Beginnings of support for the STM32F3Discovery board

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5616 42af7a65-404d-4744-a932-0658087f49c3

1 files changed, 187 insertions, 0 deletions

diff --git a/nuttx/configs/stm32f3discovery/src/up_qencoder.c b/nuttx/configs/stm32f3discovery/src/up_qencoder.c
new file mode 100644
index 000000000..8baaa64e0
--- /dev/null
+++ b/nuttx/configs/stm32f3discovery/src/up_qencoder.c
@@ -0,0 +1,187 @@
+/************************************************************************************
+ * configs/stm32f3discovery/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 "stm32f3discovery-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 */