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Add QE support to STM32F4Discovery; add a test of the quadrature encoder driver

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4395 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo 2012-02-15 17:51:30 +00:00
parent df3f611cba
commit f5fa7a1742
9 changed files with 307 additions and 18 deletions
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145
configs/stm32f4discovery/README.txt
View File

@ -11,9 +11,11 @@ Contents
- GNU Toolchain Options
- IDEs
- NuttX buildroot Toolchain
- stm32f4discovery-specific Configuration Options
- LEDs
- PWM
- UARTs
- Timer Inputs/Outputs
- STM32F4Discovery-specific Configuration Options
- Configurations
Development Environment
@ -139,7 +141,7 @@ NuttX buildroot Toolchain
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh stm32f4discovery/<sub-dir>
./configure.sh STM32F4Discovery/<sub-dir>
2. Download the latest buildroot package into <some-dir>
@ -165,10 +167,10 @@ NuttX buildroot Toolchain
LEDs
====
The stm32f4discovery board has four LEDs; green, organge, red and blue on the
The STM32F4Discovery board has four LEDs; green, organge, red and blue on the
board.. These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
defined. In that case, the usage by the board port is defined in
include/board.h and src/up_leds.c. The LEDs are used to encode OS-related\
include/board.h and src/up_leds.c. The LEDs are used to encode OS-related
events as follows:
SYMBOL Meaning LED1* LED2 LED3 LED4
@ -194,12 +196,120 @@ events as follows:
PWM
===
The stm32f4discovery has no real on-board PWM devices, but the board can be
The STM32F4Discovery has no real on-board PWM devices, but the board can be
configured to output a pulse train using TIM4 CH2 on PD3. This pin is
available next to the audio jack.
stm32f4discovery-specific Configuration Options
============================================
UART
====
UART/USART PINS
---------------
USART1
CK PA8
CTS PA11*
RTS PA12*
RX PA10*, PB7
TX PA9*, PB6*
USART2
CK PA4*, PD7
CTS PA0*, PD3
RTS PA1, PD4*
RX PA3, PD6
TX PA2, PD5*
USART3
CK PB12, PC12*, PD10
CTS PB13, PD11
RTS PB14, PD12*
RX PB11, PC11, PD9
TX PB10*, PC10*, PD8
UART4
RX PA1, PC11
TX PA0*, PC10*
UART5
RX PD2
TX PC12*
USART6
CK PC8, PG7**
CTS PG13**, PG15**
RTS PG12**, PG8**
RX PC7*, PG9**
TX PC6, PG14**
* Indicates pins that have other on-board functins and should be used only
with care (See table 5 in the STM32F4Discovery User Guide). The rest are
free I/O pins.
** Port G pins are not supported by the MCU
Default USART/UART Configuration
--------------------------------
USART2 is enabled in all configurations (see */defconfig). RX and TX are
configured on pins PA3 and PA2, respectively (see include/board.h).
Timer Inputs/Outputs
====================
TIM1
CH1 PA8, PE9
CH2 PA9*, PE11
CH3 PA10*, PE13
