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in repository https://gitbox.apache.org/repos/asf/nuttx-website.git
The following commit(s) were added to refs/heads/asf-site by this push:
new 752a6ae306 Publishing web: a4e12433e8b395b8a213863e926aef66307d9d23
docs: 3c9a9d683f2291ce88af2fa04382fe15a8b37932
752a6ae306 is described below
commit 752a6ae3062b6acd06951532115e878dc7f983ae
Author: Michal Lenc <[email protected]>
AuthorDate: Mon May 4 00:55:59 2026 +0000
Publishing web: a4e12433e8b395b8a213863e926aef66307d9d23 docs:
3c9a9d683f2291ce88af2fa04382fe15a8b37932
---
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content/docs/latest/_images/mt6816.png | Bin 0 -> 183700 bytes
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index ea7c895394..75ca557a4c 100644
--- a/content/docs/10.0.0/index.html
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@@ -207,7 +207,7 @@ by following these <a class="reference internal"
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such as fork()).</p>
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<p class="caption"><span class="caption-text">Table of Contents</span></p>
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index 12f8b60e32..9b792898c2 100644
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-<p>Last Updated: 03 May 26 at 00:47</p>
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--- a/content/docs/12.5.0/index.html
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@@ -185,7 +185,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:38</p>
+<p>Last Updated: 04 May 26 at 00:38</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.5.0/searchindex.js
b/content/docs/12.5.0/searchindex.js
index ae3ad7f8f8..9bfdedd2d2 100644
--- a/content/docs/12.5.0/searchindex.js
+++ b/content/docs/12.5.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
diff --git a/content/docs/12.5.1/index.html b/content/docs/12.5.1/index.html
index 37891baa1e..ce446cc356 100644
--- a/content/docs/12.5.1/index.html
+++ b/content/docs/12.5.1/index.html
@@ -185,7 +185,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:39</p>
+<p>Last Updated: 04 May 26 at 00:39</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.5.1/searchindex.js
b/content/docs/12.5.1/searchindex.js
index 46bd06c00a..ce9e5972c0 100644
--- a/content/docs/12.5.1/searchindex.js
+++ b/content/docs/12.5.1/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/coremark/index", "applications/benchmarks/index",
"applications/boot/index", "applications/boot/mcuboot/index",
"applications/boot/miniboot/index", "applications/canutils/candump/index",
"applications/canutils/canlib/index", "applications/canutils/cansend/index",
"applications/c [...]
\ No newline at end of file
diff --git a/content/docs/12.6.0/index.html b/content/docs/12.6.0/index.html
index bb3f673f49..436d17416e 100644
--- a/content/docs/12.6.0/index.html
+++ b/content/docs/12.6.0/index.html
@@ -186,7 +186,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:40</p>
+<p>Last Updated: 04 May 26 at 00:40</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.6.0/searchindex.js
b/content/docs/12.6.0/searchindex.js
index cbc6ef58f6..b43203ff04 100644
--- a/content/docs/12.6.0/searchindex.js
+++ b/content/docs/12.6.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
diff --git a/content/docs/12.7.0/index.html b/content/docs/12.7.0/index.html
index fee83a6cf7..00bf573b81 100644
--- a/content/docs/12.7.0/index.html
+++ b/content/docs/12.7.0/index.html
@@ -185,7 +185,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:42</p>
+<p>Last Updated: 04 May 26 at 00:42</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.7.0/searchindex.js
b/content/docs/12.7.0/searchindex.js
index e515d6e377..671460a24c 100644
--- a/content/docs/12.7.0/searchindex.js
+++ b/content/docs/12.7.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
diff --git a/content/docs/12.8.0/index.html b/content/docs/12.8.0/index.html
index f810bc0a32..7c82c2d697 100644
--- a/content/docs/12.8.0/index.html
+++ b/content/docs/12.8.0/index.html
@@ -185,7 +185,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:43</p>
+<p>Last Updated: 04 May 26 at 00:43</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.8.0/searchindex.js
b/content/docs/12.8.0/searchindex.js
index c3e1dc97e8..d7a6797fb0 100644
--- a/content/docs/12.8.0/searchindex.js
+++ b/content/docs/12.8.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/benchmarks/iozone/index",
"applications/bench [...]
