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commit c5be5c2db4a36479fc9d848348e4cbd8fdc85e2c Author: Martin Vajnar <[email protected]> AuthorDate: Thu Sep 12 12:55:00 2024 +0200 esp32c6-devkitc: Add Quadrature Encoder support and example configuration Signed-off-by: Martin Vajnar <[email protected]> --- .../esp32c6/boards/esp32c6-devkitc/index.rst | 10 +++ .../esp32c6/common/include/esp_board_qencoder.h | 74 +++++++++++++++++ boards/risc-v/esp32c6/common/src/Make.defs | 4 + .../risc-v/esp32c6/common/src/esp_board_qencoder.c | 97 ++++++++++++++++++++++ .../esp32c6-devkitc/configs/qencoder/defconfig | 58 +++++++++++++ .../esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c | 14 ++++ 6 files changed, 257 insertions(+) diff --git a/Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst b/Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst index 0536d88071..c809f71bd3 100644 --- a/Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst +++ b/Documentation/platforms/risc-v/esp32c6/boards/esp32c6-devkitc/index.rst @@ -194,6 +194,16 @@ To test it, just execute the ``pwm`` application:: pwm_main: starting output with frequency: 10000 duty: 00008000 pwm_main: stopping output +qencoder +--- + +This configuration demostrates the use of Quadrature Encoder connected to pins +GPIO10 and GPIO11. You can start measurement of pulses using the following +command (by default, it will open ``\dev\qe0`` device and print 20 samples +using 1 second delay):: + + nsh> qe + rmt --- diff --git a/boards/risc-v/esp32c6/common/include/esp_board_qencoder.h b/boards/risc-v/esp32c6/common/include/esp_board_qencoder.h new file mode 100644 index 0000000000..15899d3063 --- /dev/null +++ b/boards/risc-v/esp32c6/common/include/esp_board_qencoder.h @@ -0,0 +1,74 @@ +/**************************************************************************** + * boards/risc-v/esp32c6/common/include/esp_board_qencoder.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __BOARDS_RISC_V_ESP32C6_COMMON_INCLUDE_ESP_BOARD_QENCODER_H +#define __BOARDS_RISC_V_ESP32C6_COMMON_INCLUDE_ESP_BOARD_QENCODER_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Inline Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: board_qencoder_initialize + * + * Description: + * Initialize the quadrature encoder driver for the given timer + * + ****************************************************************************/ + +int board_qencoder_initialize(void); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __BOARDS_RISC_V_ESP32C6_COMMON_INCLUDE_ESP_BOARD_QENCODER_H */ + diff --git a/boards/risc-v/esp32c6/common/src/Make.defs b/boards/risc-v/esp32c6/common/src/Make.defs index 5ca961d384..2d2a487d5a 100644 --- a/boards/risc-v/esp32c6/common/src/Make.defs +++ b/boards/risc-v/esp32c6/common/src/Make.defs @@ -68,6 +68,10 @@ ifeq ($(CONFIG_CL_MFRC522),y) CSRCS += esp_board_mfrc522.c endif +ifeq ($(CONFIG_ESP_PCNT),y) + CSRCS += esp_board_qencoder.c +endif + DEPPATH += --dep-path src VPATH += :src CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src diff --git a/boards/risc-v/esp32c6/common/src/esp_board_qencoder.c b/boards/risc-v/esp32c6/common/src/esp_board_qencoder.c new file mode 100644 index 0000000000..b7e17b0069 --- /dev/null +++ b/boards/risc-v/esp32c6/common/src/esp_board_qencoder.c @@ -0,0 +1,97 @@ +/**************************************************************************** + * boards/risc-v/esp32c6/common/src/esp_board_qencoder.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <errno.h> +#include <debug.h> +#include <stdio.h> + +#include <nuttx/sensors/qencoder.h> +#include <arch/board/board.h> + +#include "espressif/esp_qencoder.