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Merged in young-mu/nuttx (pull request #137)

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Add a new ioctl command (set MAXPOS) for tiva QEI
This commit is contained in:
Gregory Nutt
2016-09-26 08:38:53 -06:00
parent 2da3da7fd6 7f32019a76
commit 937a83d9e4
2 changed files with 72 additions and 40 deletions
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arch/arm/src/tiva/tiva_qencoder.c
+71 -40
View File
@@ -72,7 +72,7 @@ struct tiva_qe_s
uint32_t idx;
uint32_t pha;
uint32_t phb;
uint32_t pulses;
uint32_t maxpos;
};
/************************************************************************************
@@ -87,13 +87,14 @@ static inline uint32_t tiva_qe_getreg(struct tiva_qe_s *qe,
static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower);
static int tiva_qe_shutdown(FAR struct qe_lowerhalf_s *lower);
static int tiva_qe_position(FAR struct qe_lowerhalf_s *lower,
FAR int32_t * pos);
FAR int32_t *pos);
static int tiva_qe_reset(FAR struct qe_lowerhalf_s *lower);
static int tiva_qe_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
unsigned long arg);
static int tiva_qe_direction(struct tiva_qe_s *qe, unsigned long *dir);
static int tiva_qe_velocity(struct tiva_qe_s *qe, unsigned long *vel);
static int tiva_qe_ppr(struct tiva_qe_s *qe, unsigned long ppr);
/************************************************************************************
* Private Data
@@ -117,11 +118,7 @@ static struct tiva_qe_s g_qe0 =
.idx = GPIO_QEI0_IDX,
.pha = GPIO_QEI0_PHA,
.phb = GPIO_QEI0_PHB,
# ifdef CONFIG_TIVA_QEI0_PULSES
.pulses = CONFIG_TIVA_QEI0_PULSES,
# else
.pulses = 0,
# endif
.maxpos = 0,
};
#endif
@@ -134,11 +131,7 @@ static struct tiva_qe_s g_qe1 =
.idx = GPIO_QEI1_IDX,
.pha = GPIO_QEI1_PHA,
.phb = GPIO_QEI1_PHB,
# ifdef CONFIG_TIVA_QEI1_PULSES
.pulses = CONFIG_TIVA_QEI1_PUSLSE,
# else
.pulses = 0,
# endif
.maxpos = 0,
};
#endif
@@ -201,7 +194,6 @@ static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower)
sninfo("setup QEI %d\n", qe->id);
/* Enable GPIO port, GPIO pin type and GPIO alternate function */
/* (refer to TM4C1294NC 24.4.2-4) */
ret = tiva_configgpio(qe->idx);
if (ret < 0)
@@ -224,32 +216,17 @@ static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower)
return -1;
}
/* Set reset mode */
/* (refer to TM4C1294NC 24.4.5.1) */
if (qe->pulses == 0)
{
ctlreg = RESMODE_BY_INDEX_PULSE << TIVA_QEI_CTL_RESMODE;
}
else
{
ctlreg = RESMODE_BY_MAXPOS << TIVA_QEI_CTL_RESMODE;
}
/* Set reset mode (default as INDEX_PULSE) */
ctlreg = RESMODE_BY_INDEX_PULSE << TIVA_QEI_CTL_RESMODE;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set capture mode (PHA_AND_PHB) */
/* (refer to TM4C1294NC 24.4.5.1) */
/* Set capture mode (default as PHA_AND_PHB) */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= CAPMODE_PHA_AND_PHB << TIVA_QEI_CTL_CAPMODE;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set maxpos */
/* (refer to TM4C1294NC 24.4.5.2) */
tiva_qe_putreg(qe, TIVA_QEI_MAXPOS_OFFSET, qe->pulses * 4);
/* Enable velocity capture */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
@@ -262,11 +239,11 @@ static int tiva_qe_setup(FAR struct qe_lowerhalf_s *lower)
ctlreg |= VELDIV_1 << TIVA_QEI_CTL_VELDIV;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set period load (1s for TM4C1294NC) */
tiva_qe_putreg(qe, TIVA_QEI_LOAD_OFFSET, 120000000);
/* Set period load (10ms for TM4C1294NC) */
tiva_qe_putreg(qe, TIVA_QEI_LOAD_OFFSET, 1200000);
/* Enable the QEI */
/* (refer to TM4C1294NC 24.4.6) */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= QEI_ENABLE << TIVA_QEI_CTL_ENABLE;
@@ -344,13 +321,12 @@ static int tiva_qe_reset(FAR struct qe_lowerhalf_s *lower)
*
****************************************************************************/
static int tiva_qe_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t * pos)
static int tiva_qe_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos)
{
FAR struct tiva_qe_s *qe = (FAR struct tiva_qe_s *)lower;
sninfo("get position of QEI %d\n", qe->id);
/* (refer to TM4C1294NC 24.4.8) */
*pos = (int32_t) tiva_qe_getreg(qe, TIVA_QEI_POS_OFFSET);
return OK;
@@ -389,6 +365,10 @@ static int tiva_qe_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
tiva_qe_velocity(qe, (unsigned long *)arg);
break;
case QEIOC_PPR:
tiva_qe_ppr(qe, arg);
break;
default:
snerr("ERROR: invalid cmd %x\n", cmd);
break;
@@ -432,7 +412,7 @@ static int tiva_qe_direction(FAR struct tiva_qe_s *qe, unsigned long *dir)
* Name: tiva_qe_direction
*
* Description:
* Return the velocity mesaured by QEI.
