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commit 928d7682ceb326a618ddfa05315b56b7ec669c5b Author: Alan Carvalho de Assis <[email protected]> AuthorDate: Sat Apr 25 16:56:59 2026 -0300 boards/stm32f4discovery: Add support to MT6816 This commit add support to use MagTek Magnetic Rotary Encoder MT6816 on STM32F4Discovery board. Signed-off-by: Alan C. Assis <[email protected]> --- boards/arm/stm32/common/include/stm32_mt6816.h | 75 ++++++++++++++++++ boards/arm/stm32/common/src/CMakeLists.txt | 4 + boards/arm/stm32/common/src/Make.defs | 4 + boards/arm/stm32/common/src/stm32_mt6816.c | 91 ++++++++++++++++++++++ .../stm32f4discovery/configs/mt6816/defconfig | 56 +++++++++++++ boards/arm/stm32/stm32f4discovery/include/board.h | 5 ++ .../arm/stm32/stm32f4discovery/src/stm32_bringup.c | 14 ++++ boards/arm/stm32/stm32f4discovery/src/stm32_spi.c | 11 +++ 8 files changed, 260 insertions(+) diff --git a/boards/arm/stm32/common/include/stm32_mt6816.h b/boards/arm/stm32/common/include/stm32_mt6816.h new file mode 100644 index 00000000000..2497d13aa9a --- /dev/null +++ b/boards/arm/stm32/common/include/stm32_mt6816.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * boards/arm/stm32/common/include/stm32_mt6816.h + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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_ARM_STM32_COMMON_INCLUDE_STM32_MT6816_H +#define __BOARDS_ARM_STM32_COMMON_INCLUDE_STM32_MT6816_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_mt6816_initialize + * + * Description: + * Initialize the MT6816 encoder driver + * + ****************************************************************************/ + +int board_mt6816_initialize(int devno, int spi_busno); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __BOARDS_ARM_STM32_COMMON_INCLUDE_STM32_MT6816_H */ diff --git a/boards/arm/stm32/common/src/CMakeLists.txt b/boards/arm/stm32/common/src/CMakeLists.txt index 754fe81ce6e..c7d9426af29 100644 --- a/boards/arm/stm32/common/src/CMakeLists.txt +++ b/boards/arm/stm32/common/src/CMakeLists.txt @@ -82,6 +82,10 @@ if(CONFIG_SENSORS_APDS9960) list(APPEND SRCS stm32_apds9960.c) endif() +if(CONFIG_SENSORS_MT6816) + list(APPEND SRCS stm32_mt6816.c) +endif() + if(CONFIG_SENSORS_ZEROCROSS) list(APPEND SRCS stm32_zerocross.c) endif() diff --git a/boards/arm/stm32/common/src/Make.defs b/boards/arm/stm32/common/src/Make.defs index 2839c86bf71..5b1f8556d76 100644 --- a/boards/arm/stm32/common/src/Make.defs +++ b/boards/arm/stm32/common/src/Make.defs @@ -86,6 +86,10 @@ ifeq ($(CONFIG_SENSORS_APDS9960),y) CSRCS += stm32_apds9960.c endif +ifeq ($(CONFIG_SENSORS_MT6816),y) + CSRCS += stm32_mt6816.c +endif + ifeq ($(CONFIG_INPUT_MPR121_KEYPAD),y) CSRCS += stm32_mpr121.c endif diff --git a/boards/arm/stm32/common/src/stm32_mt6816.c b/boards/arm/stm32/common/src/stm32_mt6816.c new file mode 100644 index 00000000000..834e1203850 --- /dev/null +++ b/boards/arm/stm32/common/src/stm32_mt6816.c @@ -0,0 +1,91 @@ +/**************************************************************************** + * boards/arm/stm32/common/src/stm32_mt6816.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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 <nuttx/debug.h> +#include <stdio.h> + +#include <nuttx/sensors/qencoder.h> +#include <nuttx/sensors/mt6816.h> +#include <arch/board/board.h> +#include <nuttx/spi/spi.h> + +#include "chip.h" +#include "stm32.h" +#include "stm32_spi.h" +#include "arm_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_mt6816_initialize + * + * Description: + * Initialize the MT6816 encoder driver + * + ****************************************************************************/ + +int board_mt6816_initialize(int devno, int spi_busno) +{ + struct spi_dev_s *spi; + struct qe_lowerhalf_s *dev; + char qe_path[12]; + int ret = OK; + + spi = stm32_spibus_initialize(spi_busno); + if (!spi) + { + return -ENODEV; + } + + dev = mt6816_initialize(spi, (uint16_t) devno); + if (dev == NULL) + { + snerr("ERROR: Failed to initialize MT6816 