stm32: move qencoder initialization to common board logic

2026-06-06 00:14:22 +08:00 · 2020-05-11 19:20:55 -03:00
parent 856c3e4263
commit 4fdf2520e6
31 changed files with 122 additions and 622 deletions
@@ -0,0 +1,74 @@
 /****************************************************************************
 * boards/arm/stm32/common/include/stm32_qencoder.h
 *
 * 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.
 *
 ****************************************************************************/
 #ifndef __STM32_QENCODER_H
 #define __STM32_QENCODER_H
 /****************************************************************************
 * Included Files
 ****************************************************************************/
 #include <nuttx/config.h>
 /****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
 /****************************************************************************
 * Public Types
 ****************************************************************************/
 /****************************************************************************
 * Public Data
 ****************************************************************************/
 #ifdef __cplusplus
 #define EXTERN extern "C"
 extern "C"
 {
 #else
 #define EXTERN extern
 #endif
 /****************************************************************************
 * Inline Functions
 ****************************************************************************/
 /****************************************************************************
 * Public Function Prototypes
 ****************************************************************************/
 /****************************************************************************
 * Name: board_qencoder_initialize
 *
 * Description:
 *   Initialize the quadrature encoder driver for the given timer
 *
 ****************************************************************************/
 int board_qencoder_initialize(int devno, int timerno);
 #undef EXTERN
 #ifdef __cplusplus
 }
 #endif
 #endif // __STM32_QENCODER_H
@@ -66,6 +66,10 @@ ifeq ($(CONFIG_SENSORS_ZEROCROSS),y)
  CSRCS += stm32_zerocross.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
  CSRCS += stm32_qencoder.c
 endif
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += $(shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/stm32/stm32f103-minimum/src/stm32_qencoder.c
+ * boards/arm/stm32/common/src/stm32_qencoder.c
 *
 *   Copyright (C) 2017 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -41,6 +41,7 @@
 #include <errno.h>
 #include <debug.h>
 #include <stdio.h>
 #include <nuttx/sensors/qencoder.h>
 #include <arch/board/board.h>
@@ -48,29 +49,29 @@
 #include "chip.h"
 #include "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "stm32f103_minimum.h"
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 /****************************************************************************
- * Name: stm32_qencoder_initialize
+ * Name: board_qencoder_initialize
 *
 * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *   Initialize the quadrature encoder driver for the given timer
 *   examples/qencoder.
 *
 ****************************************************************************/
-int stm32_qencoder_initialize(FAR const char *devpath, int timer)
+int board_qencoder_initialize(int devno, int timerno)
 {
  int ret;
  char devpath[12];
  /* Initialize a quadrature encoder interface. */
-  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
+  sninfo("Initializing the quadrature encoder using TIM%d\n", timerno);
-  ret = stm32_qeinitialize(devpath, timer);
+  snprintf(devpath, 12, "/dev/qe%d", devno);
  ret = stm32_qeinitialize(devpath, timerno);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
@@ -54,10 +54,6 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 ifeq ($(CONFIG_LIB_BOARDCTL),y)
 CSRCS += stm32_appinit.c
 endif
@@ -252,18 +252,6 @@ int stm32_pwm_setup(void);
 #  error "The Mikroe-STM32F4 board does not support HOST OTG, only device!"
 #endif
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 /****************************************************************************
 * Name: stm32_lcdinitialize
 *
@@ -76,6 +76,10 @@
 #include "stm32.h"
 #include "mikroe-stm32f4.h"
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
@@ -385,7 +389,7 @@ int board_app_initialize(uintptr_t arg)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_MIKROE_QETIMER);
+  ret = board_qencoder_initialize(0, CONFIG_MIKROE_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
@@ -1,82 +0,0 @@
 /****************************************************************************
 * boards/arm/stm32/mikroe_stm32f4/src/stm32_qencoder.c
 *
 *   Copyright (C) 2012-2013, 2016 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 "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "mikroe-stm32f4.h"
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work with
 *   examples/qencoder.
