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Add an infrastructure to support a generic quadrature encoder driver

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4390 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo 2012-02-14 15:32:57 +00:00
parent 9843e26b9b
commit ae57408734
10 changed files with 901 additions and 8 deletions
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6
ChangeLog
View file

@ -2460,3 +2460,9 @@
can be used to turn debug output on and off.
6.16 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
* drivers/sensors/qencoder.c and include/nuttx/sensors/qencoder.h: Add an
implementation for a quadrature encoder upper half driver.
* arch/arm/src/stm32/stm32_qencoder.c/.h: Add a initial implementation of
a lower-half quadrature encoder driver for the STM32. On initial check-in,
this is little more than a "skeleton" file.

4
arch/arm/src/stm32/Make.defs
View file

@ -87,6 +87,10 @@ ifeq ($(CONFIG_PWM),y)
CHIP_CSRCS += stm32_pwm.c
endif
ifeq ($(CONFIG_QENCODER),y)
CHIP_CSRCS += stm32_qencoder.c
endif
ifeq ($(CONFIG_CAN),y)
CHIP_CSRCS += stm32_can.c
endif

222
arch/arm/src/stm32/stm32_qencoder.c Normal file
View file

@ -0,0 +1,222 @@
/************************************************************************************
* arch/arm/src/stm32/stm32_qencoder.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* 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
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/kmalloc.h>
#include <nuttx/sensors/qencoder.h>
#include "up_arch.h"
#include "stm32_qencoder.h"
#ifdef CONFIG_QENCODER
/************************************************************************************
* Private Types
************************************************************************************/
struct stm32_lowerhalf_s
{
/* The first field of this state structure must be a pointer to the lower-
* half callback structure:
*/
FAR const struct qe_ops_s *ops; /* Lower half callback structure */
/* STM32 driver-specific fields: */
};
/************************************************************************************
* Private Function Prototypes
************************************************************************************/
/* Lower-half Quadrature Encoder Driver Methods */
static int stm32_setup(FAR struct qe_lowerhalf_s *lower);
static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower);
static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos);
static int stm32_reset(FAR struct qe_lowerhalf_s *lower);
static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg);
/************************************************************************************
* Private Data
************************************************************************************/
/* The lower half callback structure */
FAR const struct qe_ops_s g_qecallbacks =
{
.setup = stm32_setup,
.shutdown = stm32_shutdown,
.position = stm32_position,
.reset = stm32_reset,
.ioctl = stm32_ioctl,
};
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_setup
*
* Description:
* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* The initial position value should be zero. *
*
************************************************************************************/
static int stm32_setup(FAR struct qe_lowerhalf_s *lower)
{
#warning "Missing logic"
return -ENOSYS;
}
/************************************************************************************
* Name: stm32_shutdown
*
* Description:
* This method is called when the driver is closed. The lower half driver
* should stop data collection, free any resources, disable timer hardware, and
* put the system into the lowest possible power usage state *
*
************************************************************************************/
static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower)
{
#warning "Missing logic"
return -ENOSYS;
}
/************************************************************************************
* Name: stm32_position
*
* Description:
* Return the current position measurement.
*
************************************************************************************/
static int stm32_position(FAR struct qe_lowerhalf_s *lower, int32_t *pos)
{
#warning "Missing logic"
return -ENOSYS;
}
/************************************************************************************
* Name: stm32_reset
*
* Description:
* Reset the position measurement to zero.
*
************************************************************************************/
static int stm32_reset(FAR struct qe_lowerhalf_s *lower)
{
#warning "Missing logic"
return -ENOSYS;
}
/************************************************************************************
* Name: stm32_ioctl
*
* Description:
* Lower-half logic may support platform-specific ioctl commands
*
************************************************************************************/
static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long arg)
{
/* No ioctl commands supported */
return -ENOTTY;
}
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_qeinitialize
*
* Description:
* Initialize a quadrature encoder interface. This function must be called from
* board-specific logic after input pins have been configured.
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/qe0"
*
* Returned Values:
* Zero on success; A negated errno value is returned on failure.
*
************************************************************************************/
int stm32_qeinitialize(FAR const char *devpath)
{
FAR struct stm32_lowerhalf_s *lower;
int ret;
/* Allocate an instance to the device-specific, lower-half state structure */
lower = (FAR struct stm32_lowerhalf_s *)kmalloc(sizeof(struct stm32_lowerhalf_s));
if (lower)
{
return -ENOMEM;
}
/* Initialize the allocated state structure */
lower->ops = &g_qecallbacks;
/* Register the lower-half driver */
ret = qe_register(devpath, (FAR struct qe_lowerhalf_s *)lower);
if (ret < 0)
{
kfree(lower);
return ret;
}
return OK;
}
#endif /* CONFIG_QENCODER */

