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https://github.com/apache/nuttx.git
synced 2026-06-06 16:50:55 +08:00
Add QEI lower-half driver impl. for Tiva series chip
This commit is contained in:
Young
@@ -105,6 +105,10 @@ ifeq ($(CONFIG_TIVA_PWM),y)
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CHIP_CSRCS += tiva_pwm.c
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endif
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ifeq ($(CONFIG_TIVA_QEI),y)
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CHIP_CSRCS += tiva_qencoder.c
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endif
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ifeq ($(CONFIG_TIVA_TIMER),y)
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CHIP_CSRCS += tiva_timerlib.c
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ifeq ($(CONFIG_TIVA_TIMER32_PERIODIC),y)
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@@ -0,0 +1,98 @@
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/************************************************************************************
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* arch/arm/src/tiva/chip/tiva_qencoder.h
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*
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* Copyright (C) 2016 Young Mu. All rights reserved.
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* Author: Young Mu <young.mu@aliyun.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __ARCH_ARM_SRC_TIVA_CHIP_TIVA_QENCODER_H
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#define __ARCH_ARM_SRC_TIVA_CHIP_TIVA_QENCODER_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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#define TIVA_QEI_CTL_OFFSET (0x0) /* QEI Control */
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#define TIVA_QEI_STAT_OFFSET (0x4) /* QEI Status */
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#define TIVA_QEI_POS_OFFSET (0x8) /* QEI Position */
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#define TIVA_QEI_MAXPOS_OFFSET (0xc) /* QEI Maximum Position */
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#define TIVA_QEI_LOAD_OFFSET (0x10) /* QEI Timer Load */
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#define TIVA_QEI_TIME_OFFSET (0x14) /* QEI Timer */
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#define TIVA_QEI_COUNT_OFFSET (0x18) /* QEI Velocity Counter */
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#define TIVA_QEI_SPEED_OFFSET (0x1c) /* QEI Velocity */
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#define TIVA_QEI_INTEN_OFFSET (0x20) /* QEI Interrupt Enable */
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#define TIVA_QEI_RIS_OFFSET (0x24) /* QEI Raw Interrupt Status */
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#define TIVA_QEI_ISC_OFFSET (0x28) /* QEI Interrupt Status and Clear */
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#define TIVA_QEI_CTL_FILTCNT (16) /* (Bit) Input Filter Prescale Count */
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#define TIVA_QEI_CTL_FILTEN (13) /* (Bit) Enable Input Filter */
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#define TIVA_QEI_CTL_STALLEN (12) /* (Bit) Stall QEI */
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#define TIVA_QEI_CTL_INVI (11) /* (Bit) Invert Index Pulse */
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#define TIVA_QEI_CTL_INVB (10) /* (Bit) Invert PhB */
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#define TIVA_QEI_CTL_INVA (9) /* (Bit) Invert PhA */
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#define TIVA_QEI_CTL_SIGMODE (2) /* (Bit) Signal Mode */
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#define TIVA_QEI_CTL_SWAP (1) /* (Bit) Swap Signals */
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#define TIVA_QEI_CTL_VELDIV (6) /* (Bit) Predivide Velocity */
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#define VELDIV_1 (0x0) /* (Value) Divided by 1 */
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#define VELDIV_2 (0x1) /* (Value) Divided by 2 */
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#define VELDIV_4 (0x2) /* (Value) Divided by 4 */
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#define VELDIV_8 (0x3) /* (Value) Divided by 8 */
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#define VELDIV_16 (0x4) /* (Value) Divided by 16 */
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#define VELDIV_32 (0x5) /* (Value) Divided by 32 */
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#define VELDIV_64 (0x6) /* (Value) Divided by 64 */
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#define VELDIV_128 (0x7) /* (Value) Divided by 128 */
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#define TIVA_QEI_CTL_VELEN (5) /* (Bit) Capture Velocity */
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#define VELEN_DISABLE (0) /* (value) Disable Velocity Capture */
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#define VELEN_ENABLE (1) /* (value) Enable Velocity Capture */
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#define TIVA_QEI_CTL_RESMODE (4) /* (Bit) Reset Mode */
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#define RESMODE_BY_MAXPOS (0) /* (Value) Reset by MAXPOS */
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#define RESMODE_BY_INDEX_PULSE (1) /* (Value) Reset by Index Pulse */
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#define TIVA_QEI_CTL_CAPMODE (3) /* (Bit) Capture Mode */
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#define CAPMODE_ONLY_PHA (0) /* (Value) Count PhA both edges */
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#define CAPMODE_PHA_AND_PHB (1) /* (Value) Count PhA and PhB both edges */
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#define TIVA_QEI_CTL_ENABLE (0) /* (Bit) Enable QEI */
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#define QEI_DISABLE (0) /* (Value) Disable QEI */
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#define QEI_ENABLE (1) /* (Value) Enable QEI */
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#define TIVA_QEI_STAT_DIRECTION (1) /* (Bit) Direction of Rotation */
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#define DIRECTION_FORWARD (0) /* (Value) Forward */
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#define DIRECTION_BACKWARD (1) /* (Value) Backward */
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#endif /* __ARCH_ARM_SRC_TIVA_CHIP_TIVA_QENCODER_H */
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@@ -1901,7 +1901,9 @@
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/* QE Interface Power Control */
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#define SYSCON_PCQEI_P0 (1 << 0) /* Bit 0: QEI Module 0 Power Control */
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#define SYSCON_PCQEI(n) (1 << (n)) /* Bit n: QEI module n Power Control */
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# define SYSCON_PCQEI_P0 (1 << 0) /* Bit 0: QEI Module 0 Power Control */
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# define SYSCON_PCQEI_P1 (1 << 1) /* Bit 1: QEI Module 1 Power Control */
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/* EEPROM Power Control */
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,58 @@
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/************************************************************************************
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* arch/arm/src/tiva/tiva_qencoder.h
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*
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* Copyright (C) 2016 Young Mu. All rights reserved.
