diff options
author | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-02-14 15:32:57 +0000 |
---|---|---|
committer | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-02-14 15:32:57 +0000 |
commit | 2bc230a0d6b25d3ac140f3acfbfcd6ea478c5d8b (patch) | |
tree | edf22faa8e6f3919fe00791bec725da56a9c88b4 | |
parent | 1cc7e843bc250baff2f2864c707cb3e5e574de87 (diff) | |
download | px4-firmware-2bc230a0d6b25d3ac140f3acfbfcd6ea478c5d8b.tar.gz px4-firmware-2bc230a0d6b25d3ac140f3acfbfcd6ea478c5d8b.tar.bz2 px4-firmware-2bc230a0d6b25d3ac140f3acfbfcd6ea478c5d8b.zip |
Add an infrastructure to support a generic quadrature encoder driver
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4390 7fd9a85b-ad96-42d3-883c-3090e2eb8679
-rw-r--r-- | nuttx/ChangeLog | 6 | ||||
-rw-r--r-- | nuttx/arch/arm/src/stm32/Make.defs | 4 | ||||
-rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_qencoder.c | 222 | ||||
-rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_qencoder.h | 72 | ||||
-rw-r--r-- | nuttx/drivers/sensors/Make.defs | 6 | ||||
-rw-r--r-- | nuttx/drivers/sensors/qencoder.c | 396 | ||||
-rw-r--r-- | nuttx/include/nuttx/ioctl.h | 7 | ||||
-rw-r--r-- | nuttx/include/nuttx/pwm.h | 6 | ||||
-rw-r--r-- | nuttx/include/nuttx/sensors/lm75.h | 10 | ||||
-rw-r--r-- | nuttx/include/nuttx/sensors/qencoder.h | 180 |
10 files changed, 901 insertions, 8 deletions
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 5404cbfe7..d957a193b 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -2460,3 +2460,9 @@ can be used to turn debug output on and off. 6.16 2012-xx-xx Gregory Nutt <gnutt@nuttx.org> + + * drivers/sensors/qencoder.c and include/nuttx/sensors/qencoder.h: Add an + implementation for a quadrature encoder upper half driver. + * arch/arm/src/stm32/stm32_qencoder.c/.h: Add a initial implementation of + a lower-half quadrature encoder driver for the STM32. On initial check-in, + this is little more than a "skeleton" file. diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs index 6306f2a26..213ac0be9 100644 --- a/nuttx/arch/arm/src/stm32/Make.defs +++ b/nuttx/arch/arm/src/stm32/Make.defs @@ -87,6 +87,10 @@ ifeq ($(CONFIG_PWM),y) CHIP_CSRCS += stm32_pwm.c endif +ifeq ($(CONFIG_QENCODER),y) +CHIP_CSRCS += stm32_qencoder.c +endif + ifeq ($(CONFIG_CAN),y) CHIP_CSRCS += stm32_can.c endif diff --git a/nuttx/arch/arm/src/stm32/stm32_qencoder.c b/nuttx/arch/arm/src/stm32/stm32_qencoder.c new file mode 100644 index 000000000..5b138b1d8 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_qencoder.c @@ -0,0 +1,222 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_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 <stdint.h> +#include <errno.h> + +#include <nuttx/arch.h> +#include <nuttx/kmalloc.h> +#include <nuttx/sensors/qencoder.h> + +#include "up_arch.h" +#include "stm32_qencoder.h" + +#ifdef CONFIG_QENCODER + +/************************************************************************************ + * Private Types + ************************************************************************************/ + +struct stm32_lowerhalf_s +{ + /* The first field of this state structure must be a pointer to the lower- + * half callback structure: + */ + + FAR const struct qe_ops_s *ops; /* Lower half callback structure */ + + /* STM32 driver-specific fields: */ +}; + +/************************************************************************************ + * Private Function Prototypes + ************************************************************************************/ + +/* Lower-half Quadrature Encoder Driver Methods */ + +static int stm32_setup(FAR struct qe_lowerhalf_s *lower); +static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower); +static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos); +static int stm32_reset(FAR struct qe_lowerhalf_s *lower); +static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg); + + /************************************************************************************ + * Private Data + ************************************************************************************/ +/* The lower half callback structure */ + +FAR const struct qe_ops_s g_qecallbacks = +{ + .setup = stm32_setup, + .shutdown = stm32_shutdown, + .position = stm32_position, + .reset = stm32_reset, + .ioctl = stm32_ioctl, +}; + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_setup + * + * Description: + * This method is called when the driver is opened. The lower half driver + * should configure and initialize the device so that it is ready for use. + * The initial position value should be zero. * + * + ************************************************************************************/ + +static int stm32_setup(FAR struct qe_lowerhalf_s *lower) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_shutdown + * + * Description: + * This method is called