boards/arm/imxrt/teensy-4.x: added support for encoder

Signed-off-by: Michal Lenc <michallenc@seznam.cz>

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
 ----------
 

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

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

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;
 }

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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+#include <nuttx/sensors/qencoder.h>
+
+#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 */

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
  *