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Diffstat (limited to 'nuttx/drivers/sensors/qencoder.c')
-rw-r--r--nuttx/drivers/sensors/qencoder.c402
1 files changed, 0 insertions, 402 deletions
diff --git a/nuttx/drivers/sensors/qencoder.c b/nuttx/drivers/sensors/qencoder.c
deleted file mode 100644
index a56adec9a..000000000
--- a/nuttx/drivers/sensors/qencoder.c
+++ /dev/null
@@ -1,402 +0,0 @@
-/****************************************************************************
- * 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/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. The following
- * possible error values may be returned (most are returned by
- * register_driver()):
- *
- * EINVAL - 'path' is invalid for this operation
- * EEXIST - An inode already exists at 'path'
- * ENOMEM - Failed to allocate in-memory resources for the operation
- *
- ****************************************************************************/
-
-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 */
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