(priv, ptr);
sndbg("diag: %02x ret: %d\n", *ptr, ret);
}
break;
/* Read from the magnitude registers. Arg: uint16_t* pointer. */
case SNIOC_READMAG:
{
FAR uint16_t *ptr = (FAR uint16_t *)((uintptr_t)arg);
ret = as5048b_readmag(priv, ptr);
sndbg("mag: %04x ret: %d\n", *ptr, ret);
}
break;
default:
sndbg("Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: as5048b_register
*
* Description:
* Register the AS5048B character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register,
* for example "/dev/angle0".
* i2c - An instance of the I2C interface to use to communicate
* with the AS5048B.
* addr - The I2C address of the AS5048B.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int as5048b_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint8_t addr)
{
FAR struct as5048b_dev_s *priv;
int ret;
/* Initialize the device's structure */
priv = (FAR struct as5048b_dev_s *)kmm_malloc(sizeof(*priv));
if (priv == NULL)
{
sndbg("Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->addr = addr;
/* Register the character driver */
ret = register_driver(devpath, &g_as5048bfops, 0666, priv);
if (ret < 0)
{
sndbg("Failed to register driver: %d\n", ret);
kmm_free(priv);
}
return ret;
}
#endif /* CONFIG_I2C && CONFIG_AS5048B */

136
include/nuttx/sensors/as5048b.h Normal file
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@ -0,0 +1,136 @@
/****************************************************************************
* include/nuttx/sensors/as5048b.h
*
* Copyright (C) 2015 Alexandru Duru. All rights reserved.
* Author: Alexandru Duru <alexandruduru@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_AS5048B
#define __INCLUDE_NUTTX_SENSORS_AS5048B
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/i2c.h>
#include <nuttx/fs/ioctl.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************
* Prerequisites:
*
* CONFIG_I2C
* Enables support for I2C drivers
* CONFIG_AS5048B
* Enables support for the AS5048B driver
*/
/* IOCTL Commands ***********************************************************/
#define SNIOC_READZERO _SNIOC(0x0001) /* Arg: uint16_t* pointer */
#define SNIOC_WRITEZERO _SNIOC(0x0002) /* Arg: uint16_t value */
#define SNIOC_READAGC _SNIOC(0x0004) /* Arg: uint8_t* pointer */
#define SNIOC_READDIAG _SNIOC(0x0005) /* Arg: uint8_t* pointer */
#define SNIOC_READMAG _SNIOC(0x0006) /* Arg: uint16_t* pointer */
/* Resolution ***************************************************************/
#define AS5048B_MAX 0x3fff /* Maximum value (14 bits) */
/* Register Definitions *****************************************************/
/* Register Addresses */
#define AS5048B_PROG_REG 0x03 /* Programming Control Register */
#define AS5048B_ADDR_REG 0x15 /* I2C Slave Address Register */
#define AS5048B_ZEROLO_REG 0x16 /* Zero Position Register Bits 0 to 5 */
#define AS5048B_ZEROHI_REG 0x17 /* Zero Position Register Bits 6 to 13 */
#define AS5048B_AGC_REG 0xfa /* Automatic Gain Control Register */
#define AS5048B_DIAG_REG 0xfb /* Diagnostics Register */
#define AS5048B_MAGLO_REG 0xfc /* Magnitude Register Bits 0 to 5 */
#define AS5048B_MAGHI_REG 0xfd /* Magnitude Register Bits 6 to 13 */
#define AS5048B_ANGLO_REG 0xfe /* Angle Register Bits 0 to 5 */
#define AS5048B_ANGHI_REG 0xff /* Angle Register Bits 6 to 13 */
/* Programming Control Register Bit Definitions */
#define AS5048B_PROG_ENABLE (1 << 0)
#define AS5048B_PROG_BURN (1 << 3)
#define AS5048B_PROG_VERIFY (1 << 6)
/* Diagnostics Register Bit Definitions */
#define AS5048B_DIAG_OCF (1 << 0) /* Offset Compensation Finished */
#define AS5048B_DIAG_COF (1 << 1) /* Cordic Overflow */
#define AS5048B_DIAG_COMPLOW (1 << 2) /* High Magnetic Field */
#define AS5048B_DIAG_COMPHIGH (1 << 3) /* Low Magnetic Field */
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: as5048b_register
*
* Description:
* Register the AS5048B character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register,
* for example "/dev/angle0".
* i2c - An instance of the I2C interface to use to communicate
* with the AS5048B.
* addr - The I2C address of the AS5048B.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int as5048b_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
uint8_t addr);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_SENSORS_AS5048B */