72
arch/arm/src/stm32/stm32_qencoder.h Normal file
View file

@ -0,0 +1,72 @@
/************************************************************************************
* arch/arm/src/stm32/stm32_qencoder.h
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* 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
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __ARCH_ARM_SRC_STM32_STM32_QENCODER_H
#define __ARCH_ARM_SRC_STM32_STM32_QENCODER_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include "chip.h"
#ifdef CONFIG_QENCODER
/************************************************************************************
* Included Files
************************************************************************************/
/************************************************************************************
* Name: stm32_qeinitialize
*
* Description:
* Initialize a quadrature encoder interface. This function must be called from
* board-specific logic after input pins have been configured.
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/qe0"
*
* Returned Values:
* Zero on success; A negated errno value is returned on failure.
*
************************************************************************************/
int stm32_qeinitialize(FAR const char *devpath);
#endif /* CONFIG_QENCODER */
#endif /* __ARCH_ARM_SRC_STM32_STM32_QENCODER_H */

6
drivers/sensors/Make.defs
View file

@ -44,6 +44,12 @@ ifeq ($(CONFIG_I2C_LM75),y)
endif
endif
# Quadrature encoder upper half
ifeq ($(CONFIG_QENCODER),y)
CSRCS += qencoder.c
endif
# Include sensor driver build support
DEPPATH += --dep-path sensors

396
drivers/sensors/qencoder.c Normal file
View file

@ -0,0 +1,396 @@
/****************************************************************************
* drivers/sensors/qencoder.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* 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
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Compilation Switches
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <semaphore.h>
#include <fcntl.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/fs.h>
#include <nuttx/arch.h>
#include <nuttx/sensors/qencoder.h>
#include <arch/irq.h>
#ifdef CONFIG_QENCODER
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Debug ********************************************************************/
/* Non-standard debug that may be enabled just for testing PWM */
#ifdef CONFIG_DEBUG_QENCODER
# define qedbg dbg
# define qevdbg vdbg
# define qelldbg lldbg
# define qellvdbg llvdbg
#else
# define qedbg(x...)
# define qevdbg(x...)
# define qelldbg(x...)
# define qellvdbg(x...)
#endif
/****************************************************************************
* Private Type Definitions
****************************************************************************/
/* This structure describes the state of the upper half drivere */
struct qe_upperhalf_s
{
uint8_t crefs; /* The number of times the device has been opened */
sem_t exclsem; /* Supports mutual exclusion */
FAR struct qe_lowerhalf_s *lower; /* lower-half state */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int qe_open(FAR struct file *filep);
static int qe_close(FAR struct file *filep);
static ssize_t qe_read(FAR struct file *filep, FAR char *buffer, size_t buflen);
static ssize_t qe_write(FAR struct file *filep, FAR const char *buffer, size_t buflen);
static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_qeops =
{
qe_open, /* open */
qe_close, /* close */
qe_read, /* read */
qe_write, /* write */
0, /* seek */
qe_ioctl /* ioctl */
#ifndef CONFIG_DISABLE_POLL
, 0 /* poll */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/************************************************************************************
* Name: qe_open
*
* Description:
* This function is called whenever the PWM device is opened.
*
************************************************************************************/
static int qe_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct qe_upperhalf_s *upper = inode->i_private;
uint8_t tmp;
int ret;
qevdbg("crefs: %d\n", upper->crefs);
/* Get exclusive access to the device structures */
ret = sem_wait(&upper->exclsem);
if (ret < 0)
{
ret = -errno;
goto errout;
}
/* Increment the count of references to the device. If this the first
* time that the driver has been opened for this device, then initialize
* the device.
*/
tmp = upper->crefs + 1;
if (tmp == 0)
{
/* More than 255 opens; uint8_t overflows to zero */
ret = -EMFILE;
goto errout_with_sem;
}
