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Add an infrastructure to support a generic quadrature encoder driver
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4390 7fd9a85b-ad96-42d3-883c-3090e2eb8679
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patacongo
@@ -44,6 +44,12 @@ ifeq ($(CONFIG_I2C_LM75),y)
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endif
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endif
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# Quadrature encoder upper half
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ifeq ($(CONFIG_QENCODER),y)
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CSRCS += qencoder.c
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endif
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# Include sensor driver build support
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DEPPATH += --dep-path sensors
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@@ -0,0 +1,396 @@
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/****************************************************************************
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* drivers/sensors/qencoder.c
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*
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* Copyright (C) 2012 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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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/****************************************************************************
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* Compilation Switches
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <semaphore.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/fs.h>
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#include <nuttx/arch.h>
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#include <nuttx/sensors/qencoder.h>
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#include <arch/irq.h>
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#ifdef CONFIG_QENCODER
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Debug ********************************************************************/
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/* Non-standard debug that may be enabled just for testing PWM */
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#ifdef CONFIG_DEBUG_QENCODER
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# define qedbg dbg
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# define qevdbg vdbg
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# define qelldbg lldbg
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# define qellvdbg llvdbg
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#else
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# define qedbg(x...)
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# define qevdbg(x...)
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# define qelldbg(x...)
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# define qellvdbg(x...)
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#endif
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/****************************************************************************
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* Private Type Definitions
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****************************************************************************/
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/* This structure describes the state of the upper half drivere */
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struct qe_upperhalf_s
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{
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uint8_t crefs; /* The number of times the device has been opened */
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sem_t exclsem; /* Supports mutual exclusion */
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FAR struct qe_lowerhalf_s *lower; /* lower-half state */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int qe_open(FAR struct file *filep);
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static int qe_close(FAR struct file *filep);
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static ssize_t qe_read(FAR struct file *filep, FAR char *buffer, size_t buflen);
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static ssize_t qe_write(FAR struct file *filep, FAR const char *buffer, size_t buflen);
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static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_qeops =
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{
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qe_open, /* open */
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qe_close, /* close */
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qe_read, /* read */
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qe_write, /* write */
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0, /* seek */
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qe_ioctl /* ioctl */
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#ifndef CONFIG_DISABLE_POLL
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, 0 /* poll */
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#endif
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/************************************************************************************
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* Name: qe_open
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*
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* Description:
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* This function is called whenever the PWM device is opened.
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*
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************************************************************************************/
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static int qe_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct qe_upperhalf_s *upper = inode->i_private;
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uint8_t tmp;
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int ret;
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qevdbg("crefs: %d\n", upper->crefs);
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/* Get exclusive access to the device structures */
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ret = sem_wait(&upper->exclsem);
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if (ret < 0)
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{
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ret = -errno;
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goto errout;
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}
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/* Increment the count of references to the device. If this the first
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* time that the driver has been opened for this device, then initialize
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* the device.
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*/
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tmp = upper->crefs + 1;
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if (tmp == 0)
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{
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/* More than 255 opens; uint8_t overflows to zero */
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ret = -EMFILE;
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goto errout_with_sem;
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}
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/* Check if this is the first time that the driver has been opened. */
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if (tmp == 1)
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{
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FAR struct qe_lowerhalf_s *lower = upper->lower;
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/* Yes.. perform one time hardware initialization. */
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DEBUGASSERT(lower->ops->setup != NULL);
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qevdbg("calling setup\n");
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ret = lower->ops->setup(lower);
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if (ret < 0)
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{
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goto errout_with_sem;
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}
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}
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/* Save the new open count on success */
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upper->crefs = tmp;
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ret = OK;
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errout_with_sem:
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sem_post(&upper->exclsem);
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errout:
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return ret;
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}
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/************************************************************************************
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* Name: qe_close
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*
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* Description:
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* This function is called when the PWM device is closed.
