boards/nucleo-c0XX: add qencoder support

add qencoder support for nucleo-c0 boards Signed-off-by: raiden00pl <raiden00@railab.me>
2026-05-09 23:12:17 +08:00 · 2026-04-11 12:22:05 +02:00
parent 5bacc302eb
commit a448781348
10 changed files with 201 additions and 0 deletions
@@ -0,0 +1,63 @@
+/****************************************************************************
+ * boards/arm/stm32f0l0g0/common/include/board_qencoder.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_BOARD_QENCODER_H
+#define __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_BOARD_QENCODER_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * 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 /* __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_BOARD_QENCODER_H */
@@ -26,5 +26,9 @@ if(CONFIG_ARCH_BOARD_COMMON)
    list(APPEND SRCS stm32_ssd1306.c)
  endif()

+  if(CONFIG_SENSORS_QENCODER)
+    list(APPEND SRCS stm32_qencoder.c)
+  endif()
+
 endif()
 target_sources(board PRIVATE ${SRCS})
@@ -26,6 +26,10 @@ ifeq ($(CONFIG_LCD_SSD1306),y)
  CSRCS += stm32_ssd1306.c
 endif

+ifeq ($(CONFIG_SENSORS_QENCODER),y)
+  CSRCS += board_qencoder.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
@@ -0,0 +1,68 @@
+/****************************************************************************
+ * boards/arm/stm32f0l0g0/common/src/board_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 <stdio.h>
+
+#include <nuttx/sensors/qencoder.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+#include "stm32_qencoder.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_qencoder_initialize
+ *
+ * Description:
+ *   Initialize the quadrature encoder driver for the given 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", timerno);
+  snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno);
+  ret = stm32_qeinitialize(devpath, timerno);
+  if (ret < 0)
+    {
+      snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
+    }
+
+  return ret;
+}
@@ -12,6 +12,7 @@ CONFIG_ADC=y
 CONFIG_ANALOG=y
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD="nucleo-c071rb"
+CONFIG_ARCH_BOARD_COMMON=y
 CONFIG_ARCH_BOARD_NUCLEO_C071RB=y
 CONFIG_ARCH_BUTTONS=y
 CONFIG_ARCH_CHIP="stm32f0l0g0"
@@ -38,6 +39,7 @@ CONFIG_EXAMPLES_ADC_GROUPSIZE=2
 CONFIG_EXAMPLES_ADC_SWTRIG=y
 CONFIG_EXAMPLES_BUTTONS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_QENCODER=y
 CONFIG_EXAMPLES_WATCHDOG=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=1536
@@ -60,6 +62,8 @@ 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=19
 CONFIG_START_MONTH=5
 CONFIG_START_YEAR=2013
@@ -68,6 +72,8 @@ CONFIG_STM32F0L0G0_ADC1=y
 CONFIG_STM32F0L0G0_ADC_MAX_SAMPLES=6
 CONFIG_STM32F0L0G0_DMA1=y
 CONFIG_STM32F0L0G0_IWDG=y
+CONFIG_STM32F0L0G0_TIM3=y
+CONFIG_STM32F0L0G0_TIM3_QE=y
 CONFIG_STM32F0L0G0_USART2=y
 CONFIG_STM32F0L0G0_WWDG=y
 CONFIG_SYSTEM_NSH=y
@@ -162,6 +162,14 @@
 #define GPIO_USART2_RX      (GPIO_USART2_RX_1|GPIO_SPEED_HIGH)    /* PA3 */
 #define GPIO_USART2_TX      (GPIO_USART2_TX_1|GPIO_SPEED_HIGH)    /* PA2 */

+/* Qencoder on TIM3:
+ *   TIM3_CH1IN - PB4 (D5)
+ *   TIM3_CH2IN - PC7 (D3)
+ */
+
+#define GPIO_TIM3_CH1IN     (GPIO_TIM3_CH1IN_2|GPIO_SPEED_HIGH)
+#define GPIO_TIM3_CH2IN     (GPIO_TIM3_CH2IN_6|GPIO_SPEED_HIGH)
+
 /* DMA channels *************************************************************/