at SPI%d\n", spi_busno); + ret = -ENODEV; + } + else + { + snprintf(qe_path, sizeof(qe_path), "/dev/qe%d", devno); + ret = qe_register(qe_path, dev); + if (ret < 0) + { + snerr("ERROR: Failed to register MT6816 qe%d driver: %d\n", + devno, ret); + ret = -ENODEV; + } + } + + return ret; +} diff --git a/boards/arm/stm32/stm32f4discovery/configs/mt6816/defconfig b/boards/arm/stm32/stm32f4discovery/configs/mt6816/defconfig new file mode 100644 index 00000000000..722c5b12b9f --- /dev/null +++ b/boards/arm/stm32/stm32f4discovery/configs/mt6816/defconfig @@ -0,0 +1,56 @@ +# +# 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_ARCH_FPU is not set +# CONFIG_DEBUG_ERROR is not set +# CONFIG_NSH_ARGCAT is not set +# CONFIG_NSH_CMDOPT_HEXDUMP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="stm32f4discovery" +CONFIG_ARCH_BOARD_COMMON=y +CONFIG_ARCH_BOARD_STM32F4_DISCOVERY=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F407VG=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BUILTIN=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_SENSORS=y +CONFIG_EXAMPLES_HELLO=y +CONFIG_EXAMPLES_QENCODER=y +CONFIG_FS_PROCFS=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +CONFIG_LINE_MAX=64 +CONFIG_MM_REGIONS=2 +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_READLINE=y +CONFIG_PREALLOC_TIMERS=4 +CONFIG_RAM_SIZE=114688 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_SENSORS=y +CONFIG_SENSORS_MT6816=y +CONFIG_START_DAY=6 +CONFIG_START_MONTH=12 +CONFIG_START_YEAR=2011 +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_USART2_RXBUFSIZE=128 +CONFIG_USART2_SERIAL_CONSOLE=y +CONFIG_USART2_TXBUFSIZE=128 diff --git a/boards/arm/stm32/stm32f4discovery/include/board.h b/boards/arm/stm32/stm32f4discovery/include/board.h index 4f850570856..2b2d37418c4 100644 --- a/boards/arm/stm32/stm32f4discovery/include/board.h +++ b/boards/arm/stm32/stm32f4discovery/include/board.h @@ -455,6 +455,11 @@ #define BOARD_MPR121_GPIO_INT GPIO_MPR121_INT +/* Pin for Magnetic Encoder MT6816 */ + +#define GPIO_CS_MT6816 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\ + GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) + /* LIS3DSH */ #define GPIO_LIS3DSH_EXT0 \ diff --git a/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c b/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c index 714945164bd..272cc5206ef 100644 --- a/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c +++ b/boards/arm/stm32/stm32f4discovery/src/stm32_bringup.c @@ -60,6 +60,10 @@ #include "stm32_apds9960.h" #endif +#ifdef CONFIG_SENSORS_MT6816 +#include "stm32_mt6816.h" +#endif + #ifdef CONFIG_INPUT_MPR121_KEYPAD #include "stm32_mpr121.h" #endif @@ -268,6 +272,16 @@ int stm32_bringup(void) board_zerocross_initialize(0); #endif +#ifdef CONFIG_SENSORS_MT6816 + /* Initialize MT6816 as /dev/qe0 on SPI1 */ + + ret = board_mt6816_initialize(0, 1); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: board_mt6816_initialize failed: %d\n", ret); + } +#endif + #ifdef CONFIG_LEDS_MAX7219 ret = stm32_max7219init("/dev/numdisp0"); if (ret < 0) diff --git a/boards/arm/stm32/stm32f4discovery/src/stm32_spi.c b/boards/arm/stm32/stm32f4discovery/src/stm32_spi.c index 3dad8ada29d..a1026359b94 100644 --- a/boards/arm/stm32/stm32f4discovery/src/stm32_spi.c +++ b/boards/arm/stm32/stm32f4discovery/src/stm32_spi.c @@ -77,6 +77,10 @@ void weak_function stm32_spidev_initialize(void) stm32_configgpio(GPIO_CS_MFRC522); /* MFRC522 chip select */ #endif +#if defined(CONFIG_STM32_SPI1) && defined(CONFIG_SENSORS_MT6816) + stm32_configgpio(GPIO_CS_MT6816); +#endif + #if defined(CONFIG_STM32_SPI2) && defined(CONFIG_SENSORS_MAX31855) stm32_configgpio(GPIO_MAX31855_CS); /* MAX31855 chip select */ #endif @@ -192,6 +196,13 @@ void stm32_spi1select(struct spi_dev_s *dev, uint32_t devid, } #endif +#if defined (CONFIG_SENSORS_MT6816) + if (devid == SPIDEV_MAG_ENCODER(0)) + { + stm32_gpiowrite(GPIO_CS_MT6816, !selected); + } +#endif + #if defined(CONFIG_CL_MFRC522) if (devid == SPIDEV_CONTACTLESS(0)) {
