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

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4395 42af7a65-404d-4744-a932-0658087f49c3

6 files changed, 570 insertions, 3 deletions

diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 1ca261df6..f79305d47 100755
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -188,3 +188,5 @@
 	  dump the system log if CONFIG_SYSLOG is selected.
 
 6.16 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/qencoder:  Add a quadrature driver test.
diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index eea75083c..d6ac49163 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -39,9 +39,9 @@
 
 SUBDIRS = adc buttons can composite dhcpd ftpc ftpd hello helloxx hidkbd \
 	igmp lcdrw mm mount nettest nsh null nx nxffs nxflat nxhello nximage \
-	nxlines nxtext ostest pashello pipe poll pwm rgmp romfs sendmail \
+	nxlines nxtext ostest pashello pipe poll pwm qencoder rgmp romfs \
 	serloop telnetd thttpd tiff touchscreen udp uip usbserial \
-	usbstorage usbterm wget wlan
+	sendmail usbstorage usbterm wget wlan
 
 # Sub-directories that might need context setup.  Directories may need
 # context setup for a variety of reasons, but the most common is because
@@ -56,7 +56,7 @@ SUBDIRS = adc buttons can composite dhcpd ftpc ftpd hello helloxx hidkbd \
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS += adc can composite ftpd dhcpd nettest telnetd
+CNTXTDIRS += adc can composite ftpd dhcpd nettest qencoder telnetd
 endif
 
 ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
diff --git a/apps/examples/README.txt b/apps/examples/README.txt
index d598180e5..eeb05562d 100644
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@@ -906,6 +906,33 @@ examples/pwm
        only available if CONFIG_PWM_PULSECOUNT is defined. Default: 0 (i.e., use
        the duration, not the count).
 
+examples/qencoder
+^^^^^^^^^^^^^^^^^
+
+  This example is a simple test of a Quadrature Encoder driver.  It simply reads
+  positional data from the encoder and prints it.,
+
+  This test depends on these specific QE/NSH configurations settings (your
+  specific PWM settings might require additional settings).
+
+    CONFIG_QENCODER - Enables quadrature encoder support (upper-half driver).
+    CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
+      Default: Built as a standalone progrem.
+
+  Additional configuration options will mostly likely be required for the board-
+  specific lower-half driver.  See the README.txt file in your board configuration
+  directory.
+
+  Specific configuration options for this example include:
+ 
+  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.
+
 examples/rgmp
 ^^^^^^^^^^^^^
 
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..8b9035604
--- /dev/null
+++ b/apps/examples/qencoder/qe.h
@@ -0,0 +1,123 @@
+/****************************************************************************
+ * 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.
+ */
+
+#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
+
+/* 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 reset;
+  int  nloops;
+};
+#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..c9a4d30e6
--- /dev/null
+++ b/apps/examples/qencoder/qe_main.c
@@ -0,0 +1,310 @@
+/****************************************************************************
+ * 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 <fcntl.h>
+#include <limits.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/sensors/qencoder.h>
+
+#include "qe.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+#  define MAIN_NAME   qe_main
+#  define MAIN_STRING "qe_main: "
+#else
+#  define MAIN_NAME   user_start
+#  define MAIN_STRING "user_start: "
+#endif
+
+/****************************************************************************
+ * 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_help
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static void qe_help(void)
+{
+  message("\nUsage: qe [OPTIONS]\n\n");
+  message("OPTIONS include:\n");
+  message("  [-n samples] number of samples\n");
+  message("  [-r] reset the count\n");
+  message("  [-h] shows this message and exits\n\n");
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_string
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+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
+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
+void parse_args(int argc, FAR char **argv)
+{
+  FAR char *ptr;
+  long value;
+  int index;
+  int nargs;
+
+  g_qeexample.reset  = false;
+  g_qeexample.nloops = 1;
+
+  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 = (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: user_start/qe_main
+ ****************************************************************************/
+
+int MAIN_NAME(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
+
+  /* Parse command line arguments */
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+  parse_args(argc, argv);
+#endif
+
+  /* Initialization of the encoder hardware is performed by logic external to
+   * this test.
+   */
+
+  message(MAIN_STRING "Initializing external encoder\n");
+  ret = qe_devinit();
+  if (ret != OK)
+    {
+      message(MAIN_STRING "qe_devinit failed: %d\n", ret);
+      exitval = EXIT_FAILURE;
+      goto errout;
+    }
+
+  /* Open the encoder device for reading */
+
+  message(MAIN_STRING "Hardware initialized. Opening the encoder device\n");
+  fd = open(CONFIG_EXAMPLES_QENCODER_DEVPATH, O_RDONLY);
+  if (fd < 0)
+    {
+      message(MAIN_STRING "open %s failed: %d\n",
+              CONFIG_EXAMPLES_QENCODER_DEVPATH, errno);
+      exitval = EXIT_FAILURE;
+      goto errout_with_dev;
+    }
+
+  /* Reset the count if so requested */
+
+  if (g_qeexample.reset)
+    {
+      message(MAIN_STRING "Resetting the count...\n");
+      ret = ioctl(fd, QEIOC_RESET, 0);
+      if (ret < 0)
+        {
+          message(MAIN_STRING "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(MAIN_STRING "Number of samples: %d\n", g_qeexample.nloops);
+  for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
+#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
+  message(MAIN_STRING "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(MAIN_STRING "ioctl(QEIOC_POSITION) failed: %d\n", errno);
+          exitval = EXIT_FAILURE;
+          goto errout_with_dev;
+        }
+
+      /* Print the sample data on successful return */
+
+      else
+        {
+          message(MAIN_STRING "  %d\n", position);
+        }
+    }
+
+errout_with_dev:
+  close(fd);
+
+errout:
+  message("Terminating!\n");
+  msgflush();
+  return exitval;
+}