1 files changed, 222 insertions, 0 deletions
diff --git a/nuttx/arch/arm/src/stm32/stm32_qencoder.c b/nuttx/arch/arm/src/stm32/stm32_qencoder.c
new file mode 100644
index 000000000..5b138b1d8
--- /dev/null
+++ b/nuttx/arch/arm/src/stm32/stm32_qencoder.c
@@ -0,0 +1,222 @@
+/************************************************************************************
+ * arch/arm/src/stm32/stm32_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 <stdint.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/qencoder.h>
+
+#include "up_arch.h"
+#include "stm32_qencoder.h"
+
+#ifdef CONFIG_QENCODER
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+
+struct stm32_lowerhalf_s
+{
+  /* The first field of this state structure must be a pointer to the lower-
+   * half callback structure:
+   */
+
+  FAR const struct qe_ops_s *ops;  /* Lower half callback structure */
+
+  /* STM32 driver-specific fields: */
+};
+
+/************************************************************************************
+ * Private Function Prototypes
+ ************************************************************************************/
+
+/* Lower-half Quadrature Encoder Driver Methods */
+
+static int stm32_setup(FAR struct qe_lowerhalf_s *lower);
+static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower);
+static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos);
+static int stm32_reset(FAR struct qe_lowerhalf_s *lower);
+static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg);
+
+ /************************************************************************************
+ * Private Data
+ ************************************************************************************/
+/* The lower half callback structure */
+
+FAR const struct qe_ops_s g_qecallbacks =
+{
+  .setup    = stm32_setup,
+  .shutdown = stm32_shutdown,
+  .position = stm32_position,
+  .reset    = stm32_reset,
+  .ioctl    = stm32_ioctl,
+};
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_setup
+ *
+ * Description:
+ *   This method is called when the driver is opened.  The lower half driver
+ *   should configure and initialize the device so that it is ready for use.
+ *   The initial position value should be zero. *   
+ *
+ ************************************************************************************/
+
+static int stm32_setup(FAR struct qe_lowerhalf_s *lower)
+{
+#warning "Missing logic"
+  return -ENOSYS;
+}
+
+/************************************************************************************
+ * Name: stm32_shutdown
+ *
+ * Description:
+ *   This method is called when the driver is closed.  The lower half driver
+ *   should stop data collection, free any resources, disable timer hardware, and
+ *   put the system into the lowest possible power usage state *   
+ *
+ ************************************************************************************/
+
+static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower)
+{
+#warning "Missing logic"
+  return -ENOSYS;
+}
+
+/************************************************************************************
+ * Name: stm32_position
+ *
+ * Description:
+ *   Return the current position measurement.
+ *
+ ************************************************************************************/
+
+static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos)
+{
+#warning "Missing logic"
+  return -ENOSYS;
+}
+
+/************************************************************************************
+ * Name: stm32_reset
+ *
+ * Description:
+ *   Reset the position measurement to zero.
+ *
+ ************************************************************************************/
+
+static int stm32_reset(FAR struct qe_lowerhalf_s *lower)
+{
+#warning "Missing logic"
+  return -ENOSYS;
+}
+
+/************************************************************************************
+ * Name: stm32_ioctl
+ *
+ * Description:
+ *   Lower-half logic may support platform-specific ioctl commands
+ *
+ ************************************************************************************/
+
+static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg)
+{
+  /* No ioctl commands supported */
+
+  return -ENOTTY;
+}
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_qeinitialize
+ *
+ * Description:
+ *   Initialize a quadrature encoder interface.  This function must be called from
+ *   board-specific logic after input pins have been configured.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/qe0"
+ *
+ * Returned Values:
+ *   Zero on success; A negated errno value is returned on failure.
+ *
+ ************************************************************************************/
+
+int stm32_qeinitialize(FAR const char *devpath)
+{
+  FAR struct stm32_lowerhalf_s *lower;
+  int ret;
+
+  /* Allocate an instance to the device-specific, lower-half state structure */
+
+  lower = (FAR struct stm32_lowerhalf_s *)kmalloc(sizeof(struct stm32_lowerhalf_s));
+  if (lower)
+    {
+      return -ENOMEM;
+    }
+
+  /* Initialize the allocated state structure */
+
+  lower->ops = &g_qecallbacks;
+
+  /* Register the lower-half driver */
+
+  ret = qe_register(devpath, (FAR struct qe_lowerhalf_s *)lower);
+  if (ret < 0)
+    {
+      kfree(lower);
+      return ret;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_QENCODER */