From f5df946676bb65094def8562f877ace2df77fee4 Mon Sep 17 00:00:00 2001
From: Roberto Bucher <roberto.bucher@sunrise.ch>
Date: Fri, 2 Aug 2024 09:43:40 +0200
Subject: [PATCH] Additional encoder for F7 and added functions for TimerHook
 for F745 and H745 and H743

---
 .../nucleo-144/configs/f746-pysim/defconfig   |  2 ++
 boards/arm/stm32f7/nucleo-144/include/board.h |  3 +++
 .../stm32f7/nucleo-144/src/stm32_bringup.c    | 26 +++++++++++++++++++
 .../nucleo-h743zi2/src/stm32_bringup.c        | 14 ++++++++++
 .../stm32h7/nucleo-h745zi/src/stm32_bringup.c | 14 ++++++++++
 5 files changed, 59 insertions(+)

diff --git a/boards/arm/stm32f7/nucleo-144/configs/f746-pysim/defconfig b/boards/arm/stm32f7/nucleo-144/configs/f746-pysim/defconfig
index 7998b3d65c..0c570032f8 100644
--- a/boards/arm/stm32f7/nucleo-144/configs/f746-pysim/defconfig
+++ b/boards/arm/stm32f7/nucleo-144/configs/f746-pysim/defconfig
@@ -134,6 +134,8 @@ CONFIG_STM32F7_TIM3=y
 CONFIG_STM32F7_TIM3_QE=y
 CONFIG_STM32F7_TIM4=y
 CONFIG_STM32F7_TIM4_QE=y
+CONFIG_STM32F7_TIM8=y
+CONFIG_STM32F7_TIM8_QE=y
 CONFIG_STM32F7_USART_BREAKS=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
diff --git a/boards/arm/stm32f7/nucleo-144/include/board.h b/boards/arm/stm32f7/nucleo-144/include/board.h
index 4f6ee4f737..ec70ca8ce9 100644
--- a/boards/arm/stm32f7/nucleo-144/include/board.h
+++ b/boards/arm/stm32f7/nucleo-144/include/board.h
@@ -367,6 +367,9 @@
 #define GPIO_TIM4_CH1IN (GPIO_TIM4_CH1IN_2|GPIO_SPEED_50MHz)
 #define GPIO_TIM4_CH2IN (GPIO_TIM4_CH2IN_2|GPIO_SPEED_50MHz)
 
+#define GPIO_TIM8_CH1IN (GPIO_TIM8_CH1IN_1|GPIO_SPEED_50MHz)
+#define GPIO_TIM8_CH2IN (GPIO_TIM8_CH2IN_1|GPIO_SPEED_50MHz)
+
 /* PWM
  * Use Timer 1 or 3
  */
diff --git a/boards/arm/stm32f7/nucleo-144/src/stm32_bringup.c b/boards/arm/stm32f7/nucleo-144/src/stm32_bringup.c
index e51b91bf63..f0803f30e9 100644
--- a/boards/arm/stm32f7/nucleo-144/src/stm32_bringup.c
+++ b/boards/arm/stm32f7/nucleo-144/src/stm32_bringup.c
@@ -42,6 +42,10 @@
 #include "stm32_romfs.h"
 #endif
 
+#ifdef CONFIG_SYSTEMTICK_HOOK
+#include <semaphore.h>
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -209,6 +213,18 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_STM32F7_TIM8_QE
+  snprintf(buf, sizeof(buf), "/dev/qe4");
+  ret = stm32_qencoder_initialize(buf, 8);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the qencoder: %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
 #endif
 
 #ifdef CONFIG_STM32F7_CAN_CHARDRIVER
@@ -265,3 +281,13 @@ int stm32_bringup(void)
   UNUSED(ret);
   return OK;
 }
+
+#ifdef CONFIG_SYSTEMTICK_HOOK
+
+sem_t g_waitsem;
+
+void board_timerhook(void)
+{
+  (void)sem_post(&g_waitsem);
+}
+#endif
diff --git a/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c b/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c
index 20c1bed08d..7ed413b7df 100644
--- a/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c
+++ b/boards/arm/stm32h7/nucleo-h743zi2/src/stm32_bringup.c
@@ -41,6 +41,10 @@
 #include "stm32_fdcan_sock.h"
 #endif
 
+#ifdef CONFIG_SYSTEMTICK_HOOK
+#include <semaphore.h>
+#endif
+
 #include "nucleo-h743zi2.h"
 
 /****************************************************************************
@@ -258,3 +262,13 @@ int stm32_bringup(void)
 
   return OK;
 }
+
+#ifdef CONFIG_SYSTEMTICK_HOOK
+
+sem_t g_waitsem;
+
+void board_timerhook(void)
+{
+  (void)sem_post(&g_waitsem);
+}
+#endif
diff --git a/boards/arm/stm32h7/nucleo-h745zi/src/stm32_bringup.c b/boards/arm/stm32h7/nucleo-h745zi/src/stm32_bringup.c
index 65b816f5d7..f7295e0be4 100644
--- a/boards/arm/stm32h7/nucleo-h745zi/src/stm32_bringup.c
+++ b/boards/arm/stm32h7/nucleo-h745zi/src/stm32_bringup.c
@@ -39,6 +39,10 @@
 #  include <nuttx/serial/uart_rpmsg.h>
 #endif
 
+#ifdef CONFIG_SYSTEMTICK_HOOK
+#include <semaphore.h>
+#endif
+
 #include "nucleo-h745zi.h"
 
 /****************************************************************************
@@ -227,3 +231,13 @@ int stm32_bringup(void)
 
   return OK;
 }
+
+#ifdef CONFIG_SYSTEMTICK_HOOK
+
+sem_t g_waitsem;
+
+void board_timerhook(void)
+{
+  (void)sem_post(&g_waitsem);
+}
+#endif