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esp32c6-devkitc: Add Quadrature Encoder support and example configuration

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Signed-off-by: Martin Vajnar <martin.vajnar@gmail.com>
This commit is contained in:
Martin Vajnar 2024-09-12 12:55:00 +02:00 committed by Xiang Xiao
parent 1fa4e61230
commit c5be5c2db4
6 changed files with 257 additions and 0 deletions
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10
Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst
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@ -194,6 +194,16 @@ To test it, just execute the ``pwm`` application::
pwm_main: starting output with frequency: 10000 duty: 00008000
pwm_main: stopping output
qencoder
---
This configuration demostrates the use of Quadrature Encoder connected to pins
GPIO10 and GPIO11. You can start measurement of pulses using the following
command (by default, it will open ``\dev\qe0`` device and print 20 samples
using 1 second delay)::
nsh> qe
rmt
---

74
boards/risc-v/esp32c6/common/include/esp_board_qencoder.h Normal file
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@ -0,0 +1,74 @@
/****************************************************************************
* boards/risc-v/esp32c6/common/include/esp_board_qencoder.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __BOARDS_RISC_V_ESP32C6_COMMON_INCLUDE_ESP_BOARD_QENCODER_H
#define __BOARDS_RISC_V_ESP32C6_COMMON_INCLUDE_ESP_BOARD_QENCODER_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Inline Functions
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: board_qencoder_initialize
*
* Description:
* Initialize the quadrature encoder driver for the given timer
*
****************************************************************************/
int board_qencoder_initialize(void);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __BOARDS_RISC_V_ESP32C6_COMMON_INCLUDE_ESP_BOARD_QENCODER_H */

4
boards/risc-v/esp32c6/common/src/Make.defs
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@ -68,6 +68,10 @@ ifeq ($(CONFIG_CL_MFRC522),y)
CSRCS += esp_board_mfrc522.c
endif
ifeq ($(CONFIG_ESP_PCNT),y)
CSRCS += esp_board_qencoder.c
endif
DEPPATH += --dep-path src
VPATH += :src
CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src

97
boards/risc-v/esp32c6/common/src/esp_board_qencoder.c Normal file
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@ -0,0 +1,97 @@
/****************************************************************************
* boards/risc-v/esp32c6/common/src/esp_board_qencoder.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <stdio.h>
#include <nuttx/sensors/qencoder.h>
#include <arch/board/board.h>
#include "espressif/esp_qencoder.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_qencoder_initialize
*
* Description:
* Initialize the quadrature encoder driver
*
****************************************************************************/
int board_qencoder_initialize(void)
{
int ret;
char devpath[12];
int devno = 0;
/* Initialize a quadrature encoder interface. */
#ifdef CONFIG_ESP_PCNT_U0_QE
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
ret = esp_qeinitialize(devpath, 0);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_PCNT_U1_QE
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
ret = esp_qeinitialize(devpath, 1);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_PCNT_U2_QE
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
ret = esp_qeinitialize(devpath, 2);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_ESP_PCNT_U3_QE
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
ret = esp_qeinitialize(devpath, 3);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
return ret;
}
#endif
return ret;
}

58
boards/risc-v/esp32c6/esp32c6-devkitc/configs/qencoder/defconfig Normal file
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@ -0,0 +1,58 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="esp32c6-devkitc"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ARCH_BOARD_ESP32C6_DEVKITC=y
CONFIG_ARCH_CHIP="esp32c6"
CONFIG_ARCH_CHIP_ESP32C6=y
CONFIG_ARCH_CHIP_ESP32C6WROOM1=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=15000
CONFIG_BUILTIN=y
CONFIG_DEV_ZERO=y
CONFIG_ESPRESSIF_ESP32C6=y
CONFIG_ESP_PCNT=y
CONFIG_ESP_PCNT_U0=y
CONFIG_ESP_PCNT_U0_CH0_EDGE_PIN=10
CONFIG_ESP_PCNT_U0_CH1_LEVEL_PIN=11
CONFIG_ESP_PCNT_U0_FILTER_EN=y
CONFIG_EXAMPLES_QENCODER=y
CONFIG_EXAMPLES_QENCODER_DELAY=1000
CONFIG_EXAMPLES_QENCODER_NSAMPLES=20
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=0
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_BACKTRACE=y
CONFIG_SCHED_WAITPID=y
CONFIG_SENSORS=y
CONFIG_SENSORS_QENCODER=y
CONFIG_START_DAY=29
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_DUMPSTACK=y
CONFIG_SYSTEM_NSH=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_UART0_SERIAL_CONSOLE=y

14
boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c
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@ -93,6 +93,10 @@
# include "esp_board_mcpwm.h"
#endif
#ifdef CONFIG_ESP_PCNT_AS_QE
# include "esp_board_qencoder.h"
#endif
#include "esp32c6-devkitc.h"
/****************************************************************************
@ -356,6 +360,16 @@ int esp_bringup(void)
}
#endif
#ifdef CONFIG_SENSORS_QENCODER
/* Initialize and register the qencoder driver */
ret = board_qencoder_initialize();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: board_qencoder_initialize failed: %d\n", ret);
}
#endif
/* If we got here then perhaps not all initialization was successful, but
* at least enough succeeded to bring-up NSH with perhaps reduced
* capabilities.