/* Check if this is the first time that the driver has been opened. */
if (tmp == 1)
{
FAR struct qe_lowerhalf_s *lower = upper->lower;
/* Yes.. perform one time hardware initialization. */
DEBUGASSERT(lower->ops->setup != NULL);
qevdbg("calling setup\n");
ret = lower->ops->setup(lower);
if (ret < 0)
{
goto errout_with_sem;
}
}
/* Save the new open count on success */
upper->crefs = tmp;
ret = OK;
errout_with_sem:
sem_post(&upper->exclsem);
errout:
return ret;
}
/************************************************************************************
* Name: qe_close
*
* Description:
* This function is called when the PWM device is closed.
*
************************************************************************************/
static int qe_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct qe_upperhalf_s *upper = inode->i_private;
int ret;
qevdbg("crefs: %d\n", upper->crefs);
/* Get exclusive access to the device structures */
ret = sem_wait(&upper->exclsem);
if (ret < 0)
{
ret = -errno;
goto errout;
}
/* Decrement the references to the driver. If the reference count will
* decrement to 0, then uninitialize the driver.
*/
if (upper->crefs > 1)
{
upper->crefs--;
}
else
{
FAR struct qe_lowerhalf_s *lower = upper->lower;
/* There are no more references to the port */
upper->crefs = 0;
/* Disable the PWM device */
DEBUGASSERT(lower->ops->shutdown != NULL);
qevdbg("calling shutdown: %d\n");
lower->ops->shutdown(lower);
}
ret = OK;
//errout_with_sem:
sem_post(&upper->exclsem);
errout:
return ret;
}
/************************************************************************************
* Name: qe_read
*
* Description:
* A dummy read method. This is provided only to satsify the VFS layer.
*
************************************************************************************/
static ssize_t qe_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
{
/* Return zero -- usually meaning end-of-file */
return 0;
}
/************************************************************************************
* Name: qe_write
*
* Description:
* A dummy write method. This is provided only to satsify the VFS layer.
*
************************************************************************************/
static ssize_t qe_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
{
/* Return a failure */
return -EPERM;
}
/************************************************************************************
* Name: qe_ioctl
*
* Description:
* The standard ioctl method. This is where ALL of the PWM work is done.
*
************************************************************************************/
static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct qe_upperhalf_s *upper = inode->i_private;
FAR struct qe_lowerhalf_s *lower = upper->lower;
int ret;
qevdbg("cmd: %d arg: %ld\n", cmd, arg);
DEBUGASSERT(upper && lower);
/* Get exclusive access to the device structures */
ret = sem_wait(&upper->exclsem);
if (ret < 0)
{
return ret;
}
/* Handle built-in ioctl commands */
switch (cmd)
{
/* QEIOC_POSITION - Get the current position from the encoder.
* Argument: int32_t pointer to the location to return the position.
*/
case QEIOC_POSITION:
{
FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg);
DEBUGASSERT(lower->ops->position != NULL && ptr);
ret = lower->ops->position(lower, ptr);
}
break;
/* QEIOC_RESET - Reset the position to zero.
* Argument: None
*/
case QEIOC_RESET:
{
DEBUGASSERT(lower->ops->reset != NULL);
ret = lower->ops->reset(lower);
}
break;
/* Any unrecognized IOCTL commands might be platform-specific ioctl commands */
default:
{
qevdbg("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
DEBUGASSERT(lower->ops->ioctl != NULL);
ret = lower->ops->ioctl(lower, cmd, arg);
}
break;
}
sem_post(&upper->exclsem);
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: qe_register
*
* Description:
* Register the Quadrature Encoder lower half device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/qe0"
* lower - An instance of the lower half interface
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower)
{
FAR struct qe_upperhalf_s *upper;
/* Allocate the upper-half data structure */
upper = (FAR struct qe_upperhalf_s *)zalloc(sizeof(struct qe_upperhalf_s));
if (!upper)
{
qedbg("Allocation failed\n");
return -ENOMEM;
}
/* Initialize the PWM device structure (it was already zeroed by zalloc()) */
sem_init(&upper->exclsem, 0, 1);
upper->lower = lower;
/* Register the PWM device */
qevdbg("Registering %s\n", devpath);
return register_driver(devpath, &g_qeops, 0666, upper);
}
#endif /* CONFIG_QENCODER */