 /* ADC */
@@ -42,6 +42,10 @@
 #  include <stm32_wdg.h>
 #endif

+#ifdef CONFIG_SENSORS_QENCODER
+#  include "board_qencoder.h"
+#endif
+
 #include <arch/board/board.h>

 #include "nucleo-c071rb.h"
@@ -109,6 +113,19 @@ int stm32_bringup(void)
    }
 #endif

+#ifdef CONFIG_SENSORS_QENCODER
+  /* Initialize and register the qencoder driver - TIM3 */
+
+  ret = board_qencoder_initialize(0, 3);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the qencoder: %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
  UNUSED(ret);
  return OK;
 }
@@ -12,6 +12,7 @@ CONFIG_ADC=y
 CONFIG_ANALOG=y
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD="nucleo-c092rc"
+CONFIG_ARCH_BOARD_COMMON=y
 CONFIG_ARCH_BOARD_NUCLEO_C092RC=y
 CONFIG_ARCH_BUTTONS=y
 CONFIG_ARCH_CHIP="stm32f0l0g0"
@@ -38,6 +39,7 @@ CONFIG_EXAMPLES_ADC_GROUPSIZE=2
 CONFIG_EXAMPLES_ADC_SWTRIG=y
 CONFIG_EXAMPLES_BUTTONS=y
 CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_QENCODER=y
 CONFIG_EXAMPLES_WATCHDOG=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=1536
@@ -60,6 +62,8 @@ 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=19
 CONFIG_START_MONTH=5
 CONFIG_START_YEAR=2013
@@ -68,6 +72,8 @@ CONFIG_STM32F0L0G0_ADC1=y
 CONFIG_STM32F0L0G0_ADC_MAX_SAMPLES=2
 CONFIG_STM32F0L0G0_DMA1=y
 CONFIG_STM32F0L0G0_IWDG=y
+CONFIG_STM32F0L0G0_TIM3=y
+CONFIG_STM32F0L0G0_TIM3_QE=y
 CONFIG_STM32F0L0G0_USART2=y
 CONFIG_STM32F0L0G0_WWDG=y
 CONFIG_SYSTEM_NSH=y
@@ -172,6 +172,14 @@
 #define GPIO_FDCAN1_RX      (GPIO_FDCAN1_RX_8|GPIO_SPEED_HIGH)    /* PD0 */
 #define GPIO_FDCAN1_TX      (GPIO_FDCAN1_TX_9|GPIO_SPEED_HIGH)    /* PD1 */

+/* Qencoder on TIM3:
+ *   TIM3_CH1IN - PB4 (D5)
+ *   TIM3_CH2IN - PC7 (D3)
+ */
+
+#define GPIO_TIM3_CH1IN     (GPIO_TIM3_CH1IN_2|GPIO_SPEED_HIGH)
+#define GPIO_TIM3_CH2IN     (GPIO_TIM3_CH2IN_6|GPIO_SPEED_HIGH)
+
 /* DMA channels *************************************************************/

 /* ADC */
@@ -42,6 +42,10 @@
 #  include <stm32_wdg.h>
 #endif

+#ifdef CONFIG_SENSORS_QENCODER
+#  include "board_qencoder.h"
+#endif
+
 #include <arch/board/board.h>

 #include "nucleo-c092rc.h"
@@ -129,6 +133,19 @@ int stm32_bringup(void)
    }
 #endif

+#ifdef CONFIG_SENSORS_QENCODER
+  /* Initialize and register the qencoder driver - TIM3 */
+
+  ret = board_qencoder_initialize(0, 3);
+  if (ret != OK)
+    {
+      syslog(LOG_ERR,
+             "ERROR: Failed to register the qencoder: %d\n",
+             ret);
+      return ret;
+    }
+#endif
+
  UNUSED(ret);
  return OK;
 }