\ No newline at end of file
diff --git a/content/docs/12.9.0/index.html b/content/docs/12.9.0/index.html
index c179e87085..120b15732a 100644
--- a/content/docs/12.9.0/index.html
+++ b/content/docs/12.9.0/index.html
@@ -185,7 +185,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:45</p>
+<p>Last Updated: 04 May 26 at 00:45</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.9.0/searchindex.js
b/content/docs/12.9.0/searchindex.js
index 1e54e831c6..75c282391c 100644
--- a/content/docs/12.9.0/searchindex.js
+++ b/content/docs/12.9.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/cyclictest/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/b [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index",
"applications/audioutils/index", "applications/audioutils/mml_parser/index",
"applications/audioutils/nxaudio/index",
"applications/benchmarks/cachespeed/index",
"applications/benchmarks/coremark-pro/index",
"applications/benchmarks/coremark/index",
"applications/benchmarks/cyclictest/index",
"applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index",
"applications/benchmarks/index", "applications/b [...]
\ No newline at end of file
diff --git a/content/docs/latest/_images/mt6816.png
b/content/docs/latest/_images/mt6816.png
new file mode 100644
index 0000000000..3a937cf7df
Binary files /dev/null and b/content/docs/latest/_images/mt6816.png differ
diff --git
a/content/docs/latest/_sources/components/drivers/character/quadrature.rst.txt
b/content/docs/latest/_sources/components/drivers/character/quadrature.rst.txt
index d19886e244..af4e926253 100644
---
a/content/docs/latest/_sources/components/drivers/character/quadrature.rst.txt
+++
b/content/docs/latest/_sources/components/drivers/character/quadrature.rst.txt
@@ -2,6 +2,16 @@
Quadrature Encoder Drivers
==========================
+A Quadrature Encoder (QE) is a kind of sensor normally used to read
+angular rotation of a motor or other turning device.
+
+NuttX supports internal QE peripheral that exists in some microcontrollers
+like ESP32, iMXRT, STM32, nRF5x, TIVA, and others, and also supports
+Magnetic Rotary Encoders like AS5048, MT6816, etc.
+
+Internal Peripheral Quadrature Encoder
+======================================
+
NuttX supports a low-level, two-part Quadrature Encoder driver.
#. An "upper half", generic driver that provides the common
@@ -28,6 +38,46 @@ following locations:
for the specific processor ``<architecture>`` and for the
specific ``<chip>`` Quadrature Encoder peripheral devices.
+Magnetic Rotary Encoder
+=======================
+
+Although technically a Magnetic Rotary Encoder is not a Quadrature Encoder,
+usually uses the QE Lower Half driver to export a device compatible with
+quadrature encoder. This way an application using an ordinary QE encoder
+could use a Magnetic Rotary Encoder with any modification, just need to
+enable and initialize the Magnetic Rotary Encoder on their board.
+
+This is how a board powered by STM32 will initialize a MT6816 Magnetic
+Rotary Encoder:
+
+.. code-block:: c
+
+ /* Initialize the SPI bus connected to MT6816 */
+
+ spi = stm32_spibus_initialize(spi_busno);
+ if (spi == NULL)
+ {
+ return -ENODEV;
+ }
+
+ /* Initialize MT6816 using `spi` and a `device number` starting from 0 */
+
+ dev = mt6816_initialize(spi, (uint16_t) devno);
+ if (dev == NULL)
+ {
+ return -ENODEV;
+ }
+
+ /* Use the returned qe lower half to register /dev/qe# (# => 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;
+ }
+
Application Programming Interface
=================================
diff --git
a/content/docs/latest/_sources/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst.txt
b/content/docs/latest/_sources/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst.txt
index 31e724c4ba..65a7eaf783 100644
---
a/content/docs/latest/_sources/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst.txt
+++
b/content/docs/latest/_sources/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst.txt
@@ -1523,6 +1523,61 @@ After compiling and flashing the firmware in our board,
run kbd command.
code : 49
type : 1
+mt6816
+------
+
+This board config enables the MagTek MT6816 Magnetic Rotary Encoder connected
+to STM32F4Discovery board SPI1 this way:
+
+================ ======
+STM32F4Discovery MT6816
+================ ======
+3V [1] VCC
+GND GND
+PE3 CSN
+SPI1 MOSI (PA7) MOSI
+SPI1 MISO (PA6) MISO
+SPI1 SCK (PA5) SCK
+================ ======
+
+1: You need to remove the diode D3 and short-circuit the PADs in the
+board to get 3.3V. Be aware: although my board works fine, it could
+damage something that expects 3V in our board (double check).
