boards/nrf52840-dk: add qencoder example

add qencoder support and enable qe example for jumbo config

Signed-off-by: raiden00pl <raiden00@railab.me>

boards/arm/nrf52/nrf52840-dk/configs/jumbo/defconfig

@@ -23,10 +23,15 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_STDARG_H=y
 CONFIG_BOARD_LOOPSPERMSEC=5500
 CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
 CONFIG_EXAMPLES_ADC=y
 CONFIG_EXAMPLES_ADC_NSAMPLES=4
 CONFIG_EXAMPLES_ADC_SWTRIG=y
 CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_QENCODER=y
+CONFIG_EXAMPLES_QENCODER_HAVE_MAXPOS=y
+CONFIG_EXAMPLES_QENCODER_MAXPOS=32
 CONFIG_EXAMPLES_TIMER=y
 CONFIG_EXAMPLES_WATCHDOG=y
 CONFIG_FAT_LCNAMES=y
@@ -44,6 +49,7 @@ CONFIG_NRF52_PWM0_CH1=y
 CONFIG_NRF52_PWM0_CH2=y
 CONFIG_NRF52_PWM0_CH3=y
 CONFIG_NRF52_PWM_MULTICHAN=y
+CONFIG_NRF52_QDEC0=y
 CONFIG_NRF52_QSPI=y
 CONFIG_NRF52_SAADC=y
 CONFIG_NRF52_TIMER2=y
@@ -62,6 +68,8 @@ CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_WAITPID=y
+CONFIG_SENSORS=y
+CONFIG_SENSORS_QENCODER=y
 CONFIG_START_DAY=26
 CONFIG_START_MONTH=3
 CONFIG_SYMTAB_ORDEREDBYNAME=y

boards/arm/nrf52/nrf52840-dk/include/board.h

@@ -185,4 +185,9 @@
 #define NRF52_QSPI0_IO2_PIN (GPIO_OUTPUT | GPIO_PORT0 | GPIO_PIN(22))
 #define NRF52_QSPI0_IO3_PIN (GPIO_OUTPUT | GPIO_PORT0 | GPIO_PIN(23))
 
+/* QDEC Pins ****************************************************************/
+
+#define BOARD_QDEC0_A_PIN            (GPIO_INPUT | GPIO_PORT0 | GPIO_PIN(30))
+#define BOARD_QDEC0_B_PIN            (GPIO_INPUT | GPIO_PORT0 | GPIO_PIN(31))
+
 #endif /* __BOARDS_ARM_NRF52_NRF52840_DK_INCLUDE_BOARD_H */

boards/arm/nrf52/nrf52840-dk/src/CMakeLists.txt

@@ -84,6 +84,10 @@ if(CONFIG_NRF52_QSPI)
   list(APPEND SRCS nrf52_mx25.c)
 endif()
 
+if(CONFIG_NRF52_QDEC)
+  list(APPEND SRCS nrf52_qencoder.c)
+endif()
+
 target_sources(board PRIVATE ${SRCS})
 
 if(CONFIG_ARCH_BOARD_COMMON)

boards/arm/nrf52/nrf52840-dk/src/Make.defs

@@ -86,6 +86,10 @@ ifeq ($(CONFIG_NRF52_QSPI),y)
 CSRCS += nrf52_mx25.c
 endif
 
+ifeq ($(CONFIG_NRF52_QDEC),y)
+CSRCS += nrf52_qencoder.c
+endif
+
 DEPPATH += --dep-path board
 VPATH += :board
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board

boards/arm/nrf52/nrf52840-dk/src/nrf52840-dk.h

@@ -215,5 +215,17 @@ int nrf52_mx25_initialize(void);
 int nrf52_gpioleds_initialize(void);
 #endif
 
+/****************************************************************************
+ * Name: nrf52_qencoder_initialize
+ *
+ * Description:
+ *   Initialize quadrature encoder driver.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_QENCODER
+int nrf52_qencoder_initialize(int devno);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM_NRF52_NRF52840_DK_SRC_NRF52840_DK_H */

boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c

@@ -333,6 +333,14 @@ int nrf52_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_NRF52_QDEC0
+  ret = nrf52_qencoder_initialize(0);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to initialize qencoder: %d\n", ret);
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }

boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c

@@ -0,0 +1,76 @@
+/****************************************************************************
+ * boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * 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 <nuttx/sensors/qencoder.h>
+
+#include "nrf52_qdec.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct nrf52_qeconfig_s g_qe0_config =
+{
+  .sample_period   = 0,
+  .report_period   = 0,
+  .enable_debounce = false,
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int nrf52_qencoder_initialize(int devno)
+{
+  struct qe_lowerhalf_s *lower;
+  char devpath[12];
+  int ret;
+
+  sninfo("Initializing /dev/qe%d\n", devno);
+
+  lower = nrf52_qeinitialize(devno, &g_qe0_config);
+  if (lower == NULL)
+    {
+      snerr("ERROR: nrf52_qeinitialize failed\n");
+      return -ENODEV;
+    }
+
+  snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno);
+
+  ret = qe_register(devpath, lower);
+  if (ret < 0)
+    {
+      snerr("ERROR: qe_register failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}