Resync new repository with old repo r5166

git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5153 42af7a65-404d-4744-a932-0658087f49c3

4 files changed, 614 insertions, 0 deletions

diff --git a/apps/examples/qencoder/Kconfig b/apps/examples/qencoder/Kconfig
new file mode 100644
index 000000000..e0026d08c
--- /dev/null
+++ b/apps/examples/qencoder/Kconfig
@@ -0,0 +1,13 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+config EXAMPLES_QENCODER
+	bool "Quadrature encoder example"
+	default n
+	---help---
+		Enable the quadrature encoder example
+
+if EXAMPLES_QENCODER
+endif
diff --git a/apps/examples/qencoder/Makefile b/apps/examples/qencoder/Makefile
new file mode 100644
index 000000000..3f3fc9def
--- /dev/null
+++ b/apps/examples/qencoder/Makefile
@@ -0,0 +1,105 @@
+############################################################################
+# apps/examples/qe/Makefile
+#
+#   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.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# NuttX NX Graphics Example.
+
+ASRCS		=
+CSRCS		= qe_main.c
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(WINTOOL),y)
+  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+else
+  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+endif
+
+ROOTDEPPATH	= --dep-path .
+
+# Quadrature Encoder built-in application info
+
+APPNAME		= qe
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 2048
+
+# Common build
+
+VPATH		= 
+
+all: .built
+.PHONY: context clean depend distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	@( for obj in $(OBJS) ; do \
+		$(call ARCHIVE, $(BIN), $${obj}); \
+	done ; )
+	@touch .built
+
+.context:
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
+	@touch $@
+endif
+
+context: .context
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	@rm -f *.o *~ .*.swp .built
+	$(call CLEAN)
+
+distclean: clean
+	@rm -f Make.dep .depend
+
+-include Make.dep
diff --git a/apps/examples/qencoder/qe.h b/apps/examples/qencoder/qe.h
new file mode 100644
index 000000000..4c03689ab
--- /dev/null
+++ b/apps/examples/qencoder/qe.h
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * examples/examples/qe/qe.h
+ *
+ *   Copyright (C) 2011 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 __APPS_EXAMPLES_QENCODER_QE_H
+#define __APPS_EXAMPLES_QENCODER_QE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+/* CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
+ *  Default: Built as a standalone problem
+ * CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
+ *  /dev/qe0
+ * CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+ *   is defined, then the number of samples is provided on the command line
+ *   and this value is ignored.  Otherwise, this number of samples is
+ *   collected and the program terminates.  Default:  Samples are collected
+ *   indefinitely.
+ * CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
+ *   milliseonds) between each sample.  If CONFIG_NSH_BUILTIN_APPS
+ *   is defined, then this value is the default delay if no other delay is
+ *   provided on the command line.  Default:  100 milliseconds
+ */
+
+#ifndef CONFIG_QENCODER
+#  error "QE device support is not enabled (CONFIG_QENCODER)"
+#endif
+
+#ifndef CONFIG_EXAMPLES_QENCODER_DEVPATH
+#  define CONFIG_EXAMPLES_QENCODER_DEVPATH "/dev/qe0"
+#endif
+
+#ifndef CONFIG_EXAMPLES_QENCODER_DELAY
+#  define CONFIG_EXAMPLES_QENCODER_DELAY 100
+#endif
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define msgflush()
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#    define msgflush() fflush(stdout)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lib_rawprintf
+#    define msgflush()
+#  else
+#    define message printf
+#    define msgflush() fflush(stdout)
+#  endif
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+struct qe_example_s
+{
+  bool         initialized; /* True: QE devices have been initialized */
+  bool         reset;       /* True: set the count back to zero */
+  FAR char    *devpath;     /* Path to the QE device */
+  unsigned int nloops;      /* Collect this number of samples */
+  unsigned int delay;       /* Delay this number of seconds between samples */
+};
+#endif
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+extern struct qe_example_s g_qeexample;
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: qe_devinit()
+ *
+ * Description:
+ *   Perform architecuture-specific initialization of the QE hardware.  This
+ *   interface must be provided by all configurations using apps/examples/qe
+ *
+ ****************************************************************************/
+
+int qe_devinit(void);
+
+#endif /* __APPS_EXAMPLES_QENCODER_QE_H */
diff --git a/apps/examples/qencoder/qe_main.c b/apps/examples/qencoder/qe_main.c
new file mode 100644
index 000000000..8c185ea1b
--- /dev/null
+++ b/apps/examples/qencoder/qe_main.c
@@ -0,0 +1,362 @@
+/****************************************************************************
+ * examples/qe/qe_main.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 <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <limits.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/sensors/qencoder.h>
+
+#include "qe.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+struct qe_example_s g_qeexample;
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: qe_devpath
+ ****************************************************************************/
+
+static void qe_devpath(FAR const char *devpath)
+{
+  /* Get rid of any old device path */
+
+  if (g_qeexample.devpath)
+    {
+      free(g_qeexample.devpath);
+    }
+
+  /* The set-up the new device path by copying the string */
+
+  g_qeexample.devpath = strdup(devpath);
+}
+
+/****************************************************************************
+ * Name: qe_help
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static void qe_help(void)
+{
+  message("\nUsage: qe [OPTIONS]\n\n");