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* Author: Young Mu <young.mu@aliyun.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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||||
*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H
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#define __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/sensors/qencoder.h>
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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#define QEIOC_DIRECTION _QEIOC(QEIOC_USER)
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#define QEIOC_VELOCITY _QEIOC(QEIOC_USER+1)
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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FAR struct qe_lowerhalf_s *tiva_qei_initialize(int id);
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#endif /* __ARCH_ARM_SRC_TIVA_TIVA_QENCODER_H */
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@@ -50,6 +50,7 @@
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#include "tiva_i2c.h"
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#include "tiva_pwm.h"
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#include "tiva_qencoder.h"
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#include "tm4c1294-launchpad.h"
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/****************************************************************************
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@@ -64,9 +65,16 @@
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# define HAVE_PWM
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#endif
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#ifdef CONFIG_TM4C1294_LAUNCHPAD_QEI
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# define HAVE_QEI
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#endif
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#define PWM_PATH_FMT "/dev/pwm%d"
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#define PWM_PATH_FMTLEN (10)
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#define QEI_PATH_FMT "/dev/qei%d"
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#define QEI_PATH_FMTLEN (10)
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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@@ -172,7 +180,7 @@ void tm4c_pwm_register(int channel)
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dev = tiva_pwm_initialize(channel);
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if (dev == NULL)
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{
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pwmerr("ERROR: Failed to get PWM%d interface\n", channel);
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_err("ERROR: Failed to get PWM%d interface\n", channel);
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}
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else
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{
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@@ -180,7 +188,7 @@ void tm4c_pwm_register(int channel)
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ret = pwm_register(pwm_path, dev);
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if (ret < 0)
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{
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pwmerr("ERROR: Failed to register PWM%d driver: %d\n",
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_err("ERROR: Failed to register PWM%d driver: %d\n",
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channel, ret);
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}
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}
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@@ -225,6 +233,62 @@ static void tm4c_pwm(void)
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}
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#endif
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/****************************************************************************
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* Name: tm4c_qei_register
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*
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* Description:
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* Register a QEI dev file with the upper_level QEI driver.
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*
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* Input Parameters:
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* id - A number identifying the QEI.
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*
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* Returned Value:
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* None.
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*
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****************************************************************************/
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void tm4c_qei_register(int id)
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{
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FAR struct qe_lowerhalf_s *dev;
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int ret;
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char qe_path[QEI_PATH_FMTLEN];
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dev = tiva_qei_initialize(id);
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if (dev == NULL)
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{
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_err("ERROR: Failed to get QEI %d\n", id);
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}
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else
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{
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snprintf(qe_path, QEI_PATH_FMTLEN, QEI_PATH_FMT, id);
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ret = qe_register(qe_path, dev);
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if (ret < 0)
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{
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_err("ERROR: Failed to register QEI %d driver: %d\n", id, ret);
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}
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}
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}
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/****************************************************************************
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* Name: tm4c_qei
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*
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* Description:
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* Register QEI drivers for the QEI tool.
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*
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****************************************************************************/
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#ifdef HAVE_QEI
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static void tm4c_qei(void)
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{
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#ifdef CONFIG_TIVA_QEI0
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tm4c_qei_register(0);
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#endif
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#ifdef CONFIG_TIVA_QEI1
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tm4c_qei_register(1);
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#endif
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}
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@@ -253,6 +317,12 @@ int tm4c_bringup(void)
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tm4c_pwm();
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#endif
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#ifdef HAVE_QEI
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/* Register QEI drivers */
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tm4c_qei();
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#endif
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#ifdef HAVE_TIMER
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/* Initialize the timer driver */
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