mirror of
https://github.com/apache/nuttx.git
synced 2026-06-04 14:53:47 +08:00
arch/stm32: add 3-phase Hall effect sensor lower half
This commit is contained in:
raiden00pl
Xiang Xiao
@@ -232,6 +232,10 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
|
||||
CHIP_CSRCS += stm32_qencoder.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
|
||||
CHIP_CSRCS += stm32_hall3ph.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_STM32_CAN),y)
|
||||
CHIP_CSRCS += stm32_can.c
|
||||
endif
|
||||
|
||||
@@ -0,0 +1,209 @@
|
||||
/****************************************************************************
|
||||
* arch/arm/src/stm32/stm32_hall3ph.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 <errno.h>
|
||||
#include <debug.h>
|
||||
#include <stdio.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include <nuttx/kmalloc.h>
|
||||
#include <nuttx/sensors/hall3ph.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_arch.h"
|
||||
#include "stm32_hall3ph.h"
|
||||
|
||||
/****************************************************************************
|
||||
* 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 hall3_ops_s *ops; /* Lower half callback structure */
|
||||
struct stm32_hall3ph_cfg_s cfg; /* Configuration */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_hall3ph_setup(FAR struct hall3_lowerhalf_s *lower);
|
||||
int stm32_hall3ph_shutdown(FAR struct hall3_lowerhalf_s *lower);
|
||||
int stm32_hall3ph_position(FAR struct hall3_lowerhalf_s *lower,
|
||||
FAR uint8_t *pos);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct hall3_ops_s g_hall3ph_ops =
|
||||
{
|
||||
.setup = stm32_hall3ph_setup,
|
||||
.shutdown = stm32_hall3ph_shutdown,
|
||||
.position = stm32_hall3ph_position
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_hall3ph_setup
|
||||
*
|
||||
* Description:
|
||||
* Configure the 3-phase Hall effect sensor
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_hall3ph_setup(FAR struct hall3_lowerhalf_s *lower)
|
||||
{
|
||||
FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
|
||||
|
||||
DEBUGASSERT(priv);
|
||||
|
||||
/* Configure input pins */
|
||||
|
||||
stm32_configgpio(priv->cfg.gpio_pha);
|
||||
stm32_configgpio(priv->cfg.gpio_phb);
|
||||
stm32_configgpio(priv->cfg.gpio_phc);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_hall3ph_shutdown
|
||||
*
|
||||
* Description:
|
||||
* Disable the 3-phase Hall effect sensor
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_hall3ph_shutdown(FAR struct hall3_lowerhalf_s *lower)
|
||||
{
|
||||
FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
|
||||
|
||||
DEBUGASSERT(priv);
|
||||
|
||||
/* Unconfigure input pins */
|
||||
|
||||
stm32_unconfiggpio(priv->cfg.gpio_pha);
|
||||
stm32_unconfiggpio(priv->cfg.gpio_phb);
|
||||
stm32_unconfiggpio(priv->cfg.gpio_phc);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_hall3ph_position
|
||||
*
|
||||
* Description:
|
||||
* Return the current 3-phase Hall effect sensor position
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_hall3ph_position(FAR struct hall3_lowerhalf_s *lower,
|
||||
FAR uint8_t *pos)
|
||||
{
|
||||
FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
|
||||
uint8_t ha = 0;
|
||||
uint8_t hb = 0;
|
||||
uint8_t hc = 0;
|
||||
uint8_t i = 0;
|
||||
uint8_t thr = (priv->cfg.samples / 2);
|
||||
|
||||
DEBUGASSERT(priv);
|
||||
|
||||
/* Sample pins */
|
||||
|
||||
for (i = 0; i < priv->cfg.samples; i += 1)
|
||||
{
|
||||
ha += stm32_gpioread(priv->cfg.gpio_pha);
|
||||
hb += stm32_gpioread(priv->cfg.gpio_phb);
|
||||
hc += stm32_gpioread(priv->cfg.gpio_phc);
|
||||
}
|
||||
|
||||
/* Get state based on threshold */
|
||||
|
||||
*pos = ((ha > thr) << 0) |
|
||||
((hb > thr) << 1) |
|
||||
((hc > thr) << 2);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_hall3ph_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the 3-phase Hall effect driver
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_hall3ph_initialize(FAR const char *devpath,
|
||||
FAR struct stm32_hall3ph_cfg_s *cfg)
|
||||
{
|
||||
FAR struct stm32_lowerhalf_s *priv = NULL;
|
||||
int ret = OK;
|
||||
|
||||
/* Allocate the lower-half data structure */
|
||||
|
||||
priv = (FAR struct stm32_lowerhalf_s *)
|
||||
kmm_zalloc(sizeof(struct stm32_lowerhalf_s));
|
||||
if (priv == NULL)
|
||||
{
|
||||
snerr("ERROR: Allocation failed\n");
|
||||
ret = -ENOMEM;
|
||||
goto errout;
|
||||
}
|
||||
|
||||
/* Copy configuration */
|
||||
|
||||
memcpy(&priv->cfg, cfg, sizeof(struct stm32_hall3ph_cfg_s));
|
||||
|
||||
/* Connect ops */
|
||||
|
||||
priv->ops = &g_hall3ph_ops;
|
||||
|
||||
/* Initialize a Hall effect sensor interface. */
|
||||
|
||||
ret = hall3_register(devpath, (FAR struct hall3_lowerhalf_s *)priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("ERROR: hall3ph_register failed: %d\n", ret);
|
||||
}
|
||||
|
||||
errout:
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
/****************************************************************************
|
||||
* arch/arm/src/stm32/stm32_hall3ph.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 __ARCH_ARM_SRC_STM32_STM32_HALL3PH_H
|
||||
#define __ARCH_ARM_SRC_STM32_STM32_HALL3PH_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* 3-phase Hall effect sensor configuration */
|
||||
|
||||
struct stm32_hall3ph_cfg_s
|
||||
{
|
||||
int gpio_pha; /* Hall phase A pincfg */
|
||||
int gpio_phb; /* Hall phase B pincfg */
|
||||
int gpio_phc; /* Hall phase C pincfg */
|
||||
int samples; /* Number of samples taken from GPIO */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_hall3ph_initialize
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_hall3ph_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the 3-phase Hall effect driver
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_hall3ph_initialize(FAR const char *devpath,
|
||||
FAR struct stm32_hall3ph_cfg_s *cfg);
|
||||
|
||||
#endif /* __ARCH_ARM_SRC_STM32_STM32_HALL3PH_H */
|
||||
Reference in New Issue
Block a user