7
include/nuttx/ioctl.h
View file

@ -65,6 +65,7 @@
#define _PWMIOCBASE (0x0c00) /* PWM ioctl commands */
#define _CAIOCBASE (0x0d00) /* CDC/ACM ioctl commands */
#define _BATIOCBASE (0x0e00) /* Battery driver ioctl commands */
#define _QEIOCBASE (0x0f00) /* Quadrature encoder ioctl commands */
/* Macros used to manage ioctl commands */
@ -193,6 +194,12 @@
#define _BATIOCVALID(c) (_IOC_TYPE(c)==_BATIOCBASE)
#define _BATIOC(nr) _IOC(_BATIOCBASE,nr)
/* NuttX Quadrature Encoder driver ioctol definitions ***********************/
/* (see nuttx/power/battery.h) */
#define _QEIOCVALID(c) (_IOC_TYPE(c)==_QEIOCBASE)
#define _QEIOC(nr) _IOC(_QEIOCBASE,nr)
/****************************************************************************
* Public Type Definitions
****************************************************************************/

6
include/nuttx/pwm.h
View file

@ -81,7 +81,7 @@
/* The PWM module uses a standard character driver framework. However, since
* the PWM driver is a devices control interface and not a data transfer
* interface, the majority of the functionality is implemented in driver
* ioctl calls. The PWM ioctal commands are lised below:
* ioctl calls. The PWM ioctl commands are lised below:
*
* PWMIOC_SETCHARACTERISTICS - Set the characteristics of the next pulsed
* output. This command will neither start nor stop the pulsed output.
@ -152,7 +152,7 @@ struct pwm_ops_s
CODE int (*setup)(FAR struct pwm_lowerhalf_s *dev);
/* This method is called when the driver is closed. The lower half driver
* stop pulsed output, free any resources, disable the timer hardware, and
* should stop pulsed output, free any resources, disable the timer hardware, and
* put the system into the lowest possible power usage state
*/
@ -203,7 +203,7 @@ struct pwm_lowerhalf_s
FAR const struct pwm_ops_s *ops;
/* The custom timer state structure may include additional fields after
* the pointer to the PWM callback structgure.
* the pointer to the PWM callback structure.
*/
};

10
include/nuttx/sensors/lm75.h
View file

@ -1,8 +1,8 @@
/****************************************************************************
* include/nuttx/lm75.h
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,8 +33,8 @@
*
****************************************************************************/
#ifndef __NUTTX_SENSORSD_LM75_H
#define __NUTTX_SENSORSD_LM75_H
#ifndef __NUTTX_SENSORS_LM75_H
#define __NUTTX_SENSORS_LM75_H
/****************************************************************************
* Included Files
@ -130,4 +130,4 @@ EXTERN int lm75_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
}
#endif
#endif /* __NUTTX_SENSORSD_LM75_H */
#endif /* __NUTTX_SENSORS_LM75_H */

180
include/nuttx/sensors/qencoder.h Normal file
View file

@ -0,0 +1,180 @@
/****************************************************************************
* include/nuttx/qencoder.h
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* 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
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __NUTTX_SENSORS_QENCODER_H
#define __NUTTX_SENSORS_QENCODER_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/ioctl.h>
#ifdef CONFIG_QENCODER
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************
* CONFIG_QENCODER - Enables support for the quadrature encoder upper half
*/
/* IOCTL Commands ***********************************************************/
/* The Quadrature Encode module uses a standard character driver framework.
* However, since the driver is a devices control interface and not a data
* transfer interface, the majority of the functionality is implemented in
* driver ioctl calls. The PWM ioctal commands are lised below:
*
* QEIOC_POSITION - Get the current position from the encoder.
* Argument: int32_t pointer to the location to return the position.
* QEIOC_RESET - Reset the position to zero.
* Argument: None
*/
#define QEIOC_POSITION _QEIOC(0x0001) /* Arg: int32_t* pointer */
#define QEIOC_RESET _QEIOC(0x0002) /* Arg: None */
/* User defined ioctl cms should use QEIOC_USER like this:
*
* #define QEIOC_MYCMD1 _QEIOC(QEIOC_USER)
* #define QEIOC_MYCMD2 _QEIOC(QEIOC_USER+1)
* ...
*/
#define QEIOC_USER 0x0003
/****************************************************************************
* Public Types
****************************************************************************/
/* This is the vtable that is used to by the upper half quadrature encoder
* to call back into the lower half quadrature encoder.
*/
struct qe_lowerhalf_s;
struct qe_ops_s
{
/* This method is called when the driver is opened. The lower half driver
* should configure and initialize the device so that it is ready for use.
* The initial position value should be zero.
*/
CODE int (*setup)(FAR struct qe_lowerhalf_s *lower);
/* This method is called when the driver is closed. The lower half driver
* should stop data collection, free any resources, disable timer hardware, and
* put the system into the lowest possible power usage state
*/
CODE int (*shutdown)(FAR struct qe_lowerhalf_s *lower);
/* Return the current position measurement. */
CODE int (*position)(FAR struct qe_lowerhalf_s *lower, int32_t *pos);
/* Reset the position measurement to zero. */
CODE int (*reset)(FAR struct qe_lowerhalf_s *lower);
/* Lower-half logic may support platform-specific ioctl commands */
CODE int (*ioctl)(FAR struct qe_lowerhalf_s *lower,
int cmd, unsigned long arg);
};
/* This is the interface between the lower half quadrature encoder driver
* and the upper half quadrature encoder driver. A (device-specific)
* instance of this structure is passed to the upper-half driver when the
* quadrature encoder driver is registered.
*
* Normally that lower half logic will have its own, custom state structure
* that is simply cast to struct qe_lowerhalf_s. In order to perform such casts,
* the initial fields of the custom state structure match the initial fields
* of the following generic lower half state structure.
*/
struct qe_lowerhalf_s
{
/* The first field of this state structure must be a pointer to the lower-
* half callback structure:
*/
FAR const struct qe_ops_s *ops;
/* The custom timer state structure may include additional fields after
* the pointer to the callback structure.
*/
};
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: qe_register
*
* Description:
* Register the Quadrature Encoder lower half device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/qe0"
* lower - An instance of the lower half interface
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
EXTERN int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_QENCODER */
#endif /* __NUTTX_SENSORS_QENCODER_H */