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drivers: sensor: add mcux quadrature encoder

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Add a driver for the NXP MCUX Quadrature Decoder. The driver
is simple and only implements the phase a and phase b inputs. The
module has additional features which can be added in future PRs.

Signed-off-by: Jeppe Odgaard <jeppe.odgaard@prevas.dk>
This commit is contained in:
Jeppe Odgaard 2022-12-23 07:34:47 +01:00 • committed by Maureen Helm
commit a76b908f4c
7 changed files with 274 additions and 0 deletions
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1
drivers/sensor/CMakeLists.txt
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@ -79,6 +79,7 @@ add_subdirectory_ifdef(CONFIG_MS5607 ms5607)
add_subdirectory_ifdef(CONFIG_MS5837 ms5837)
add_subdirectory_ifdef(CONFIG_OPT3001 opt3001)
add_subdirectory_ifdef(CONFIG_PMS7003 pms7003)
add_subdirectory_ifdef(CONFIG_QDEC_MCUX qdec_mcux)
add_subdirectory_ifdef(CONFIG_QDEC_NRFX qdec_nrfx)
add_subdirectory_ifdef(CONFIG_QDEC_SAM qdec_sam)
add_subdirectory_ifdef(CONFIG_QDEC_STM32 qdec_stm32)

2
drivers/sensor/Kconfig
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@ -203,6 +203,8 @@ source "drivers/sensor/opt3001/Kconfig"
source "drivers/sensor/pms7003/Kconfig"
source "drivers/sensor/qdec_mcux/Kconfig"
source "drivers/sensor/qdec_nrfx/Kconfig"
source "drivers/sensor/qdec_sam/Kconfig"

8
drivers/sensor/qdec_mcux/CMakeLists.txt Normal file
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@ -0,0 +1,8 @@
# Copyright (c) 2022, Prevas A/S
#
# SPDX-License-Identifier: Apache-2.0
#
zephyr_library()
zephyr_library_sources(qdec_mcux.c)

10
drivers/sensor/qdec_mcux/Kconfig Normal file
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@ -0,0 +1,10 @@
# Copyright (c) 2022, Prevas A/S
# SPDX-License-Identifier: Apache-2.0
config QDEC_MCUX
bool "NXP QDEC MCUX driver"
default y
depends on DT_HAS_NXP_MCUX_QDEC_ENABLED
select MCUX_XBARA
help
Enable support for NXP MCUX Quadrature Encoder driver.

