diff --git a/Documentation/platforms/arm/imxrt/boards/teensy-4.x/index.rst b/Documentation/platforms/arm/imxrt/boards/teensy-4.x/index.rst index 447f62e487e..ccb33c37c38 100644 --- a/Documentation/platforms/arm/imxrt/boards/teensy-4.x/index.rst +++ b/Documentation/platforms/arm/imxrt/boards/teensy-4.x/index.rst @@ -98,6 +98,16 @@ selecting ``CONFIG_TEENSY_40=y``. This configuration runs over LPUART1 (pins 24 and 25 on Teensy). Communication over USB console can be turn on, but it causes problems with FlexCAN. +enc-4.1 +------- + +This is an nsh configuration (see above) with added support of incremental +encoder. Phase A is connected to GPIO_EMC_07 (pin 33), phase B to GPIO_EMC_06 +(pin 4) and INDEX to GPIO_B0_12 (pin 32). Only encoder 1 is connected to those +pins. + +Function of the encoder can be tested by application "qe". + netnsh-4.1 ---------- diff --git a/boards/arm/imxrt/teensy-4.x/configs/enc-4.1/defconfig b/boards/arm/imxrt/teensy-4.x/configs/enc-4.1/defconfig new file mode 100644 index 00000000000..eeb40b7eca7 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/configs/enc-4.1/defconfig @@ -0,0 +1,49 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="teensy-4.x" +CONFIG_ARCH_BOARD_TEENSY_4X=y +CONFIG_ARCH_CHIP="imxrt" +CONFIG_ARCH_CHIP_IMXRT=y +CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_DCACHE=y +CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y +CONFIG_ARMV7M_ICACHE=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARD_LOOPSPERMSEC=104926 +CONFIG_BUILTIN=y +CONFIG_ENC1_XIP=y +CONFIG_EXAMPLES_QENCODER=y +CONFIG_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_ENC1=y +CONFIG_IMXRT_LPUART1=y +CONFIG_INTELHEX_BINARY=y +CONFIG_IOB_NBUFFERS=24 +CONFIG_IOB_NCHAINS=24 +CONFIG_LPUART1_SERIAL_CONSOLE=y +CONFIG_MAX_TASKS=16 +CONFIG_MM_IOB=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_RAM_SIZE=1048576 +CONFIG_RAM_START=0x20200000 +CONFIG_SCHED_HPWORK=y +CONFIG_SENSORS=y +CONFIG_SENSORS_QENCODER=y +CONFIG_SIG_DEFAULT=y +CONFIG_START_DAY=14 +CONFIG_START_MONTH=3 +CONFIG_SYSTEM_NSH=y +CONFIG_TEENSY_41=y +CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WQUEUE_NOTIFIER=y diff --git a/boards/arm/imxrt/teensy-4.x/src/Makefile b/boards/arm/imxrt/teensy-4.x/src/Makefile index 1fdea29693e..d15a0308ade 100644 --- a/boards/arm/imxrt/teensy-4.x/src/Makefile +++ b/boards/arm/imxrt/teensy-4.x/src/Makefile @@ -58,4 +58,8 @@ ifeq ($(CONFIG_LCD_ST7789),y) CSRCS += imxrt_st7789.c endif +ifeq ($(CONFIG_IMXRT_ENC),y) +CSRCS += imxrt_enc.c +endif + include $(TOPDIR)/boards/Board.mk diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c index 6c84308c7d7..b91b7ef14be 100644 --- a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c @@ -183,6 +183,16 @@ int imxrt_bringup(void) } #endif +#ifdef CONFIG_IMXRT_ENC + /* Initialize ENC and register the ENC driver. */ + + ret = imxrt_enc_initialize(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: imxrt_enc_initialize() failed: %d\n", ret); + } +#endif + UNUSED(ret); return OK; } diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c new file mode 100644 index 00000000000..0aa0226eb35 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c @@ -0,0 +1,133 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_enc.