* Return the velocity (A/B pulses per second) mesaured by QEI.
*
* Input parameters:
* qe - A reference to the TIVA QEI structure
@@ -446,7 +426,58 @@ static int tiva_qe_velocity(FAR struct tiva_qe_s *qe, unsigned long *vel)
{
sninfo("get direction of QEI %d\n", qe->id);
*vel = (int32_t) tiva_qe_getreg(qe, TIVA_QEI_SPEED_OFFSET);
*vel = (int32_t) tiva_qe_getreg(qe, TIVA_QEI_SPEED_OFFSET) * 100 / 4;
return OK;
}
/****************************************************************************
* Name: tiva_qe_ppr
*
* Description:
* Set reset mode as MAXPOS and also set maxpos value
*
* Input parameters:
* qe - A reference to the TIVA QEI structure
* ppr - pulses per round of encoder
*
* Returned Value:
* Zero on success; a negated errno value on failure
*
****************************************************************************/
static int tiva_qe_ppr(FAR struct tiva_qe_s *qe, unsigned long ppr)
{
sninfo("set maxpos reset mode and maxpos value of QEI %d\n", qe->id);
FAR struct qe_lowerhalf_s *lower;
uint32_t ctlreg = 0;
/* Disable the QEI */
lower = (FAR struct qe_lowerhalf_s *)qe;
tiva_qe_shutdown(lower);
/* maxpos is 4 times of ppr since we set capture mode as PHA_AND_PHB */
qe->maxpos = ppr * 4;
/* Set reset mode as MAXPOS */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg &= ~(uint32_t)(1 << TIVA_QEI_CTL_RESMODE);
ctlreg |= RESMODE_BY_MAXPOS << TIVA_QEI_CTL_RESMODE;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
/* Set maxpos value */
tiva_qe_putreg(qe, TIVA_QEI_MAXPOS_OFFSET, qe->maxpos);
/* Enable the QEI */
ctlreg = tiva_qe_getreg(qe, TIVA_QEI_CTL_OFFSET);
ctlreg |= QEI_ENABLE << TIVA_QEI_CTL_ENABLE;
tiva_qe_putreg(qe, TIVA_QEI_CTL_OFFSET, ctlreg);
return OK;
}
@@ -462,7 +493,7 @@ static int tiva_qe_velocity(FAR struct tiva_qe_s *qe, unsigned long *vel)
* id - A number identifying certain QEI.
*
* Returned Value:
* On success, a pointer to the SAMA5 lower half QEI driver is returned.
* On success, a pointer to the lower half QEI driver is returned.
* NULL is returned on any failure.
*
************************************************************************************/
@@ -491,7 +522,7 @@ FAR struct qe_lowerhalf_s *tiva_qei_initialize(int id)
return NULL;
}
/* Enable QEI clock (refer to TM4C1294NC 24.4.1) */
/* Enable QEI clock */
tiva_qei_enablepwr(qe->id);
tiva_qei_enableclk(qe->id);
arch/arm/src/tiva/tiva_qencoder.h
+1
View File
@@ -48,6 +48,7 @@
#define QEIOC_DIRECTION _QEIOC(QEIOC_USER)
#define QEIOC_VELOCITY _QEIOC(QEIOC_USER+1)
#define QEIOC_PPR _QEIOC(QEIOC_USER+2)
/****************************************************************************
* Public Function Prototypes