222 lines
7.8 KiB
C
222 lines
7.8 KiB
C
/****************************************************************************
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* include/nuttx/sensors/qencoder.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_QENCODER_H
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#define __INCLUDE_NUTTX_SENSORS_QENCODER_H
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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 <nuttx/fs/ioctl.h>
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#ifdef CONFIG_SENSORS_QENCODER
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************
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* CONFIG_SENSORS_QENCODER - Enables support for the quadrature encoder upper
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* half
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*/
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/* IOCTL Commands ***********************************************************/
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/* The Quadrature Encode module uses a standard character driver framework.
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* However, since the driver is a device control interface rather than a
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* data transfer interface, the majority of the functionality is implemented
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* in driver ioctl calls. The PWM ioctl commands are listed below:
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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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* QEIOC_RESET - Reset the position to zero.
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* Argument: None
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* QEIOC_SETPOSMAX - Set the maximum position for the encoder.
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* Argument: uint32_t maximum position
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* QEIOC_SETINDEX - Set the index position for the encoder.
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* Argument: uint32_t index position
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* QEIOC_GETINDEX - Get the index position and count of the encoder.
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* The structure also contains current position so QEIOC_POSITION
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* is not required when QEIOC_GETINDEX is used.
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* Argment: qe_index_s structure (refer below)
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*/
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#define QEIOC_POSITION _QEIOC(0x0001) /* Arg: int32_t* pointer */
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#define QEIOC_RESET _QEIOC(0x0002) /* Arg: None */
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#define QEIOC_SETPOSMAX _QEIOC(0x0003) /* Arg: uint32_t */
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#define QEIOC_SETINDEX _QEIOC(0x0004) /* Arg: uint32_t */
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#define QEIOC_GETINDEX _QEIOC(0x0005) /* Arg: qe_index_s struct */
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#define QE_FIRST 0x0001 /* First required command */
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#define QE_NCMDS 5 /* 5 required commands */
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/* User defined ioctl commands are also supported. These will be forwarded
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* by the upper-half QE driver to the lower-half QE driver via the ioctl()
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* method of the QE lower-half interface. However, the lower-half driver
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* must reserve a block of commands as follows in order prevent IOCTL
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* command numbers from overlapping.
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*/
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/* See arch/arm/src/tiva/tiva_qencoder.h (Not usable at that location) */
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#define QE_TIVA_FIRST (QE_FIRST + QE_NCMDS)
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#define QE_TIVA_NCMDS 5
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/* See include/nuttx/sensors/as5048b.h */
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#define QE_AS5048B_FIRST (QE_TIVA_FIRST + QE_TIVA_NCMDS)
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#define QE_AS5048B_NCMDS 4
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/* See arch/arm/src/imxrt/imxrt_enc.h */
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#define QE_IMXRT_FIRST (QE_AS5048B_FIRST + QE_AS5048B_NCMDS)
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#define QE_IMXRT_NCMDS 7
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/* See include/nuttx/sensors/as5048a.h */
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#define QE_AS5048A_FIRST (QE_IMXRT_FIRST + QE_IMXRT_NCMDS)
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#define QE_AS5048A_NCMDS 4
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* This is the vtable that is used to by the upper half quadrature encoder
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* to call back into the lower half quadrature encoder.
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*/
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struct qe_lowerhalf_s;
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struct qe_ops_s
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{
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/* This method is called when the driver is opened. The lower half driver
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* should configure and initialize the device so that it is ready for use.
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* The initial position value should be zero.
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*/
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CODE int (*setup)(FAR struct qe_lowerhalf_s *lower);
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/* This method is called when the driver is closed. The lower half driver
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* should stop data collection, free any resources, disable timer hardware,
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* and put the system into the lowest possible power usage state
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*/
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CODE int (*shutdown)(FAR struct qe_lowerhalf_s *lower);
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/* Return the current position measurement. */
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CODE int (*position)(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos);
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/* Set the maximum encoder position. */
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CODE int (*setposmax)(FAR struct qe_lowerhalf_s *lower, uint32_t pos);
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/* Reset the position measurement to zero. */
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CODE int (*reset)(FAR struct qe_lowerhalf_s *lower);
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/* Set the index pin position */
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CODE int (*setindex)(FAR struct qe_lowerhalf_s *lower, uint32_t pos);
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/* Lower-half logic may support platform-specific ioctl commands */
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CODE int (*ioctl)(FAR struct qe_lowerhalf_s *lower,
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int cmd, unsigned long arg);
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};
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/* Structure qe_index_s is used for QEIOC_GETINDEX call. This call returns
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* current encoder position, the last index position and number of index
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* occurances.
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*/
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struct qe_index_s
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{
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int32_t qenc_pos; /* Qencoder actual position */
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int32_t indx_pos; /* Index last position */
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int16_t indx_cnt; /* Number of index occurances */
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};
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/* This is the interface between the lower half quadrature encoder driver
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* and the upper half quadrature encoder driver. A (device-specific)
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* instance of this structure is passed to the upper-half driver when the
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* quadrature encoder driver is registered.
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*
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* Normally that lower half logic will have its own, custom state structure
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* that is simply cast to struct qe_lowerhalf_s. In order to perform such
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* casts, the initial fields of the custom state structure match the initial
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* fields of the following generic lower half state structure.
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*/
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struct qe_lowerhalf_s
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{
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/* The first field of this state structure must be a pointer to the lower-
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* half callback structure:
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*/
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FAR const struct qe_ops_s *ops;
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/* The custom timer state structure may include additional fields after
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* the pointer to the callback structure.
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*/
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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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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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_SENSORS_QENCODER */
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#endif /* __INCLUDE_NUTTX_SENSORS_QENCODER_H */
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