+
+IMPORTANT: You need to connect the HVPP (pin 2) to VCC in order to get
+MT6816 working in SPI mode. Just short-circuit R3 pads will work:
+
+.. figure:: mt6816.png
+ :align: center
+
+After compiling and flashing the firmware in our board, run qe command:
+
+.. code:: console
+
+ NuttShell (NSH) NuttX-12.13.0
+ nsh> ls /dev
+ /dev:
+ console
+ null
+ qe0
+ ttyS0
+ zero
+ nsh> qe
+ qe_main: Hardware initialized. Opening the encoder device: /dev/qe0
+ qe_main: Number of samples: 0
+ qe_main: 1. 6546
+ qe_main: 2. 6620
+ qe_main: 3. 7384
+ qe_main: 4. 7808
+ qe_main: 5. 7900
+ qe_main: 6. 7984
+ qe_main: 7. 7989
+ qe_main: 8. 7993
+ qe_main: 9. 7998
+ qe_main: 10. 8008
+ qe_main: 11. 8052
+ qe_main: 12. 8064
+
netnsh
------
diff --git a/content/docs/latest/components/drivers/character/index.html
b/content/docs/latest/components/drivers/character/index.html
index 7d3eb19c0c..75fb8408c8 100644
--- a/content/docs/latest/components/drivers/character/index.html
+++ b/content/docs/latest/components/drivers/character/index.html
@@ -344,6 +344,8 @@ documented in the following paragraphs.</p>
</li>
<li class="toctree-l1"><a class="reference internal"
href="nullzero.html"><code class="docutils literal notranslate"><span
class="pre">dev_null.c</span></code> and <code class="docutils literal
notranslate"><span class="pre">dev_zero.c</span></code></a></li>
<li class="toctree-l1"><a class="reference internal"
href="quadrature.html">Quadrature Encoder Drivers</a><ul>
+<li class="toctree-l2"><a class="reference internal"
href="quadrature.html#internal-peripheral-quadrature-encoder">Internal
Peripheral Quadrature Encoder</a></li>
+<li class="toctree-l2"><a class="reference internal"
href="quadrature.html#magnetic-rotary-encoder">Magnetic Rotary Encoder</a></li>
<li class="toctree-l2"><a class="reference internal"
href="quadrature.html#application-programming-interface">Application
Programming Interface</a></li>
<li class="toctree-l2"><a class="reference internal"
href="quadrature.html#configuration">Configuration</a></li>
</ul>
diff --git a/content/docs/latest/components/drivers/character/quadrature.html
b/content/docs/latest/components/drivers/character/quadrature.html
index 933448c273..0e86159521 100644
--- a/content/docs/latest/components/drivers/character/quadrature.html
+++ b/content/docs/latest/components/drivers/character/quadrature.html
@@ -160,6 +160,8 @@
<li class="toctree-l4"><a class="reference internal" href="note.html">Note
Driver Interface</a></li>
<li class="toctree-l4"><a class="reference internal"
href="nullzero.html"><code class="docutils literal notranslate"><span
class="pre">dev_null.c</span></code> and <code class="docutils literal
notranslate"><span class="pre">dev_zero.c</span></code></a></li>
<li class="toctree-l4 current"><a class="current reference internal"
href="#">Quadrature Encoder Drivers</a><ul>
+<li class="toctree-l5"><a class="reference internal"
href="#internal-peripheral-quadrature-encoder">Internal Peripheral Quadrature
Encoder</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="#magnetic-rotary-encoder">Magnetic Rotary Encoder</a></li>
<li class="toctree-l5"><a class="reference internal"
href="#application-programming-interface">Application Programming
Interface</a></li>
<li class="toctree-l5"><a class="reference internal"
href="#configuration">Configuration</a></li>
</ul>
@@ -243,6 +245,13 @@
<section id="quadrature-encoder-drivers">
<h1>Quadrature Encoder Drivers<a class="headerlink"
href="#quadrature-encoder-drivers" title="Permalink to this heading"></a></h1>
+<p>A Quadrature Encoder (QE) is a kind of sensor normally used to read
+angular rotation of a motor or other turning device.</p>
+<p>NuttX supports internal QE peripheral that exists in some microcontrollers
+like ESP32, iMXRT, STM32, nRF5x, TIVA, and others, and also supports
+Magnetic Rotary Encoders like AS5048, MT6816, etc.</p>
+<section id="internal-peripheral-quadrature-encoder">
+<h2>Internal Peripheral Quadrature Encoder<a class="headerlink"
href="#internal-peripheral-quadrature-encoder" title="Permalink to this
heading"></a></h2>
<p>NuttX supports a low-level, two-part Quadrature Encoder driver.</p>