+  message("OPTIONS include:\n");
+  message("  [-p devpath] QE device path\n");
+  message("  [-n samples] Number of samples\n");
+  message("  [-t msec]    Delay between samples (msec)\n");
+  message("  [-r]         Reset the position to zero\n");
+  message("  [-h]         Shows this message and exits\n\n");
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_string
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static int arg_string(FAR char **arg, FAR char **value)
+{
+  FAR char *ptr = *arg;
+
+  if (ptr[2] == '\0')
+    {
+      *value = arg[1];
+      return 2;
+    }
+  else
+    {
+      *value = &ptr[2];
+      return 1;
+    }
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_decimal
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static int arg_decimal(FAR char **arg, FAR long *value)
+{
+  FAR char *string;
+  int ret;
+
+  ret = arg_string(arg, &string);
+  *value = strtol(string, NULL, 10);
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: parse_args
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static void parse_args(int argc, FAR char **argv)
+{
+  FAR char *ptr;
+  FAR char *str;
+  long value;
+  int index;
+  int nargs;
+
+  g_qeexample.reset  = false;
+  g_qeexample.nloops = 1;
+  g_qeexample.delay  = CONFIG_EXAMPLES_QENCODER_DELAY;
+
+  for (index = 1; index < argc; )
+    {
+      ptr = argv[index];
+      if (ptr[0] != '-')
+        {
+          message("Invalid options format: %s\n", ptr);
+          exit(0);
+        }
+
+      switch (ptr[1])
+        {
+          case 'n':
+            nargs = arg_decimal(&argv[index], &value);
+            if (value < 0 || value > INT_MAX)
+              {
+                message("Sample count out of range: %ld\n", value);
+                exit(1);
+              }
+
+            g_qeexample.nloops = (unsigned int)value;
+            index += nargs;
+            break;
+
+          case 'p':
+            nargs = arg_string(&argv[index], &str);
+            qe_devpath(str);
+            index += nargs;
+            break;
+
+          case 't':
+            nargs = arg_decimal(&argv[index], &value);
+            if (value < 0 || value > INT_MAX)
+              {
+                message("Sample delay out of range: %ld\n", value);
+                exit(1);
+              }
+
+            g_qeexample.delay = (unsigned int)value;
+            index += nargs;
+            break;
+
+          case 'r':
+            g_qeexample.reset = true;
+            index++;
+            break;
+
+          case 'h':
+            qe_help();
+            exit(EXIT_SUCCESS);
+        
+          default:
+            message("Unsupported option: %s\n", ptr);
+            qe_help();
+            exit(EXIT_FAILURE);
+        }
+    }
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: qe_main
+ ****************************************************************************/
+
+int qe_main(int argc, char *argv[])
+{
+  int32_t position;
+  int fd;
+  int exitval = EXIT_SUCCESS;
+  int ret;
+#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
+  int nloops;
+#endif
+
+  /* Check if we have initialized */
+
+  if (!g_qeexample.initialized)
+    {
+      /* Initialization of the encoder hardware is performed by logic external to
+       * this test.
+       */
+
+      message("qe_main: Initializing external encoder(s)\n");
+      ret = qe_devinit();
+      if (ret != OK)
+        {
+          message("qe_main: qe_devinit failed: %d\n", ret);
+          exitval = EXIT_FAILURE;
+          goto errout;
+        }
+
+      /* Set the default values */
+
+      qe_devpath(CONFIG_EXAMPLES_QENCODER_DEVPATH);
+      g_qeexample.initialized = true;
+    }
+
+  /* Parse command line arguments */
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+  parse_args(argc, argv);
+#endif
+
+  /* Open the encoder device for reading */
+
+  message("qe_main: Hardware initialized. Opening the encoder device: %s\n",
+          g_qeexample.devpath);
+
+  fd = open(g_qeexample.devpath, O_RDONLY);
+  if (fd < 0)
+    {
+      message("qe_main: open %s failed: %d\n", g_qeexample.devpath, errno);
+      exitval = EXIT_FAILURE;
+      goto errout_with_dev;
+    }
+
+  /* Reset the count if so requested */
+
+  if (g_qeexample.reset)
+    {
+      message("qe_main: Resetting the count...\n");
+      ret = ioctl(fd, QEIOC_RESET, 0);
+      if (ret < 0)
+        {
+          message("qe_main: ioctl(QEIOC_RESET) failed: %d\n", errno);
+          exitval = EXIT_FAILURE;
+          goto errout_with_dev;
+        }
+    }
+
+  /* Now loop the appropriate number of times, displaying the collected
+   * encoder samples.
+   */
+
+#if defined(CONFIG_NSH_BUILTIN_APPS)
+  message("qe_main: Number of samples: %d\n", g_qeexample.nloops);
+  for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
+#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
+  message("qe_main: Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
+  for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++)
+#else
+  for (;;)
+#endif
+    {
+      /* Flush any output before the loop entered or from the previous pass
+       * through the loop.
+       */
+
+      msgflush();
+
+      /* Get the positions data using the ioctl */
+
+      ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
+      if (ret < 0)
+        {
+          message("qe_main: ioctl(QEIOC_POSITION) failed: %d\n", errno);
+          exitval = EXIT_FAILURE;
+          goto errout_with_dev;
+        }
+
+      /* Print the sample data on successful return */
+
+      else
+        {
+          message("qe_main: %3d. %d\n", nloops+1, position);
+        }
+
+      /* Delay a little bit */
+
+#if defined(CONFIG_NSH_BUILTIN_APPS)
+      usleep(g_qeexample.delay * 1000);
+#else
+      usleep(CONFIG_EXAMPLES_QENCODER_DELAY * 1000);
+#endif
+    }
+
+errout_with_dev:
+  close(fd);
+
+errout:
+  message("Terminating!\n");
+  msgflush();
+  return exitval;
+}