CH4 PA11*, PE14
TIM2
CH1 PA0*, PA15, PA5*
CH2 PA1, PB3*
CH3 PA2, PB10*
CH4 PA3, PB11
TIM3
CH1 PA6*, PB4, PC6
CH2 PA7*, PB5, PC7*
CH3 PB0, PC8
CH4 PB1, PC9
TIM4
CH1 PB6*, PD12*
CH2 PB7, PD13*
CH3 PB8, PD14*
CH4 PB9*, PD15*
TIM5
CH1 PA0*, PH10**
CH2 PA1, PH11**
CH3 PA2, PH12**
CH4 PA3, PI0
TIM8
CH1 PC6, PI5
CH2 PC7*, PI6
CH3 PC8, PI7
CH4 PC9, PI2
TIM9
CH1 PA2, PE5
CH2 PA3, PE6
TIM10
CH1 PB8, PF6
TIM11
CH1 PB9*, PF7
TIM12
CH1 PH6**, PB14
CH2 PC15, PH9**
TIM13
CH1 PA6*, PF8
TIM14
CH1 PA7*, PF9
* Indicates pins that have other on-board functins and should be used only
with care (See table 5 in the STM32F4Discovery User Guide). The rest are
free I/O pins.
** Port H pins are not supported by the MCU
Quadrature Encode Timer Inputs
------------------------------
If enabled (by setting CONFIG_QENCODER=y), then quadrature encoder will
user TIM2 (see nsh/defconfig) and input pins PA15, and PA1 for CH1 and
CH2, respectively (see include board.h).
STM32F4Discovery-specific Configuration Options
===============================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
be set to:
@ -231,7 +341,7 @@ stm32f4discovery-specific Configuration Options
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=stm32f4discovery (for the stm32f4discovery development board)
CONFIG_ARCH_BOARD=STM32F4Discovery (for the STM32F4Discovery development board)
CONFIG_ARCH_BOARD_name - For use in C code
@ -438,11 +548,11 @@ stm32f4discovery-specific Configuration Options
Configurations
==============
Each stm32f4discovery configuration is maintained in a sudirectory and
Each STM32F4Discovery configuration is maintained in a sudirectory and
can be selected as follow:
cd tools
./configure.sh stm32f4discovery/<subdir>
./configure.sh STM32F4Discovery/<subdir>
cd -
. ./setenv.sh
@ -461,13 +571,14 @@ Where <subdir> is one of the following:
Configures the NuttShell (nsh) located at apps/examples/nsh. The
Configuration enables both the serial and telnet NSH interfaces.
CONFIG_STM32_CODESOURCERYL=y : CodeSourcery under Linux / Mac OS X
CONFIG_STM32_CODESOURCERYL=y : CodeSourcery under Linux / Mac OS X
NOTES:
1. This example supports the PWM test (apps/examples/pwm) but this must
be manually enabled by selecting:
CONFIG_PWM=y : Enable the generic PWM infrastructure
CONFIG_STM32_TIM4=y : Enable TIM4
CONFIG_STM32_TIM4_PWM=y : Use TIM4 to generate PWM output
See also apps/examples/README.txt
@ -476,3 +587,15 @@ Where <subdir> is one of the following:
CONFIG_DEBUG_PWM
1. This example supports the Quadrature Encode test (apps/examples/qencoder)
but this must be manually enabled by selecting:
CONFIG_QENCODER=y : Enable the generic Quadrature Encoder infrastructure
CONFIG_STM32_TIM2=y : Enable TIM2
CONFIG_STM32_TIM2_QE=y : Use TIM2 as the quadrature encoder
See also apps/examples/README.txt
Special PWM-only debug options:
CONFIG_DEBUG_QENCODER