when the driver is closed. The lower half driver + * should stop data collection, free any resources, disable timer hardware, and + * put the system into the lowest possible power usage state * + * + ************************************************************************************/ + +static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_position + * + * Description: + * Return the current position measurement. + * + ************************************************************************************/ + +static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_reset + * + * Description: + * Reset the position measurement to zero. + * + ************************************************************************************/ + +static int stm32_reset(FAR struct qe_lowerhalf_s *lower) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/************************************************************************************ + * Name: stm32_ioctl + * + * Description: + * Lower-half logic may support platform-specific ioctl commands + * + ************************************************************************************/ + +static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg) +{ + /* No ioctl commands supported */ + + return -ENOTTY; +} + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_qeinitialize + * + * Description: + * Initialize a quadrature encoder interface. This function must be called from + * board-specific logic after input pins have been configured. + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/qe0" + * + * Returned Values: + * Zero on success; A negated errno value is returned on failure. + * + ************************************************************************************/ + +int stm32_qeinitialize(FAR const char *devpath) +{ + FAR struct stm32_lowerhalf_s *lower; + int ret; + + /* Allocate an instance to the device-specific, lower-half state structure */ + + lower = (FAR struct stm32_lowerhalf_s *)kmalloc(sizeof(struct stm32_lowerhalf_s)); + if (lower) + { + return -ENOMEM; + } + + /* Initialize the allocated state structure */ + + lower->ops = &g_qecallbacks; + + /* Register the lower-half driver */ + + ret = qe_register(devpath, (FAR struct qe_lowerhalf_s *)lower); + if (ret < 0) + { + kfree(lower); + return ret; + } + + return OK; +} + +#endif /* CONFIG_QENCODER */ diff --git a/nuttx/arch/arm/src/stm32/stm32_qencoder.h b/nuttx/arch/arm/src/stm32/stm32_qencoder.h new file mode 100644 index 000000000..5c977caad --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_qencoder.h @@ -0,0 +1,72 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_qencoder.h + * + * 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. + * + ************************************************************************************/ + +#ifndef __ARCH_ARM_SRC_STM32_STM32_QENCODER_H +#define __ARCH_ARM_SRC_STM32_STM32_QENCODER_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#include "chip.h" + +#ifdef CONFIG_QENCODER + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_qeinitialize + * + * Description: + * Initialize a quadrature encoder interface. This function must be called from + * board-specific logic after input pins have been configured. + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/qe0" + * + * Returned Values: + * Zero on success; A negated errno value is returned on failure. + * + ************************************************************************************/ + +int stm32_qeinitialize(FAR const char *devpath); + +#endif /* CONFIG_QENCODER */ +#endif /* __ARCH_ARM_SRC_STM32_STM32_QENCODER_H */ + diff --git a/nuttx/drivers/sensors/Make.defs b/nuttx/drivers/sensors/Make.defs index bda3e8ed3..bd28ba070 100644 --- a/nuttx/drivers/sensors/Make.defs +++ b/nuttx/drivers/sensors/Make.defs @@ -44,6 +44,12 @@ ifeq ($(CONFIG_I2C_LM75),y) endif endif +# Quadrature encoder upper half + +ifeq ($(CONFIG_QENCODER),y) + CSRCS += qencoder.c +endif + # Include sensor driver build support DEPPATH += --dep-path sensors diff --git a/nuttx/drivers/sensors/qencoder.c b/nuttx/drivers/sensors/qencoder.c new file mode 100644 index 000000000..edbe8255c --- /dev/null +++ b/nuttx/drivers/sensors/qencoder.c @@ -0,0 +1,396 @@ +/**************************************************************************** + * drivers/sensors/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. + * + ****************************************************************************/ + +/**************************************************************************** + * Compilation Switches + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <semaphore.h> +#include <fcntl.h> +#include <assert.