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valeriosetticarlescufi
valeriosetti
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carlescufi
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drivers: sensor: adding driver for STM32 quadrature encoder
This driver configures STM32's internal timers in order to use the quadrature encoder mode. Signed-off-by: Valerio Setti <[email protected]>
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‎drivers/sensor/CMakeLists.txt‎

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@@ -77,6 +77,7 @@ add_subdirectory_ifdef(CONFIG_OPT3001 opt3001)
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add_subdirectory_ifdef(CONFIG_PMS7003 pms7003)
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add_subdirectory_ifdef(CONFIG_QDEC_NRFX qdec_nrfx)
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add_subdirectory_ifdef(CONFIG_QDEC_SAM qdec_sam)
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add_subdirectory_ifdef(CONFIG_QDEC_STM32 qdec_stm32)
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add_subdirectory_ifdef(CONFIG_TEMP_NRF5 nrf5)
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add_subdirectory_ifdef(CONFIG_SBS_GAUGE sbs_gauge)
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add_subdirectory_ifdef(CONFIG_SGP40 sgp40)

‎drivers/sensor/Kconfig‎

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@@ -196,6 +196,8 @@ source "drivers/sensor/qdec_nrfx/Kconfig"
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source "drivers/sensor/qdec_sam/Kconfig"
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source "drivers/sensor/qdec_stm32/Kconfig"
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source "drivers/sensor/sbs_gauge/Kconfig"
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source "drivers/sensor/sgp40/Kconfig"

‎drivers/sensor/qdec_stm32/CMakeLists.txt‎

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# Copyright (c) 2022, Valerio Setti <[email protected]>
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#
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# SPDX-License-Identifier: Apache-2.0
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zephyr_library()
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zephyr_library_sources(qdec_stm32.c)

‎drivers/sensor/qdec_stm32/Kconfig‎

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# Copyright (c) 2022, Valerio Setti <[email protected]>
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# SPDX-License-Identifier: Apache-2.0
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#
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config QDEC_STM32
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bool "STM32 QDEC driver"
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default y
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depends on DT_HAS_ST_STM32_QDEC_ENABLED
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select USE_STM32_LL_TIM
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help
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STM32 family Quadrature Decoder driver.

