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Add QE support to STM32F4Discovery; add a test of the quadrature encoder driver

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git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4395 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
2012-02-15 17:51:30 +00:00
parent a1590c1424
commit 3625222c6c
24 changed files with 1107 additions and 181 deletions
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apps/examples/Makefile
+3 -3
View File
@@ -39,9 +39,9 @@
SUBDIRS = adc buttons can composite dhcpd ftpc ftpd hello helloxx hidkbd \
igmp lcdrw mm mount nettest nsh null nx nxffs nxflat nxhello nximage \
nxlines nxtext ostest pashello pipe poll pwm rgmp romfs sendmail \
nxlines nxtext ostest pashello pipe poll pwm qencoder rgmp romfs \
serloop telnetd thttpd tiff touchscreen udp uip usbserial \
usbstorage usbterm wget wlan
sendmail usbstorage usbterm wget wlan
# Sub-directories that might need context setup. Directories may need
# context setup for a variety of reasons, but the most common is because
@@ -56,7 +56,7 @@ SUBDIRS = adc buttons can composite dhcpd ftpc ftpd hello helloxx hidkbd \
CNTXTDIRS = pwm
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += adc can composite ftpd dhcpd nettest telnetd
CNTXTDIRS += adc can composite ftpd dhcpd nettest qencoder telnetd
endif
ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
apps/examples/README.txt
+27
View File
@@ -906,6 +906,33 @@ examples/pwm
only available if CONFIG_PWM_PULSECOUNT is defined. Default: 0 (i.e., use
the duration, not the count).
examples/qencoder
^^^^^^^^^^^^^^^^^
This example is a simple test of a Quadrature Encoder driver. It simply reads
positional data from the encoder and prints it.,
This test depends on these specific QE/NSH configurations settings (your
specific PWM settings might require additional settings).
CONFIG_QENCODER - Enables quadrature encoder support (upper-half driver).
CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
Default: Built as a standalone progrem.
Additional configuration options will mostly likely be required for the board-
specific lower-half driver. See the README.txt file in your board configuration
directory.
Specific configuration options for this example include:
CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
/dev/qe0
CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
is defined, then the number of samples is provided on the command line
and this value is ignored. Otherwise, this number of samples is
collected and the program terminates. Default: Samples are collected
indefinitely.
examples/rgmp
^^^^^^^^^^^^^
apps/examples/qencoder/Makefile
+105
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@@ -0,0 +1,105 @@
############################################################################
# apps/examples/qe/Makefile
#
# 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.
#
############################################################################
-include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs
# NuttX NX Graphics Example.
ASRCS =
CSRCS = qe_main.c
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ifeq ($(WINTOOL),y)
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
else
BIN = "$(APPDIR)/libapps$(LIBEXT)"
endif
ROOTDEPPATH = --dep-path .
# Quadrature Encoder built-in application info
APPNAME = qe
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
# Common build
VPATH =
all: .built
.PHONY: context clean depend distclean
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
.built: $(OBJS)
@( for obj in $(OBJS) ; do \
$(call ARCHIVE, $(BIN), $${obj}); \
done ; )
@touch .built
.context:
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
@touch $@
endif
context: .context
.depend: Makefile $(SRCS)
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
@rm -f *.o *~ .*.swp .built
$(call CLEAN)
distclean: clean
@rm -f Make.dep .depend
-include Make.dep
apps/examples/qencoder/qe.h
+123
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@@ -0,0 +1,123 @@
/****************************************************************************
* examples/examples/qe/qe.h
*
* Copyright (C) 2011 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 __APPS_EXAMPLES_QENCODER_QE_H
#define __APPS_EXAMPLES_QENCODER_QE_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
* Default: Built as a standalone problem
* CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
* /dev/qe0
* CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
* is defined, then the number of samples is provided on the command line
* and this value is ignored. Otherwise, this number of samples is
* collected and the program terminates. Default: Samples are collected
* indefinitely.