6
configs/stm32f4discovery/include/board.h
View File

@ -208,6 +208,7 @@
*
* The STM32F4 Discovery has no on-board serial devices, but the console is
* brought out to PA2 (TX) and PA3 (RX) for connection to an external serial device.
* (See the README.txt file for other options)
*/
#define GPIO_USART2_RX GPIO_USART2_RX_1
@ -227,6 +228,11 @@
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
/* Timer Inputs/Outputs (see the README.txt file for options) */
#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
/************************************************************************************
* Public Data
************************************************************************************/

4
configs/stm32f4discovery/nsh/appconfig
View File

@ -51,3 +51,7 @@ endif
ifeq ($(CONFIG_PWM),y)
CONFIGURED_APPS += examples/pwm
endif
ifeq ($(CONFIG_QENCODER),y)
CONFIGURED_APPS += examples/qencoder
endif

16
configs/stm32f4discovery/nsh/defconfig
View File

@ -1,7 +1,7 @@
############################################################################
# configs/stm32f4discovery/nsh/defconfig
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
@ -313,18 +313,25 @@ CONFIG_STM32_PHYSR_FULLDUPLEX=0x0004
CONFIG_STM32_ETH_PTP=n
CONFIG_STM32_ETHMAC_REGDEBUG=n
#
# PWM configuration
#
# The stm32f4discovery has no real on-board PWM devices, but the board can be configured to output
# a pulse train using TIM4 CH2.
# a pulse train using TIM4 CH2. (Don't forget to set CONFIG_STM32_TIM4=y above)
#
CONFIG_PWM=n
CONFIG_STM32_TIM4=y
CONFIG_STM32_TIM4_PWM=y
CONFIG_STM32_TIM4_CHANNEL=2
#
# Quadrature Encoder configuration.
#
# Uses TIM2 (CONFIG_STM32_TIM2=y above)
#
#
CONFIG_QENCODER=n
CONFIG_STM32_TIM2_QE=y
#
# General build options
#
@ -452,6 +459,7 @@ CONFIG_DEBUG_RTC=n
CONFIG_DEBUG_ANALOG=n
CONFIG_DEBUG_PWM=n
CONFIG_DEBUG_CAN=n
CONFIG_DEBUG_QENCODER=n
CONFIG_HAVE_CXX=y
CONFIG_MM_REGIONS=2
CONFIG_ARCH_LOWPUTC=y

4
configs/stm32f4discovery/src/Makefile
View File

@ -56,6 +56,10 @@ ifeq ($(CONFIG_PWM),y)
CSRCS += up_pwm.c
endif
ifeq ($(CONFIG_QENCODER),y)
CSRCS += up_qencoder.c
endif
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)

2
configs/stm32f4discovery/src/stm32f4discovery-internal.h
View File

@ -2,7 +2,7 @@
* configs/stm3240g_eval/src/stm3240g_internal.h
* arch/arm/src/board/stm3240g_internal.n
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without

2
configs/stm32f4discovery/src/up_autoleds.c
View File

@ -2,7 +2,7 @@
* configs/stm3240g_eval/src/up_autoleds.c
* arch/arm/src/board/up_autoleds.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without

2
configs/stm32f4discovery/src/up_buttons.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
* configs/stm32f4discovery/src/up_buttons.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without

144
configs/stm32f4discovery/src/up_qencoder.c Normal file
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@ -0,0 +1,144 @@
/************************************************************************************
* configs/stm32f4discovery/src/up_qencoder.c
* arch/arm/src/board/up_qencoder.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <nuttx/sensors/qencoder.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32_qencoder.h"
#include "stm32f4discovery-internal.h"
/************************************************************************************
* Definitions
************************************************************************************/
/* Configuration *******************************************************************/
/* The following checks assum that the quadrature encoder is on TIM2. Make the
* appropriate changes if your configuration differes.
*/
#define HAVE_QENCODER 1
#ifndef CONFIG_QENCODER
# undef HAVE_QENCODER
#endif
#ifndef CONFIG_STM32_TIM2
# undef HAVE_QENCODER
#endif
#ifndef CONFIG_STM32_TIM2_QE
# undef HAVE_QENCODER
#endif
#ifdef HAVE_QENCODER
/* Debug ***************************************************************************/
/* Non-standard debug that may be enabled just for testing the quadrature encoder */
#ifndef CONFIG_DEBUG
# undef CONFIG_DEBUG_QENCODER
#endif
#ifdef CONFIG_DEBUG_QENCODER
# define qedbg dbg
# define qelldbg lldbg
# ifdef CONFIG_DEBUG_VERBOSE
# define qevdbg vdbg
# define qellvdbg llvdbg
# else
# define qelldbg(x...)
# define qellvdbg(x...)
# endif
#else
# define qedbg(x...)
# define qelldbg(x...)
# define qevdbg(x...)
# define qellvdbg(x...)
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: qe_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/qencoder.
*
************************************************************************************/
int qe_devinit(void)
{
static initialized = false;
int ret;
/* Check if we are already initialized */
if (!initialized)
{
/* Initialize a quadrature encoder interface. */
qevdbg("Initializing the quadrature encoder\n");
ret = stm32_qeinitialize("/dev/qe0", 2);
if (ret < 0)
{
qedbg("stm32_qeinitialize failed: %d\n", ret);
return ret;
}
initialized = true;
}
return OK;
}
#endif /* HAVE_QENCODER */