208
drivers/sensor/qdec_mcux/qdec_mcux.c Normal file
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@ -0,0 +1,208 @@
/*
* Copyright (c) 2022, Prevas A/S
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT nxp_mcux_qdec
#include <errno.h>
#include <stdint.h>
#include <fsl_enc.h>
#include <fsl_xbara.h>
#ifdef CONFIG_PINCTRL
#include <zephyr/drivers/pinctrl.h>
#endif /* CONFIG_PINCTRL */
#include <zephyr/drivers/sensor.h>
#include <zephyr/drivers/sensor/qdec_mcux.h>
#include <zephyr/drivers/spi.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(qdec_mcux, CONFIG_SENSOR_LOG_LEVEL);
struct qdec_mcux_config {
ENC_Type *base;
#ifdef CONFIG_PINCTRL
const struct pinctrl_dev_config *pincfg;
#endif /* CONFIG_PINCTRL */
XBARA_Type *xbar;
size_t xbar_maps_len;
int xbar_maps[];
};
struct qdec_mcux_data {
enc_config_t qdec_config;
int32_t position;
int16_t difference;
int16_t revolution;
};
static int qdec_mcux_attr_set(const struct device *dev, enum sensor_channel ch,
enum sensor_attribute attr, const struct sensor_value *val)
{
const struct qdec_mcux_config *config = dev->config;
struct qdec_mcux_data *data = dev->data;
if (ch != SENSOR_CHAN_ROTATION) {
return -ENOTSUP;
}
switch (attr) {
case SENSOR_ATTR_QDEC_MOD_VAL:
data->qdec_config.positionModulusValue = val->val1;
ENC_Init(config->base, &data->qdec_config);
return 0;
default:
return -ENOTSUP;
}
}
static int qdec_mcux_attr_get(const struct device *dev, enum sensor_channel ch,
enum sensor_attribute attr, struct sensor_value *val)
{
struct qdec_mcux_data *data = dev->data;
if (ch != SENSOR_CHAN_ROTATION) {
return -ENOTSUP;
}
switch (attr) {
case SENSOR_ATTR_QDEC_MOD_VAL:
/* NOTE: Register is an unsigned 32 bit value which is stored
* in a signed 32 bit integer
*/
val->val1 = data->qdec_config.positionModulusValue;
return 0;
default:
return -ENOTSUP;
}
}
static int qdec_mcux_fetch(const struct device *dev, enum sensor_channel ch)
{
const struct qdec_mcux_config *config = dev->config;
struct qdec_mcux_data *data = dev->data;
if (ch != SENSOR_CHAN_ALL) {
return -ENOTSUP;
}
/* Read position */
data->position = ENC_GetPositionValue(config->base);
/* Read hold values to get the values from when position was read */
data->difference = ENC_GetHoldPositionDifferenceValue(config->base);
data->revolution = ENC_GetHoldRevolutionValue(config->base);
LOG_DBG("pos %d, dif %d, rev %d",
data->position, data->difference, data->revolution);
return 0;
}
static int qdec_mcux_ch_get(const struct device *dev, enum sensor_channel ch,
struct sensor_value *val)
{
struct qdec_mcux_data *data = dev->data;
switch (ch) {
case SENSOR_CHAN_ROTATION:
val->val1 = (int64_t)(data->position * 360) /
data->qdec_config.positionModulusValue;
val->val2 = 0;
break;
case SENSOR_CHAN_RPM:
val->val1 = data->revolution;
val->val2 = 0;
break;
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api qdec_mcux_api = {
.attr_set = &qdec_mcux_attr_set,
.attr_get = &qdec_mcux_attr_get,
.sample_fetch = &qdec_mcux_fetch,
.channel_get = &qdec_mcux_ch_get,
};
static void init_inputs(const struct device *dev)
{
int i;
const struct qdec_mcux_config *config = dev->config;
#ifdef CONFIG_PINCTRL
i = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
assert(i == 0);
#endif
/* Quadrature Encoder inputs are only accessible via crossbar */
XBARA_Init(config->xbar);
for (i = 0; i < config->xbar_maps_len; i += 2) {
XBARA_SetSignalsConnection(config->xbar, config->xbar_maps[i],
config->xbar_maps[i + 1]);
}
}
#ifdef CONFIG_PINCTRL
#define QDEC_MCUX_PINCTRL_DEFINE(n) PINCTRL_DT_INST_DEFINE(n);
#define QDEC_MCUX_PINCTRL_INIT(n) .pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n),
#else
#define QDEC_MCUX_PINCTRL_DEFINE(n)
#define QDEC_MCUX_PINCTRL_INIT(n)
#endif
#define XBAR_PHANDLE(n) DT_INST_PHANDLE(n, xbar)
#define QDEC_MCUX_INIT(n) \
\
static struct qdec_mcux_data qdec_mcux_##n##_data; \
\
BUILD_ASSERT((DT_PROP_LEN(XBAR_PHANDLE(n), xbar_maps) % 2) == 0, \
"xbar_maps length must be an even number"); \
\
QDEC_MCUX_PINCTRL_DEFINE(n) \
\
static const struct qdec_mcux_config qdec_mcux_##n##_config = { \
.base = (ENC_Type *)DT_INST_REG_ADDR(n), \
.xbar = (XBARA_Type *)DT_REG_ADDR(XBAR_PHANDLE(n)), \
.xbar_maps_len = DT_PROP_LEN(XBAR_PHANDLE(n), xbar_maps), \
.xbar_maps = DT_PROP(XBAR_PHANDLE(n), xbar_maps), \
QDEC_MCUX_PINCTRL_INIT(n) \
}; \
\
static int qdec_mcux_##n##_init(const struct device *dev) \
{ \
const struct qdec_mcux_config *config = dev->config; \
struct qdec_mcux_data *data = dev->data; \
\
LOG_DBG("Initializing %s", dev->name); \
\
init_inputs(dev); \
\
ENC_GetDefaultConfig(&data->qdec_config); \
data->qdec_config.positionModulusValue = \
DT_INST_PROP(n, counts_per_revolution); \
data->qdec_config.revolutionCountCondition = \
kENC_RevolutionCountOnRollOverModulus; \
data->qdec_config.enableModuloCountMode = true; \
\
ENC_Init(config->base, &data->qdec_config); \
\
/* Update the position counter with initial value. */ \
ENC_DoSoftwareLoadInitialPositionValue(config->base); \
\
return 0; \
} \
\
\
SENSOR_DEVICE_DT_INST_DEFINE(n, qdec_mcux_##n##_init, NULL, \
&qdec_mcux_##n##_data, &qdec_mcux_##n##_config, \
POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
&qdec_mcux_api); \
\
DT_INST_FOREACH_STATUS_OKAY(QDEC_MCUX_INIT)

28
dts/bindings/sensor/nxp,mcux-qdec.yaml Normal file
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@ -0,0 +1,28 @@
# Copyright (c) 2022, Prevas A/S
# SPDX-License-Identifier: Apache-2.0
description: NXP MCUX QDEC
compatible: "nxp,mcux-qdec"
include: [pinctrl-device.yaml, sensor-device.yaml]
properties:
reg:
required: true
interrupts:
required: true
counts-per-revolution:
type: int
required: true
description: |
This is a number that is used to determine how many revolutions
were done based on the current counter's value.
xbar:
type: phandle
required: true
description: |
The xbar phandle.

17
include/zephyr/drivers/sensor/qdec_mcux.h Normal file
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@ -0,0 +1,17 @@
/*
* Copyright (c) 2022, Prevas A/S
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_INCLUDE_DRIVERS_SENSOR_QDEC_MCUX_H_
#define ZEPHYR_INCLUDE_DRIVERS_SENSOR_QDEC_MCUX_H_
#include <zephyr/drivers/sensor.h>
enum sensor_attribute_qdec_mcux {
/* Number of counts per revolution */
SENSOR_ATTR_QDEC_MOD_VAL = SENSOR_ATTR_PRIV_START,
};
#endif /* ZEPHYR_INCLUDE_DRIVERS_SENSOR_QDEC_MCUX_H_ */