1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
|
/************************************************************************************
* 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 *******************************************************************/
/* The following checks assum that the quadrature encoder is on TIM2. Make the
* appropriate changes if your configuration differes.
*/
#define HAVE_QENCODER 1
#ifndef CONFIG_QENCODER
# undef HAVE_QENCODER
#endif
#ifndef CONFIG_STM32_TIM2
# undef HAVE_QENCODER
#endif
#ifndef CONFIG_STM32_TIM2_QE
# 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\n");
ret = stm32_qeinitialize("/dev/qe0", 2);
if (ret < 0)
{
qedbg("stm32_qeinitialize failed: %d\n", ret);
return ret;
}
initialized = true;
}
return OK;
}
#endif /* HAVE_QENCODER */
|