*/
#ifndef CONFIG_QENCODER
# error "QE device support is not enabled (CONFIG_QENCODER)"
#endif
#ifndef CONFIG_EXAMPLES_QENCODER_DEVPATH
# define CONFIG_EXAMPLES_QENCODER_DEVPATH "/dev/qe0"
#endif
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_rawprintf(__VA_ARGS__)
# define msgflush()
# else
# define message(...) printf(__VA_ARGS__)
# define msgflush() fflush(stdout)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_rawprintf
# define msgflush()
# else
# define message printf
# define msgflush() fflush(stdout)
# endif
#endif
/****************************************************************************
* Public Types
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
struct qe_example_s
{
bool reset;
int nloops;
};
#endif
/****************************************************************************
* Public Variables
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
extern struct qe_example_s g_qeexample;
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: qe_devinit()
*
* Description:
* Perform architecuture-specific initialization of the QE hardware. This
* interface must be provided by all configurations using apps/examples/qe
*
****************************************************************************/
int qe_devinit(void);
#endif /* __APPS_EXAMPLES_QENCODER_QE_H */
apps/examples/qencoder/qe_main.c
+310
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@@ -0,0 +1,310 @@
/****************************************************************************
* examples/qe/qe_main.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 <sys/types.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <limits.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/sensors/qencoder.h>
#include "qe.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
# define MAIN_NAME qe_main
# define MAIN_STRING "qe_main: "
#else
# define MAIN_NAME user_start
# define MAIN_STRING "user_start: "
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
struct qe_example_s g_qeexample;
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: qe_help
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
static void qe_help(void)
{
message("\nUsage: qe [OPTIONS]\n\n");
message("OPTIONS include:\n");
message(" [-n samples] number of samples\n");
message(" [-r] reset the count\n");
message(" [-h] shows this message and exits\n\n");
}
#endif
/****************************************************************************
* Name: arg_string
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
#endif
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
int arg_decimal(FAR char **arg, FAR long *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = strtol(string, NULL, 10);
return ret;
}
#endif
/****************************************************************************
* Name: parse_args
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
void parse_args(int argc, FAR char **argv)
{
FAR char *ptr;
long value;
int index;
int nargs;
g_qeexample.reset = false;
g_qeexample.nloops = 1;
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
message("Invalid options format: %s\n", ptr);
exit(0);
}
switch (ptr[1])
{
case 'n':
nargs = arg_decimal(&argv[index], &value);
if (value < 0 || value > INT_MAX)
{
message("Sample count out of range: %ld\n", value);
exit(1);
}
g_qeexample.nloops = (int)value;
index += nargs;
break;
case 'r':
g_qeexample.reset = true;
index++;
break;
case 'h':
qe_help();
exit(EXIT_SUCCESS);
default:
message("Unsupported option: %s\n", ptr);
qe_help();
exit(EXIT_FAILURE);
}
}
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: user_start/qe_main
****************************************************************************/
int MAIN_NAME(int argc, char *argv[])
{
int32_t position;
int fd;
int exitval = EXIT_SUCCESS;
int ret;
#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
int nloops;
#endif
/* Parse command line arguments */
#ifdef CONFIG_NSH_BUILTIN_APPS
parse_args(argc, argv);
#endif
/* Initialization of the encoder hardware is performed by logic external to
* this test.
*/
message(MAIN_STRING "Initializing external encoder\n");
ret = qe_devinit();
if (ret != OK)
{
message(MAIN_STRING "qe_devinit failed: %d\n", ret);
exitval = EXIT_FAILURE;
goto errout;
}
/* Open the encoder device for reading */
message(MAIN_STRING "Hardware initialized. Opening the encoder device\n");
fd = open(CONFIG_EXAMPLES_QENCODER_DEVPATH, O_RDONLY);
if (fd < 0)
{
message(MAIN_STRING "open %s failed: %d\n",
CONFIG_EXAMPLES_QENCODER_DEVPATH, errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* Reset the count if so requested */
if (g_qeexample.reset)
{
message(MAIN_STRING "Resetting the count...\n");
ret = ioctl(fd, QEIOC_RESET, 0);
if (ret < 0)
{
message(MAIN_STRING "ioctl(QEIOC_RESET) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
}
/* Now loop the appropriate number of times, displaying the collected
* encoder samples.
*/
#if defined(CONFIG_NSH_BUILTIN_APPS)
message(MAIN_STRING "Number of samples: %d\n", g_qeexample.nloops);
for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
message(MAIN_STRING "Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++)
#else
for (;;)
#endif
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
msgflush();
/* Get the positions data using the ioctl */
ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
if (ret < 0)
{
message(MAIN_STRING "ioctl(QEIOC_POSITION) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* Print the sample data on successful return */
else
{
message(MAIN_STRING " %d\n", position);
}
}
errout_with_dev:
close(fd);
errout:
message("Terminating!\n");
msgflush();
return exitval;
}