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_qencoder_initialize + * + * Description: + * Initialize the quadrature encoder driver + * + ****************************************************************************/ + +int board_qencoder_initialize(void) +{ + int ret; + char devpath[12]; + int devno = 0; + + /* Initialize a quadrature encoder interface. */ +#ifdef CONFIG_ESP_PCNT_U0_QE + snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++); + ret = esp_qeinitialize(devpath, 0); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret); + return ret; + } +#endif + +#ifdef CONFIG_ESP_PCNT_U1_QE + snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++); + ret = esp_qeinitialize(devpath, 1); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret); + return ret; + } +#endif + +#ifdef CONFIG_ESP_PCNT_U2_QE + snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++); + ret = esp_qeinitialize(devpath, 2); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret); + return ret; + } +#endif + +#ifdef CONFIG_ESP_PCNT_U3_QE + snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++); + ret = esp_qeinitialize(devpath, 3); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret); + return ret; + } +#endif + + return ret; +} + diff --git a/boards/risc-v/esp32c6/esp32c6-devkitc/configs/qencoder/defconfig b/boards/risc-v/esp32c6/esp32c6-devkitc/configs/qencoder/defconfig new file mode 100644 index 0000000000..e93c8625c4 --- /dev/null +++ b/boards/risc-v/esp32c6/esp32c6-devkitc/configs/qencoder/defconfig @@ -0,0 +1,58 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_NSH_ARGCAT is not set +# CONFIG_NSH_CMDOPT_HEXDUMP is not set +CONFIG_ARCH="risc-v" +CONFIG_ARCH_BOARD="esp32c6-devkitc" +CONFIG_ARCH_BOARD_COMMON=y +CONFIG_ARCH_BOARD_ESP32C6_DEVKITC=y +CONFIG_ARCH_CHIP="esp32c6" +CONFIG_ARCH_CHIP_ESP32C6=y +CONFIG_ARCH_CHIP_ESP32C6WROOM1=y +CONFIG_ARCH_INTERRUPTSTACK=2048 +CONFIG_ARCH_RISCV=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_LOOPSPERMSEC=15000 +CONFIG_BUILTIN=y +CONFIG_DEV_ZERO=y +CONFIG_ESPRESSIF_ESP32C6=y +CONFIG_ESP_PCNT=y +CONFIG_ESP_PCNT_U0=y +CONFIG_ESP_PCNT_U0_CH0_EDGE_PIN=10 +CONFIG_ESP_PCNT_U0_CH1_LEVEL_PIN=11 +CONFIG_ESP_PCNT_U0_FILTER_EN=y +CONFIG_EXAMPLES_QENCODER=y +CONFIG_EXAMPLES_QENCODER_DELAY=1000 +CONFIG_EXAMPLES_QENCODER_NSAMPLES=20 +CONFIG_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +CONFIG_LIBC_PERROR_STDOUT=y +CONFIG_LIBC_STRERROR=y +CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_READLINE=y +CONFIG_NSH_STRERROR=y +CONFIG_PREALLOC_TIMERS=0 +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_BACKTRACE=y +CONFIG_SCHED_WAITPID=y +CONFIG_SENSORS=y +CONFIG_SENSORS_QENCODER=y +CONFIG_START_DAY=29 +CONFIG_START_MONTH=11 +CONFIG_START_YEAR=2019 +CONFIG_SYSTEM_DUMPSTACK=y +CONFIG_SYSTEM_NSH=y +CONFIG_TESTING_GETPRIME=y +CONFIG_TESTING_OSTEST=y +CONFIG_UART0_SERIAL_CONSOLE=y diff --git a/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c b/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c index b197add1f9..fc7c9fde7d 100644 --- a/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c +++ b/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c @@ -93,6 +93,10 @@ # include "esp_board_mcpwm.h" #endif +#ifdef CONFIG_ESP_PCNT_AS_QE +# include "esp_board_qencoder.h" +#endif + #include "esp32c6-devkitc.h" /**************************************************************************** @@ -356,6 +360,16 @@ int esp_bringup(void) } #endif +#ifdef CONFIG_SENSORS_QENCODER + /* Initialize and register the qencoder driver */ + + ret = board_qencoder_initialize(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: board_qencoder_initialize failed: %d\n", ret); + } +#endif + /* If we got here then perhaps not all initialization was successful, but * at least enough succeeded to bring-up NSH with perhaps reduced * capabilities.