 *
 ****************************************************************************/
 int stm32_qencoder_initialize(FAR const char *devpath, int timer)
 {
  int ret;
  /* Initialize a quadrature encoder interface. */
  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
  ret = stm32_qeinitialize(devpath, timer);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
    }
  return ret;
 }
 #endif /* HAVE_QENCODER */
@@ -55,10 +55,6 @@ CSRCS += stm32_ajoystick.c
 endif
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 ifeq ($(CONFIG_NSH_LIBRARY),y)
 CSRCS += stm32_appinit.c
 endif
@@ -260,18 +260,6 @@ void stm32_usbinitialize(void);
 int stm32_adc_setup(void);
 #endif
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 /****************************************************************************
 * Name: board_ajoy_initialize
 *
@@ -55,6 +55,10 @@
 #include "nucleo-f446re.h"
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -132,7 +136,7 @@ int board_app_initialize(uintptr_t arg)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_NUCLEO_F401RE_QETIMER);
+  ret = board_qencoder_initialize(0, CONFIG_NUCLEO_F401RE_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
@@ -1,82 +0,0 @@
 /****************************************************************************
 * boards/arm/stm32/nucleo-f446re/src/stm32_qencoder.c
 *
 *   Copyright (C) 2019 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 "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "nucleo-f446re.h"
 /*****************************************************************************
 * Public Functions
 ****************************************************************************/
 /*****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work
 *   with examples/qencoder.
 *
 ****************************************************************************/
 int stm32_qencoder_initialize(FAR const char *devpath, int timer)
 {
  int ret;
  /* Initialize a quadrature encoder interface. */
  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
  ret = stm32_qeinitialize(devpath, timer);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
    }
  return ret;
 }
 #endif /* HAVE_QENCODER */
@@ -55,10 +55,6 @@ CSRCS += stm32_ajoystick.c
 endif
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 ifeq ($(CONFIG_CAN_MCP2515),y)
  CSRCS += stm32_mcp2515.c
 endif
@@ -288,18 +288,6 @@ void stm32_usbinitialize(void);
 int stm32_adc_setup(void);
 #endif
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 /****************************************************************************
 * Name: board_ajoy_initialize
 *
@@ -56,6 +56,10 @@
 #include <nuttx/board.h>
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -151,7 +155,7 @@ int stm32_bringup(void)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_NUCLEO_F401RE_QETIMER);
+  ret = board_qencoder_initialize(0, CONFIG_NUCLEO_F401RE_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
@@ -1,83 +0,0 @@
 /****************************************************************************
 * boards/arm/stm32/nucleo-f4x1re/src/stm32_qencoder.c
 *
 *   Copyright (C) 2012, 2016 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 "chip.h"
 #include "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "nucleo-f4x1re.h"
 #include <arch/board/board.h>
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work with
 *   examples/qencoder.
 *
 ****************************************************************************/
 int stm32_qencoder_initialize(FAR const char *devpath, int timer)
 {
  int ret;
  /* Initialize a quadrature encoder interface. */
  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
  ret = stm32_qeinitialize(devpath, timer);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
    }
  return ret;
 }
 #endif /* HAVE_QENCODER */
@@ -81,10 +81,6 @@ ifeq ($(CONFIG_INPUT_STMPE811),y)
 CSRCS += stm32_stmpe811.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 DEPPATH += --dep-path board
 VPATH += :board
 CFLAGS += $(shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)
@@ -115,10 +115,6 @@ ifeq ($(CONFIG_LCD_PCD8544),y)
  CSRCS += stm32_pcd8544.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
  CSRCS += stm32_qencoder.c
 endif
 ifeq ($(CONFIG_USBDEV),y)
  CSRCS += stm32_usbdev.c
 endif
@@ -129,6 +129,10 @@
 #include "stm32_zerocross.h"
 #endif
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
@@ -402,7 +406,7 @@ int stm32_bringup(void)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0",
+  ret = board_qencoder_initialize(0,
                                  CONFIG_STM32F103MINIMUM_QETIMER);
  if (ret != OK)
    {
@@ -292,18 +292,6 @@ int stm32_max6675initialize(FAR const char *devpath);
 int stm32_w25initialize(int minor);
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 /****************************************************************************
 * Name: stm32_rgbled_setup
 *
@@ -60,10 +60,6 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 DEPPATH += --dep-path board
 VPATH += :board
 CFLAGS += $(shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)
@@ -53,6 +53,10 @@
 #include "stm32.h"
 #include "stm32f3discovery.h"
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/
@@ -129,7 +133,7 @@ int stm32_bringup(void)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32F3DISCO_QETIMER);
+  ret = board_qencoder_initialize(0, CONFIG_STM32F3DISCO_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
@@ -1,82 +0,0 @@
 /****************************************************************************
 * boards/arm/stm32/stm32f3discovery/src/stm32_qencoder.c
 *
 *   Copyright (C) 2013, 2016 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 "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "stm32f3discovery.h"
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work with
 *   examples/qencoder.