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/fs.h> +#include <nuttx/arch.h> +#include <nuttx/sensors/qencoder.h> + +#include <arch/irq.h> + +#ifdef CONFIG_QENCODER + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ +/* Debug ********************************************************************/ +/* Non-standard debug that may be enabled just for testing PWM */ + +#ifdef CONFIG_DEBUG_QENCODER +# define qedbg dbg +# define qevdbg vdbg +# define qelldbg lldbg +# define qellvdbg llvdbg +#else +# define qedbg(x...) +# define qevdbg(x...) +# define qelldbg(x...) +# define qellvdbg(x...) +#endif + +/**************************************************************************** + * Private Type Definitions + ****************************************************************************/ + +/* This structure describes the state of the upper half drivere */ + +struct qe_upperhalf_s +{ + uint8_t crefs; /* The number of times the device has been opened */ + sem_t exclsem; /* Supports mutual exclusion */ + FAR struct qe_lowerhalf_s *lower; /* lower-half state */ +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int qe_open(FAR struct file *filep); +static int qe_close(FAR struct file *filep); +static ssize_t qe_read(FAR struct file *filep, FAR char *buffer, size_t buflen); +static ssize_t qe_write(FAR struct file *filep, FAR const char *buffer, size_t buflen); +static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const struct file_operations g_qeops = +{ + qe_open, /* open */ + qe_close, /* close */ + qe_read, /* read */ + qe_write, /* write */ + 0, /* seek */ + qe_ioctl /* ioctl */ +#ifndef CONFIG_DISABLE_POLL + , 0 /* poll */ +#endif +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: qe_open + * + * Description: + * This function is called whenever the PWM device is opened. + * + ************************************************************************************/ + +static int qe_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct qe_upperhalf_s *upper = inode->i_private; + uint8_t tmp; + int ret; + + qevdbg("crefs: %d\n", upper->crefs); + + /* Get exclusive access to the device structures */ + + ret = sem_wait(&upper->exclsem); + if (ret < 0) + { + ret = -errno; + goto errout; + } + + /* Increment the count of references to the device. If this the first + * time that the driver has been opened for this device, then initialize + * the device. + */ + + tmp = upper->crefs + 1; + if (tmp == 0) + { + /* More than 255 opens; uint8_t overflows to zero */ + + ret = -EMFILE; + goto errout_with_sem; + } + + /* Check if this is the first time that the driver has been opened. */ + + if (tmp == 1) + { + FAR struct qe_lowerhalf_s *lower = upper->lower; + + /* Yes.. perform one time hardware initialization. */ + + DEBUGASSERT(lower->ops->setup != NULL); + qevdbg("calling setup\n"); + + ret = lower->ops->setup(lower); + if (ret < 0) + { + goto errout_with_sem; + } + } + + /* Save the new open count on success */ + + upper->crefs = tmp; + ret = OK; + +errout_with_sem: + sem_post(&upper->exclsem); + +errout: + return ret; +} + +/************************************************************************************ + * Name: qe_close + * + * Description: + * This function is called when the PWM device is closed. + * + ************************************************************************************/ + +static int qe_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct qe_upperhalf_s *upper = inode->i_private; + int ret; + + qevdbg("crefs: %d\n", upper->crefs); + + /* Get exclusive access to the device structures */ + + ret = sem_wait(&upper->exclsem); + if (ret < 0) + { + ret = -errno; + goto errout; + } + + /* Decrement the references to the driver. If the reference count will + * decrement to 0, then uninitialize the driver. + */ + + if (upper->crefs > 1) + { + upper->crefs--; + } + else + { + FAR struct qe_lowerhalf_s *lower = upper->lower; + + /* There are no more references to the port */ + + upper->crefs = 0; + + /* Disable the PWM device */ + + DEBUGASSERT(lower->ops->shutdown != NULL); + qevdbg("calling shutdown: %d\n"); + + lower->ops->shutdown(lower); + } + ret = OK; + +//errout_with_sem: + sem_post(&upper->exclsem); + +errout: + return ret; +} + +/************************************************************************************ + * Name: qe_read + * + * Description: + * A dummy read method. This is provided only to satsify the VFS layer. + * + ************************************************************************************/ + +static ssize_t qe_read(FAR struct file *filep, FAR char *buffer, size_t buflen) +{ + /* Return zero -- usually meaning end-of-file */ + + return 0; +} + +/************************************************************************************ + * Name: qe_write + * + * Description: + * A dummy write method. This is provided only to satsify the VFS layer. + * + ************************************************************************************/ + +static ssize_t qe_write(FAR struct file *filep, FAR const char *buffer, size_t buflen) +{ + /* Return a failure */ + + return -EPERM; +} + +/************************************************************************************ + * Name: qe_ioctl + * + * Description: + * The standard ioctl method. This is where ALL of the PWM work is done. + * + ************************************************************************************/ + +static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct qe_upperhalf_s *upper = inode->i_private; + FAR struct qe_lowerhalf_s *lower = upper->lower; + int ret; + + qevdbg("cmd: %d arg: %ld\n", cmd, arg); + DEBUGASSERT(upper && lower); + + /* Get exclusive access to the device structures */ + + ret = sem_wait(&upper->exclsem); + if (ret < 0) + { + return ret; + } + + /* Handle built-in ioctl commands */ + + switch (cmd) + { + /* QEIOC_POSITION - Get the current position from the encoder. + * Argument: int32_t pointer to the location to return the position. + */ + + case QEIOC_POSITION: + { + FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg); + DEBUGASSERT(lower->ops->position != NULL && ptr); + ret = lower->ops->position(lower, ptr); + } + break; + + /* QEIOC_RESET - Reset the position to zero. + * Argument: None + */ + + case QEIOC_RESET: + { + DEBUGASSERT(lower->ops->reset != NULL); + ret = lower->ops->reset(lower); + } + break; + + /* Any unrecognized IOCTL commands might be platform-specific ioctl commands */ + + default: + { + qevdbg("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg); + DEBUGASSERT(lower->ops->ioctl != NULL); + ret = lower->ops->ioctl(lower, cmd, arg); + } + break; + } + + sem_post(&upper->exclsem); + return ret; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: qe_register + * + * Description: + * Register the Quadrature Encoder lower half device as 'devpath' + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/qe0" + * lower - An instance of the lower half interface + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower) +{ + FAR struct qe_upperhalf_s *upper; + + /* Allocate the upper-half data structure */ + + upper = (FAR struct qe_upperhalf_s *)zalloc(sizeof(struct qe_upperhalf_s)); + if (!upper) + { + qedbg("Allocation failed\n"); + return -ENOMEM; + } + + /* Initialize the PWM device structure (it was already zeroed by zalloc()) */ + + sem_init(&upper->exclsem, 0, 1); + upper->lower = lower; + + /* Register the PWM device */ + + qevdbg("Registering %s\n", devpath); + return register_driver(devpath, &g_qeops, 0666, upper); +} + +#endif /* CONFIG_QENCODER */ diff --git a/nuttx/include/nuttx/ioctl.h b/nuttx/include/nuttx/ioctl.h index b39bd65cb..c269b0772 100644 --- a/nuttx/include/nuttx/ioctl.h +++ b/nuttx/include/nuttx/ioctl.h @@ -65,6 +65,7 @@ #define _PWMIOCBASE (0x0c00) /* PWM ioctl commands */ #define _CAIOCBASE (0x0d00) /* CDC/ACM ioctl commands */ #define _BATIOCBASE (0x0e00) /* Battery driver ioctl commands */ +#define _QEIOCBASE (0x0f00) /* Quadrature encoder ioctl commands */ /* Macros used to manage ioctl commands */ @@ -193,6 +194,12 @@ #define _BATIOCVALID(c) (_IOC_TYPE(c)==_BATIOCBASE) #define _BATIOC(nr) _IOC(_BATIOCBASE,nr) +/* NuttX Quadrature Encoder driver ioctol definitions ***********************/ +/* (see nuttx/power/battery.h) */ + +#define _QEIOCVALID(c) (_IOC_TYPE(c)==_QEIOCBASE) +#define _QEIOC(nr) _IOC(_QEIOCBASE,nr) + /**************************************************************************** * Public Type Definitions ****************************************************************************/ diff --git a/nuttx/include/nuttx/pwm.h b/nuttx/include/nuttx/pwm.h index acb65688b..3ebea1c13 100644 --- a/nuttx/include/nuttx/pwm.h +++ b/nuttx/include/nuttx/pwm.h @@ -81,7 +81,7 @@ /* The PWM module uses a standard character driver framework. However, since * the PWM driver is a devices control interface and not a data transfer * interface, the majority of the functionality is implemented in driver - * ioctl calls. The PWM ioctal commands are lised below: + * ioctl calls. The PWM ioctl commands are lised below: * * PWMIOC_SETCHARACTERISTICS - Set the characteristics of the next pulsed * output. This command will neither start nor stop the pulsed output. @@ -152,7 +152,7 @@ struct pwm_ops_s CODE int (*setup)(FAR struct pwm_lowerhalf_s *dev); /* This method is called when the driver is closed. The lower half driver - * stop pulsed output, free any resources, disable the timer hardware, and + * should stop pulsed output, free any resources, disable the timer hardware, and * put the system into the lowest possible power usage state */ @@ -203,7 +203,7 @@ struct pwm_lowerhalf_s FAR const struct pwm_ops_s *ops; /* The custom timer state structure may include additional fields after - * the pointer to the PWM callback structgure. + * the pointer to the PWM callback structure. */ }; diff --git a/nuttx/include/nuttx/sensors/lm75.h