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include + +#include +#include +#include + +#include "imxrt_enc.h" +#include "imxrt_xbar.h" +#include "teensy-4.h" + +#if defined(CONFIG_IMXRT_ENC) && defined(CONFIG_SENSORS_QENCODER) + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_enc_initialize + * + * Description: + * Initialize the quadrature encoder driver for the given timer + * + ****************************************************************************/ + +int imxrt_enc_initialize(void) +{ + int ret; +#ifdef CONFIG_IMXRT_ENC1 + /* Initialize a quadrature encoder interface. */ + + imxrt_config_gpio(GPIO_ENC1_PHASE_A); + imxrt_config_gpio(GPIO_ENC1_PHASE_B); + imxrt_config_gpio(GPIO_ENC1_INDEX); + + /* Connect XBAR pins */ + + ret = imxrt_xbar_connect(IMXRT_XBARA1_OUT_ENC1_PHASE_AIN_SEL_OFFSET, + IMXRT_XBARA1_IN_IOMUX_XBAR_IO09); + if (ret < 0) + { + snerr("ERROR: imxrt_xbar_connect failed: %d\n", ret); + return -ENODEV; + } + + ret = imxrt_xbar_connect(IMXRT_XBARA1_OUT_ENC1_PHASE_BIN_SEL_OFFSET, + IMXRT_XBARA1_IN_IOMUX_XBAR_IO08); + if (ret < 0) + { + snerr("ERROR: imxrt_xbar_connect failed: %d\n", ret); + return -ENODEV; + } + + ret = imxrt_xbar_connect(IMXRT_XBARA1_OUT_ENC1_INDEX_SEL_OFFSET, + IMXRT_XBARA1_IN_IOMUX_XBAR_IO10); + if (ret < 0) + { + snerr("ERROR: imxrt_xbar_connect failed: %d\n", ret); + return -ENODEV; + } + + ret = imxrt_qeinitialize("dev/qe0", 1); + if (ret < 0) + { + snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret); + return -ENODEV; + } + +#endif +#ifdef CONFIG_IMXRT_ENC2 + /* Initialize a quadrature encoder interface. */ + + ret = imxrt_qeinitialize("dev/qe1", 2) + if (ret < 0) + { + snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret); + return -ENODEV; + } + +#endif +#ifdef CONFIG_IMXRT_ENC3 + /* Initialize a quadrature encoder interface. */ + + ret = imxrt_qeinitialize("dev/qe2", 3) + if (ret < 0) + { + snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret); + return -ENODEV; + } + +#endif +#ifdef CONFIG_IMXRT_ENC4 + /* Initialize a quadrature encoder interface. */ + + ret = imxrt_qeinitialize("dev/qe4", 4) + if (ret < 0) + { + snerr("ERROR: imxrt_qeinitialize failed: %d\n", ret); + return -ENODEV; + } + +#endif + UNUSED(ret); + return OK; +} +#endif /* CONFIG_IMXRT_ENC */ \ No newline at end of file diff --git a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h index 430a51f3480..1f0a8bccd11 100644 --- a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h +++ b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h @@ -35,6 +35,7 @@ # include "imxrt_gpio.h" # include "imxrt_iomuxc.h" +# include "hardware/imxrt_pinmux.h" /**************************************************************************** * Pre-processor Definitions @@ -111,6 +112,12 @@ #define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \ GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */ +/* Quadrature Encoder */ + +#define GPIO_ENC1_PHASE_A (GPIO_XBAR1_INOUT09_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT3) /* EMC_07 */ +#define GPIO_ENC1_PHASE_B (GPIO_XBAR1_INOUT08_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT3) /* EMC_06 */ +#define GPIO_ENC1_INDEX (GPIO_XBAR1_INOUT10_1|IOMUX_ENC_DEFAULT|PADMUX_MUXMODE_ALT1) /* B0_12 */ + /**************************************************************************** * Public Types ****************************************************************************/ @@ -167,6 +174,18 @@ int imxrt_can_setup(void); int imxrt_adc_initialize(void); #endif +/**************************************************************************** + * Name: imxrt_enc_initialize + * + * Description: + * Initialize the quadrature encoder driver for the given timer + * + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_ENC +int imxrt_enc_initialize(void); +#endif + /**************************************************************************** * Name: imxrt_i2c_setup *