<ol class="arabic simple">
<li><p>An “upper half”, generic driver that provides the common
@@ -269,6 +278,44 @@ drivers reside in
for the specific processor <code class="docutils literal notranslate"><span
class="pre"><architecture></span></code> and for the
specific <code class="docutils literal notranslate"><span
class="pre"><chip></span></code> Quadrature Encoder peripheral
devices.</p></li>
</ul>
+</section>
+<section id="magnetic-rotary-encoder">
+<h2>Magnetic Rotary Encoder<a class="headerlink"
href="#magnetic-rotary-encoder" title="Permalink to this heading"></a></h2>
+<p>Although technically a Magnetic Rotary Encoder is not a Quadrature Encoder,
+usually uses the QE Lower Half driver to export a device compatible with
+quadrature encoder. This way an application using an ordinary QE encoder
+could use a Magnetic Rotary Encoder with any modification, just need to
+enable and initialize the Magnetic Rotary Encoder on their board.</p>
+<p>This is how a board powered by STM32 will initialize a MT6816 Magnetic
+Rotary Encoder:</p>
+<div class="highlight-c notranslate"><div
class="highlight"><pre><span></span><span class="cm">/* Initialize the SPI bus
connected to MT6816 */</span>
+
+<span class="n">spi</span><span class="w"> </span><span
class="o">=</span><span class="w"> </span><span
class="n">stm32_spibus_initialize</span><span class="p">(</span><span
class="n">spi_busno</span><span class="p">);</span>
+<span class="k">if</span><span class="w"> </span><span class="p">(</span><span
class="n">spi</span><span class="w"> </span><span class="o">==</span><span
class="w"> </span><span class="nb">NULL</span><span class="p">)</span>
+<span class="w"> </span><span class="p">{</span>
+<span class="w"> </span><span class="k">return</span><span class="w">
</span><span class="o">-</span><span class="n">ENODEV</span><span
class="p">;</span>
+<span class="w"> </span><span class="p">}</span>
+
+<span class="cm">/* Initialize MT6816 using `spi` and a `device number`
starting from 0 */</span>
+
+<span class="n">dev</span><span class="w"> </span><span
class="o">=</span><span class="w"> </span><span
class="n">mt6816_initialize</span><span class="p">(</span><span
class="n">spi</span><span class="p">,</span><span class="w"> </span><span
class="p">(</span><span class="kt">uint16_t</span><span class="p">)</span><span
class="w"> </span><span class="n">devno</span><span class="p">);</span>
+<span class="k">if</span><span class="w"> </span><span class="p">(</span><span
class="n">dev</span><span class="w"> </span><span class="o">==</span><span
class="w"> </span><span class="nb">NULL</span><span class="p">)</span>
+<span class="w"> </span><span class="p">{</span>
+<span class="w"> </span><span class="k">return</span><span class="w">
</span><span class="o">-</span><span class="n">ENODEV</span><span
class="p">;</span>
+<span class="w"> </span><span class="p">}</span>
+
+<span class="cm">/* Use the returned qe lower half to register /dev/qe# (#
=> devno) */</span>
+
+<span class="n">ret</span><span class="w"> </span><span
class="o">=</span><span class="w"> </span><span
class="n">qe_register</span><span class="p">(</span><span
class="n">qe_path</span><span class="p">,</span><span class="w"> </span><span
class="n">dev</span><span class="p">);</span>
+<span class="k">if</span><span class="w"> </span><span class="p">(</span><span
class="n">ret</span><span class="w"> </span><span class="o"><</span><span
class="w"> </span><span class="mi">0</span><span class="p">)</span>
+<span class="w"> </span><span class="p">{</span>
+<span class="w"> </span><span class="n">snerr</span><span
class="p">(</span><span class="s">"ERROR: Failed to register MT6816 qe%d
driver: %d</span><span class="se">\n</span><span class="s">"</span><span
class="p">,</span>
+<span class="w"> </span><span class="n">devno</span><span
class="p">,</span><span class="w"> </span><span class="n">ret</span><span
class="p">);</span>
+<span class="w"> </span><span class="n">ret</span><span class="w">
</span><span class="o">=</span><span class="w"> </span><span
class="o">-</span><span class="n">ENODEV</span><span class="p">;</span>
