mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 22:33:33 +08:00
Add QE support to STM32F4Discovery; add a test of the quadrature encoder driver
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4395 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
@@ -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
|
||||
@@ -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 */
|
||||
@@ -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;
|
||||
}
|
||||
Reference in New Issue
Block a user