b/nuttx/include/nuttx/sensors/lm75.h index 0d27a586b..43c90a466 100644 --- a/nuttx/include/nuttx/sensors/lm75.h +++ b/nuttx/include/nuttx/sensors/lm75.h @@ -1,8 +1,8 @@ /**************************************************************************** * include/nuttx/lm75.h * - * Copyright (C) 2011 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * 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 * modification, are permitted provided that the following conditions @@ -33,8 +33,8 @@ * ****************************************************************************/ -#ifndef __NUTTX_SENSORSD_LM75_H -#define __NUTTX_SENSORSD_LM75_H +#ifndef __NUTTX_SENSORS_LM75_H +#define __NUTTX_SENSORS_LM75_H /**************************************************************************** * Included Files @@ -130,4 +130,4 @@ EXTERN int lm75_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c, } #endif -#endif /* __NUTTX_SENSORSD_LM75_H */ +#endif /* __NUTTX_SENSORS_LM75_H */ diff --git a/nuttx/include/nuttx/sensors/qencoder.h b/nuttx/include/nuttx/sensors/qencoder.h new file mode 100644 index 000000000..b1ca83259 --- /dev/null +++ b/nuttx/include/nuttx/sensors/qencoder.h @@ -0,0 +1,180 @@ +/**************************************************************************** + * include/nuttx/qencoder.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __NUTTX_SENSORS_QENCODER_H +#define __NUTTX_SENSORS_QENCODER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/ioctl.h> + +#ifdef CONFIG_QENCODER + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ +/* Configuration ************************************************************ + * CONFIG_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 devices control interface and not a data + * transfer interface, the majority of the functionality is implemented in + * driver ioctl calls. The PWM ioctal commands are lised below: + * + * QEIOC_POSITION - Get the current position from the encoder. + * Argument: int32_t pointer to the location to return the position. + * QEIOC_RESET - Reset the position to zero. + * Argument: None + */ + +#define QEIOC_POSITION _QEIOC(0x0001) /* Arg: int32_t* pointer */ +#define QEIOC_RESET _QEIOC(0x0002) /* Arg: None */ + +/* User defined ioctl cms should use QEIOC_USER like this: + * + * #define QEIOC_MYCMD1 _QEIOC(QEIOC_USER) + * #define QEIOC_MYCMD2 _QEIOC(QEIOC_USER+1) + * ... + */ + +#define QEIOC_USER 0x0003 + +/**************************************************************************** + * 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. + */ + +struct qe_lowerhalf_s; +struct qe_ops_s +{ + /* This method is called when the driver is opened. The lower half driver + * should configure and initialize the device so that it is ready for use. + * The initial position value should be zero. + */ + + CODE int (*setup)(FAR struct qe_lowerhalf_s *lower); + + /* This method is called when the driver is closed. The lower half driver + * should stop data collection, free any resources, disable timer hardware, and + * put the system into the lowest possible power usage state + */ + + CODE int (*shutdown)(FAR struct qe_lowerhalf_s *lower); + + /* Return the current position measurement. */ + + CODE int (*position)(FAR struct qe_lowerhalf_s *lower, int32_t *pos); + + /* Reset the position measurement to zero. */ + + CODE int (*reset)(FAR struct qe_lowerhalf_s *lower); + + /* Lower-half logic may support platform-specific ioctl commands */ + + CODE int (*ioctl)(FAR struct qe_lowerhalf_s *lower, + int cmd, unsigned long arg); +}; + +/* This is the interface between the lower half quadrature encoder driver + * and the upper half quadrature encoder driver. A (device-specific) + * instance of this structure is passed to the upper-half driver when the + * quadrature encoder driver is registered. + * + * Normally that lower half logic will have its own, custom state structure + * that is simply cast to struct qe_lowerhalf_s. In order to perform such casts, + * the initial fields of the custom state structure match the initial fields + * of the following generic lower half state structure. + */ + +struct qe_lowerhalf_s +{ + /* The first field of this state structure must be a pointer to the lower- + * half callback structure: + */ + + FAR const struct qe_ops_s *ops; + + /* The custom timer state structure may include additional fields after + * the pointer to the callback structure. + */ + +}; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: qe_register + * + * Description: + * Register the Quadrature Encoder lower half device as 'devpath' + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/qe0" + * lower - An instance of the lower half interface + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +EXTERN int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* CONFIG_QENCODER */ +#endif /* __NUTTX_SENSORS_QENCODER_H */ |