+<span class="w"> </span><span class="p">}</span>
+</pre></div>
+</div>
+</section>
<section id="application-programming-interface">
<h2>Application Programming Interface<a class="headerlink"
href="#application-programming-interface" title="Permalink to this
heading"></a></h2>
<p>The first thing to be done in order to use the quadrature encoder driver
diff --git a/content/docs/latest/guides/fully_linked_elf.html
b/content/docs/latest/guides/fully_linked_elf.html
index 09842e8296..6ddfbaa30a 100644
--- a/content/docs/latest/guides/fully_linked_elf.html
+++ b/content/docs/latest/guides/fully_linked_elf.html
@@ -484,7 +484,7 @@ NuttX package: <code class="docutils literal
notranslate"><span class="pre">nutt
<div
class="admonition-here-is-an-alternative-minimal-and-possibly-outdated-version
admonition">
<p class="admonition-title">Here is an alternative minimal (and possibly
outdated) version</p>
<div class="sphinx_collapse docutils">
-<input class="sphinx_collapse__input"
id="d36b09d8-196c-4b9b-bf28-ecb2d7bbcafe"
name="d36b09d8-196c-4b9b-bf28-ecb2d7bbcafe" type="checkbox"><label
class="sphinx_collapse__label" for="d36b09d8-196c-4b9b-bf28-ecb2d7bbcafe"><i
class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
+<input class="sphinx_collapse__input"
id="a5f9e938-f0cd-4c5b-b0cc-dbabcf516b0c"
name="a5f9e938-f0cd-4c5b-b0cc-dbabcf516b0c" type="checkbox"><label
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class="sphinx_collapse__content docutils">
<div class="highlight-text notranslate"><div
class="highlight"><pre><span></span>SECTIONS
{
.text 0x00000000 :
diff --git a/content/docs/latest/guides/partially_linked_elf.html
b/content/docs/latest/guides/partially_linked_elf.html
index 8cac8a976d..6fec1d65ea 100644
--- a/content/docs/latest/guides/partially_linked_elf.html
+++ b/content/docs/latest/guides/partially_linked_elf.html
@@ -510,7 +510,7 @@ NuttX package: <code class="docutils literal
notranslate"><span class="pre">nutt
<div
class="admonition-here-is-an-alternative-minimal-and-possibly-outdated-version
admonition">
<p class="admonition-title">Here is an alternative minimal (and possibly
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-<input class="sphinx_collapse__input"
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class="sphinx_collapse__icon"></i>Show content:</label><div
class="sphinx_collapse__content docutils">
+<input class="sphinx_collapse__input"
id="08435cf6-0755-4a79-b18b-fdcc694bda5d"
name="08435cf6-0755-4a79-b18b-fdcc694bda5d" type="checkbox"><label
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diff --git a/content/docs/latest/index.html b/content/docs/latest/index.html
index e8f474db4f..d1e7cd1d74 100644
--- a/content/docs/latest/index.html
+++ b/content/docs/latest/index.html
@@ -193,7 +193,7 @@ standards. Additional standard APIs from Unix and other
common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments
(such
as fork()).</p>
-<p>Last Updated: 03 May 26 at 00:53</p>
+<p>Last Updated: 04 May 26 at 00:53</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of
Contents</span></p>
<ul class="current">
diff --git a/content/docs/latest/objects.inv b/content/docs/latest/objects.inv
index 0fca9d11ad..be3dde6042 100644
Binary files a/content/docs/latest/objects.inv and
b/content/docs/latest/objects.inv differ
diff --git a/content/docs/latest/platforms/arm/goldfish/goldfish_timer.html
b/content/docs/latest/platforms/arm/goldfish/goldfish_timer.html
index a2c22b27f6..3bd7a1dc39 100644
--- a/content/docs/latest/platforms/arm/goldfish/goldfish_timer.html
+++ b/content/docs/latest/platforms/arm/goldfish/goldfish_timer.html
@@ -156,7 +156,18 @@
<li class="toctree-l4"><a class="reference internal"
href="#timer-interrupt">Timer Interrupt</a></li>
</ul>
</li>
-<li class="toctree-l3"><a class="reference internal"
href="index.html">GOLDFISH</a></li>
+<li class="toctree-l3 current"><a class="reference internal"
href="index.html">GOLDFISH</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal"
href="#">GOLDFISH TIMER</a><ul>
+<li class="toctree-l5"><a class="reference internal"
