drivers/sensors: add driver for as5048a magnetic encoder

drivers/sensors/Kconfig

@@ -70,6 +70,14 @@ config SENSORS_AS5048B
 	---help---
 		Enable driver support for the AMS AS5048B magnetic rotary encoder.
 
+config SENSORS_AS5048A
+	bool "AMS AS5048A Magnetic Rotary Encoder support"
+	default n
+	select SPI
+	select SENSORS_QENCODER
+	---help---
+		Enable driver support for the AMS AS5048A magnetic rotary encoder.
+
 config SENSORS_AS726X
 	bool "AMS AS726X Spetral sensor support"
 	default n

drivers/sensors/Make.defs

@@ -270,6 +270,10 @@ ifeq ($(CONFIG_SENSORS_ADT7320),y)
   CSRCS += adt7320.c
 endif
 
+ifeq ($(CONFIG_SENSORS_AS5048A),y)
+  CSRCS += as5048a.c
+endif
+
 endif # CONFIG_SPI
 
 # These drivers depend on 1WIRE support

include/nuttx/sensors/as5048a.h

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * include/nuttx/sensors/as5048a.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 __INCLUDE_NUTTX_SENSORS_AS5048A_H
+#define __INCLUDE_NUTTX_SENSORS_AS5048A_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sensors/qencoder.h>
+
+#if defined(CONFIG_SENSORS_AS5048A)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************
+ * Prerequisites:
+ *
+ * CONFIG_SPI
+ *   Enables support for SPI drivers
+ * CONFIG_AS5048A
+ *   Enables support for the AS5048A driver
+ */
+
+/* The device always operates in mode 0 */
+
+#define AS5048A_SPI_MODE            SPIDEV_MODE1 /* Mode 1 */
+
+/* SPI frequency */
+
+#define AS5048A_SPI_MAXFREQUENCY    1000000      /* 1MHz */
+
+/* IOCTL Commands ***********************************************************/
+
+/* Arg: int32_t* pointer */
+
+#define QEIOC_AS5048A_ZEROPOSITION    _QEIOC(QE_AS5048A_FIRST+0)
+
+/* Arg: uint8_t* pointer */
+
+#define QEIOC_AS5048A_AUTOGAINCTL     _QEIOC(QE_AS5048A_FIRST+1)
+
+/* Arg: uint8_t* pointer */
+
+#define QEIOC_AS5048A_DIAGNOSTICS     _QEIOC(QE_AS5048A_FIRST+2)
+
+/* Arg: int32_t* pointer */
+
+#define QEIOC_AS5048A_MAGNITUDE       _QEIOC(QE_AS5048A_FIRST+3)
+
+/* Resolution ***************************************************************/
+
+#define AS5048A_MAX           0x3fff   /* Maximum value (14 bits) */
+
+/* Register Definitions *****************************************************/
+
+/* Register Addresses */
+
+#define AS5048A_CMD_READ      0x4000   /* flag indicating read attempt */
+#define AS5048A_CMD_WRITE     0x0000   /* flag indicating write attempt */
+#define AS5048A_CLRERR_REG    0x1      /* clear error register */
+#define AS5048A_PROG_REG      0x03     /* Programming Control Register */
+#define AS5048A_ZEROLO_REG    0x17     /* Zero Position Register Bits 0~5 */
+#define AS5048A_ZEROHI_REG    0x16     /* Zero Position Register Bits 6~13 */
+#define AS5048A_AGC_REG       0x3ffd   /* Automatic Gain Control Register */
+#define AS5048A_DIAG_REG      0x3ffd   /* Diagnostics Register */
+#define AS5048A_MAG_REG       0x3ffe   /* Magnitude Register Bits 0~13 */
+#define AS5048A_ANGLE_REG     0x3fff   /* Angle Register Bits 0~13 */
+
+/* Programming Control Register Bit Definitions */
+
+#define AS5048A_PROG_ENABLE   (1 << 0)
+#define AS5048A_PROG_BURN     (1 << 3)
+#define AS5048A_PROG_VERIFY   (1 << 6)
+
+/* Diagnostics Register Bit Definitions */
+
+#define AS5048A_DIAG_OCF      (1 << 8)  /* Offset Compensation Finished */
+#define AS5048A_DIAG_COF      (1 << 9)  /* Cordic Overflow */
+#define AS5048A_DIAG_COMPLOW  (1 << 10) /* High Magnetic Field */
+#define AS5048A_DIAG_COMPHIGH (1 << 11) /* Low Magnetic Field */
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: as5048a_initialize
+ *
+ * Description:
+ *   Initialize the AS5048A device.
+ *
+ * Input Parameters:
+ *   spi  - An SPI driver instance.
+ *
+ * Returned Value:
+ *   A new lower half encoder interface for the AS5048A on success;
+ *   NULL on failure.
+ *
+ ****************************************************************************/
+
+FAR struct qe_lowerhalf_s *as5048a_initialize(FAR struct spi_dev_s *spi,
+                                              int spi_devid);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SENSORS_AS5048A */
+#endif /* __INCLUDE_NUTTX_SENSORS_AS5048A_H */

include/nuttx/sensors/qencoder.h

@@ -86,6 +86,11 @@
 #define QE_IMXRT_FIRST     (QE_AS5048B_FIRST + QE_AS5048B_NCMDS)
 #define QE_IMXRT_NCMDS     7
 
+/* See include/nuttx/sensors/as5048a.h */
+
+#define QE_AS5048A_FIRST   (QE_IMXRT_FIRST + QE_IMXRT_NCMDS)
+#define QE_AS5048A_NCMDS   4
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/