 *
 ****************************************************************************/
 int stm32_qencoder_initialize(FAR const char *devpath, int timer)
 {
  int ret;
  /* Initialize a quadrature encoder interface. */
  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
  ret = stm32_qeinitialize(devpath, timer);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
    }
  return ret;
 }
 #endif /* HAVE_QENCODER */
@@ -193,17 +193,5 @@ void weak_function stm32_usbinitialize(void);
 int stm32_pwm_setup(void);
 #endif
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM_STM32_STM32F3DISCOVERY_SRC_STM32F3DISCOVERY_H */
@@ -129,10 +129,6 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 ifeq ($(CONFIG_SENSORS_XEN1210),y)
 CSRCS += stm32_xen1210.c
 endif
@@ -98,6 +98,10 @@
 #include "stm32_zerocross.h"
 #endif
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -345,7 +349,7 @@ int stm32_bringup(void)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32F4DISCO_QETIMER);
+  ret = board_qencoder_initialize(0, CONFIG_STM32F4DISCO_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
@@ -1,80 +0,0 @@
 /****************************************************************************
 * boards/arm/stm32/stm32f4discovery/src/stm32_qencoder.c
 *
 *   Copyright (C) 2012, 2016 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 "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "stm32f4discovery.h"
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work with
 *   examples/qencoder.
 *
 ****************************************************************************/
 int stm32_qencoder_initialize(FAR const char *devpath, int timer)
 {
  int ret;
  /* Initialize a quadrature encoder interface. */
  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
  ret = stm32_qeinitialize(devpath, timer);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
    }
  return ret;
 }
@@ -686,18 +686,6 @@ int stm32_sdio_initialize(void);
 void weak_function stm32_netinitialize(void);
 #endif
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 /****************************************************************************
 * Name: stm32_zerocross_initialize
 *
@@ -56,10 +56,6 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += stm32_pwm.c
 endif
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 ifeq ($(CONFIG_LIB_BOARDCTL),y)
 CSRCS += stm32_appinit.c
 endif
@@ -48,6 +48,10 @@
 #include "stm32ldiscovery.h"
 #ifdef CONFIG_SENSORS_QENCODER
 #include "board_qencoder.h"
 #endif
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
@@ -104,7 +108,7 @@ int stm32_bringup(void)
 #ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */
-  ret = stm32_qencoder_initialize("/dev/qe0", CONFIG_STM32LDISCO_QETIMER);
+  ret = board_qencoder_initialize(0, CONFIG_STM32LDISCO_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
@@ -1,82 +0,0 @@
 /****************************************************************************
 * boards/arm/stm32/stm32ldiscovery/src/up_qencoder.c
 *
 *   Copyright (C) 2013, 2016 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 "arm_arch.h"
 #include "stm32_qencoder.h"
 #include "stm32ldiscovery.h"
 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   All STM32 architectures must provide the following interface to work with
 *   examples/qencoder.
 *
 ****************************************************************************/
 int stm32_qencoder_initialize(FAR const char *devpath, int timer)
 {
  int ret;
  /* Initialize a quadrature encoder interface. */
  sninfo("Initializing the quadrature encoder using TIM%d\n", timer);
  ret = stm32_qeinitialize(devpath, timer);
  if (ret < 0)
    {
      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
    }
  return ret;
 }
 #endif /* HAVE_QENCODER */
@@ -277,17 +277,5 @@ void weak_function stm32_spidev_initialize(void);
 int stm32_pwm_setup(void);
 #endif
 /****************************************************************************
 * Name: stm32_qencoder_initialize
 *
 * Description:
 *   Initialize and register a qencoder
 *
 ****************************************************************************/
 #ifdef CONFIG_SENSORS_QENCODER
 int stm32_qencoder_initialize(FAR const char *devpath, int timer);
 #endif
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM_STM32_STM32F3DISCOVERY_SRC_STM32F3DISCOVERY_H */