href="#introduction">Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="#timer-registers">Timer Registers</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#timer-read">Timer
Read</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="#timer-set-alarm">Timer Set Alarm</a></li>
+<li class="toctree-l5"><a class="reference internal"
href="#timer-interrupt">Timer Interrupt</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal"
href="index.html#supported-boards">Supported Boards</a></li>
+</ul>
+</li>
<li class="toctree-l3"><a class="reference internal"
href="../ht32f491x3/index.html">Holtek HT32F491</a></li>
<li class="toctree-l3"><a class="reference internal"
href="../imx1/index.html">NXP/Freescale i.MX1</a></li>
<li class="toctree-l3"><a class="reference internal"
href="../imx6/index.html">NXP/Freescale i.MX6</a></li>
diff --git
a/content/docs/latest/platforms/arm/stm32f4/boards/stm32f4discovery/index.html
b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f4discovery/index.html
index 64be20d2ee..be2c54f6b4 100644
---
a/content/docs/latest/platforms/arm/stm32f4/boards/stm32f4discovery/index.html
+++
b/content/docs/latest/platforms/arm/stm32f4/boards/stm32f4discovery/index.html
@@ -1968,6 +1968,72 @@ damage something that expects 3V in our board (double
check).</p>
</pre></div>
</div>
</section>
+<section id="mt6816">
+<h3>mt6816<a class="headerlink" href="#mt6816" title="Permalink to this
heading"></a></h3>
+<p>This board config enables the MagTek MT6816 Magnetic Rotary Encoder
connected
+to STM32F4Discovery board SPI1 this way:</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>STM32F4Discovery</p></th>
+<th class="head"><p>MT6816</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>3V [1]</p></td>
+<td><p>VCC</p></td>
+</tr>
+<tr class="row-odd"><td><p>GND</p></td>
+<td><p>GND</p></td>
+</tr>
+<tr class="row-even"><td><p>PE3</p></td>
+<td><p>CSN</p></td>
+</tr>
+<tr class="row-odd"><td><p>SPI1 MOSI (PA7)</p></td>
+<td><p>MOSI</p></td>
+</tr>
+<tr class="row-even"><td><p>SPI1 MISO (PA6)</p></td>
+<td><p>MISO</p></td>
+</tr>
+<tr class="row-odd"><td><p>SPI1 SCK (PA5)</p></td>
+<td><p>SCK</p></td>
+</tr>
+</tbody>
+</table>
+<p>1: You need to remove the diode D3 and short-circuit the PADs in the
+board to get 3.3V. Be aware: although my board works fine, it could
+damage something that expects 3V in our board (double check).</p>
+<p>IMPORTANT: You need to connect the HVPP (pin 2) to VCC in order to get
+MT6816 working in SPI mode. Just short-circuit R3 pads will work:</p>
+<figure class="align-center">
+<img alt="../../../../../_images/mt6816.png"
src="../../../../../_images/mt6816.png" />
+</figure>
+<p>After compiling and flashing the firmware in our board, run qe command:</p>
+<div class="highlight-console notranslate"><div
class="highlight"><pre><span></span><span class="go">NuttShell (NSH)
NuttX-12.13.0</span>
+<span class="go">nsh> ls /dev</span>
+<span class="go">/dev:</span>
+<span class="go"> console</span>
+<span class="go"> null</span>
+<span class="go"> qe0</span>
+<span class="go"> ttyS0</span>
+<span class="go"> zero</span>
+<span class="go">nsh> qe</span>
+<span class="go">qe_main: Hardware initialized. Opening the encoder device:
/dev/qe0</span>
+<span class="go">qe_main: Number of samples: 0</span>
+<span class="go">qe_main: 1. 6546</span>
+<span class="go">qe_main: 2. 6620</span>
+<span class="go">qe_main: 3. 7384</span>
+<span class="go">qe_main: 4. 7808</span>
+<span class="go">qe_main: 5. 7900</span>
+<span class="go">qe_main: 6. 7984</span>
+<span class="go">qe_main: 7. 7989</span>
+<span class="go">qe_main: 8. 7993</span>
+<span class="go">qe_main: 9. 7998</span>
+<span class="go">qe_main: 10. 8008</span>
+<span class="go">qe_main: 11. 8052</span>
+<span class="go">qe_main: 12. 8064</span>
+</pre></div>
+</div>
+</section>
<section id="netnsh">
<h3>netnsh<a class="headerlink" href="#netnsh" title="Permalink to this
heading"></a></h3>
<p>This is a special version of the NuttShell (nsh) configuration that is
diff --git a/content/docs/latest/searchindex.js
b/content/docs/latest/searchindex.js
index 1490b8f584..6a45f53251 100644
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