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*
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************************************************************************************/
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static int qe_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct qe_upperhalf_s *upper = inode->i_private;
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int ret;
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qevdbg("crefs: %d\n", upper->crefs);
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/* Get exclusive access to the device structures */
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ret = sem_wait(&upper->exclsem);
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if (ret < 0)
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{
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ret = -errno;
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goto errout;
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}
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/* Decrement the references to the driver. If the reference count will
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* decrement to 0, then uninitialize the driver.
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*/
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if (upper->crefs > 1)
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{
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upper->crefs--;
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}
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else
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{
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FAR struct qe_lowerhalf_s *lower = upper->lower;
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/* There are no more references to the port */
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upper->crefs = 0;
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/* Disable the PWM device */
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DEBUGASSERT(lower->ops->shutdown != NULL);
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qevdbg("calling shutdown: %d\n");
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lower->ops->shutdown(lower);
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}
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ret = OK;
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//errout_with_sem:
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sem_post(&upper->exclsem);
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errout:
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return ret;
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}
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/************************************************************************************
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* Name: qe_read
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*
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* Description:
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* A dummy read method. This is provided only to satsify the VFS layer.
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*
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************************************************************************************/
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static ssize_t qe_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
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{
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/* Return zero -- usually meaning end-of-file */
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return 0;
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}
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/************************************************************************************
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* Name: qe_write
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*
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* Description:
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* A dummy write method. This is provided only to satsify the VFS layer.
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*
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************************************************************************************/
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static ssize_t qe_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
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{
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/* Return a failure */
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return -EPERM;
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}
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/************************************************************************************
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* Name: qe_ioctl
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*
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* Description:
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* The standard ioctl method. This is where ALL of the PWM work is done.
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*
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************************************************************************************/
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static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct qe_upperhalf_s *upper = inode->i_private;
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FAR struct qe_lowerhalf_s *lower = upper->lower;
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int ret;
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qevdbg("cmd: %d arg: %ld\n", cmd, arg);
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DEBUGASSERT(upper && lower);
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/* Get exclusive access to the device structures */
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ret = sem_wait(&upper->exclsem);
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if (ret < 0)
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{
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return ret;
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}
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/* Handle built-in ioctl commands */
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switch (cmd)
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{
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/* QEIOC_POSITION - Get the current position from the encoder.
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* Argument: int32_t pointer to the location to return the position.
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*/
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case QEIOC_POSITION:
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{
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FAR int32_t *ptr = (FAR int32_t *)((uintptr_t)arg);
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DEBUGASSERT(lower->ops->position != NULL && ptr);
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ret = lower->ops->position(lower, ptr);
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}
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break;
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/* QEIOC_RESET - Reset the position to zero.
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* Argument: None
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*/
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case QEIOC_RESET:
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{
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DEBUGASSERT(lower->ops->reset != NULL);
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ret = lower->ops->reset(lower);
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}
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break;
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/* Any unrecognized IOCTL commands might be platform-specific ioctl commands */
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default:
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{
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qevdbg("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
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DEBUGASSERT(lower->ops->ioctl != NULL);
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ret = lower->ops->ioctl(lower, cmd, arg);
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}
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break;
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}
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sem_post(&upper->exclsem);
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: qe_register
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*
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* Description:
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* Register the Quadrature Encoder lower half device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/qe0"
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* lower - An instance of the lower half interface
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int qe_register(FAR const char *devpath, FAR struct qe_lowerhalf_s *lower)
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{
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FAR struct qe_upperhalf_s *upper;
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/* Allocate the upper-half data structure */
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upper = (FAR struct qe_upperhalf_s *)zalloc(sizeof(struct qe_upperhalf_s));
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if (!upper)
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{
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qedbg("Allocation failed\n");
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return -ENOMEM;
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}
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/* Initialize the PWM device structure (it was already zeroed by zalloc()) */
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sem_init(&upper->exclsem, 0, 1);
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upper->lower = lower;
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/* Register the PWM device */
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qevdbg("Registering %s\n", devpath);
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return register_driver(devpath, &g_qeops, 0666, upper);
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}
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#endif /* CONFIG_QENCODER */
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