/************************************************************************************
* 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 *******************************************************************/
/* Check if we have a timer configured for quadrature encoder -- assume YES. */
#define HAVE_QENCODER 1
/* If TIMn is not enabled (via CONFIG_STM32_TIMn), then the configuration cannot
* specify TIMn as a quadrature encoder (via CONFIG_STM32_TIMn_QE).
*/
#ifndef CONFIG_STM32_TIM1
# undef CONFIG_STM32_TIM1_QE
#endif
#ifndef CONFIG_STM32_TIM2
# undef CONFIG_STM32_TIM2_QE
#endif
#ifndef CONFIG_STM32_TIM3
# undef CONFIG_STM32_TIM3_QE
#endif
#ifndef CONFIG_STM32_TIM4
# undef CONFIG_STM32_TIM4_QE
#endif
#ifndef CONFIG_STM32_TIM5
# undef CONFIG_STM32_TIM5_QE
#endif
#ifndef CONFIG_STM32_TIM8
# undef CONFIG_STM32_TIM8_QE
#endif
/* If the upper-half quadrature encoder driver is not enabled, then we cannot
* support the quadrature encoder.
*/
#ifndef CONFIG_QENCODER
# undef HAVE_QENCODER
#endif
/* Which Timer should we use, TIMID={1,2,3,4,5,8}. If multiple timers are
* configured as quadrature encoders, this logic will arbitrarily select
* the lowest numbered timer.
*
* At least one TIMn, n={1,2,3,4,5,8}, must be both enabled and configured
* as a quadrature encoder in order to support the lower half quadrature
* encoder driver. The above check assures that if CONFIG_STM32_TIMn_QE
* is defined, then the correspdonding TIMn is also enabled.
*/
#if defined CONFIG_STM32_TIM1_QE
# define TIMID 1
#elif defined CONFIG_STM32_TIM2_QE
# define TIMID 2
#elif defined CONFIG_STM32_TIM3_QE
# define TIMID 3
#elif defined CONFIG_STM32_TIM4_QE
# define TIMID 4
#elif defined CONFIG_STM32_TIM5_QE
# define TIMID 5
#elif defined CONFIG_STM32_TIM8_QE
# define TIMID 8
#else
# 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 qevdbg(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 bool initialized = false;
int ret;
/* Check if we are already initialized */
if (!initialized)
{
/* Initialize a quadrature encoder interface. */
qevdbg("Initializing the quadrature encoder using TIM%d\n", TIMID);
ret = stm32_qeinitialize("/dev/qe0", TIMID);
if (ret < 0)
{
qedbg("stm32_qeinitialize failed: %d\n", ret);
return ret;
}
initialized = true;
}
return OK;
}
#endif /* HAVE_QENCODER */