‎drivers/sensor/qdec_stm32/qdec_stm32.c‎

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/*
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* Copyright (c) 2022, Valerio Setti <[email protected]>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT st_stm32_qdec
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/** @file
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* @brief STM32 family Quadrature Decoder (QDEC) driver.
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*/
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#include <errno.h>
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#include <zephyr/sys/__assert.h>
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#include <zephyr/sys/util.h>
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#include <zephyr/device.h>
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#include <zephyr/init.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/pinctrl.h>
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#include <zephyr/drivers/clock_control/stm32_clock_control.h>
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#include <zephyr/logging/log.h>
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#include <stm32_ll_tim.h>
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LOG_MODULE_REGISTER(qdec_stm32, CONFIG_SENSOR_LOG_LEVEL);
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/* Device constant configuration parameters */
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struct qdec_stm32_dev_cfg {
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const struct pinctrl_dev_config *pin_config;
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struct stm32_pclken pclken;
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TIM_TypeDef *timer_inst;
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bool is_input_polarity_inverted;
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uint8_t input_filtering_level;
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uint32_t counts_per_revolution;
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};
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/* Device run time data */
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struct qdec_stm32_dev_data {
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int32_t position;
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};
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static int qdec_stm32_fetch(const struct device *dev, enum sensor_channel chan)
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{
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struct qdec_stm32_dev_data *dev_data = dev->data;
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const struct qdec_stm32_dev_cfg *dev_cfg = dev->config;
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uint32_t counter_value;
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if ((chan != SENSOR_CHAN_ALL) && (chan != SENSOR_CHAN_ROTATION)) {
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return -ENOTSUP;
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}
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/* We're only interested in the remainder between the current counter value and
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* counts_per_revolution. The integer part represents an entire rotation so it
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* can be ignored
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*/
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counter_value = LL_TIM_GetCounter(dev_cfg->timer_inst) % dev_cfg->counts_per_revolution;
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dev_data->position = (counter_value * 360) / dev_cfg->counts_per_revolution;
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return 0;
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}
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static int qdec_stm32_get(const struct device *dev, enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct qdec_stm32_dev_data *const dev_data = dev->data;
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if (chan == SENSOR_CHAN_ROTATION) {
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val->val1 = dev_data->position;
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val->val2 = 0;
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} else {
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return -ENOTSUP;
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}
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return 0;
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}
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static int qdec_stm32_initialize(const struct device *dev)
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{
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const struct qdec_stm32_dev_cfg *const dev_cfg = dev->config;
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int retval;
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LL_TIM_ENCODER_InitTypeDef init_props;
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uint32_t max_counter_value;
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retval = pinctrl_apply_state(dev_cfg->pin_config, PINCTRL_STATE_DEFAULT);
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if (retval < 0) {
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return retval;
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}
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if (!device_is_ready(DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE))) {
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LOG_ERR("Clock control device not ready");
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return -ENODEV;
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}
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retval = clock_control_on(DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE),
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(clock_control_subsys_t)&dev_cfg->pclken);
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if (retval < 0) {
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LOG_ERR("Could not initialize clock");
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return retval;
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}
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if (dev_cfg->counts_per_revolution < 1) {
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LOG_ERR("Invalid number of counts per revolution (%d)",
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dev_cfg->counts_per_revolution);
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return -EINVAL;
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}
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LL_TIM_ENCODER_StructInit(&init_props);
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if (dev_cfg->is_input_polarity_inverted) {
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init_props.IC1ActiveInput = LL_TIM_IC_POLARITY_FALLING;
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init_props.IC2ActiveInput = LL_TIM_IC_POLARITY_FALLING;
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}
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init_props.IC1Filter = dev_cfg->input_filtering_level * LL_TIM_IC_FILTER_FDIV1_N2;
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init_props.IC2Filter = dev_cfg->input_filtering_level * LL_TIM_IC_FILTER_FDIV1_N2;
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/* Ensure that the counter will always count up to a multiple of counts_per_revolution */
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if (IS_TIM_32B_COUNTER_INSTANCE(dev_cfg->timer_inst)) {
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max_counter_value = UINT32_MAX - (UINT32_MAX % dev_cfg->counts_per_revolution) - 1;
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} else {
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max_counter_value = UINT16_MAX - (UINT16_MAX % dev_cfg->counts_per_revolution) - 1;
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}
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LL_TIM_SetAutoReload(dev_cfg->timer_inst, max_counter_value);
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if (LL_TIM_ENCODER_Init(dev_cfg->timer_inst, &init_props) != SUCCESS) {
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LOG_ERR("Initalization failed");
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return -EIO;
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}
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LL_TIM_EnableCounter(dev_cfg->timer_inst);
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return 0;
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}
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static const struct sensor_driver_api qdec_stm32_driver_api = {
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.sample_fetch = qdec_stm32_fetch,
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.channel_get = qdec_stm32_get,
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};
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#define QDEC_STM32_INIT(n) \
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PINCTRL_DT_INST_DEFINE(n); \
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static const struct qdec_stm32_dev_cfg qdec##n##_stm32_config = { \
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.pin_config = PINCTRL_DT_INST_DEV_CONFIG_GET(n), \
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.timer_inst = ((TIM_TypeDef *)DT_REG_ADDR(DT_INST_PARENT(n))), \
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.pclken = { \
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.bus = DT_CLOCKS_CELL(DT_INST_PARENT(n), bus), \
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.enr = DT_CLOCKS_CELL(DT_INST_PARENT(n), bits) \
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}, \
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.is_input_polarity_inverted = DT_INST_PROP(n, st_input_polarity_inverted), \
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.input_filtering_level = DT_INST_PROP(n, st_input_filter_level), \
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.counts_per_revolution = DT_INST_PROP(n, st_counts_per_revolution), \
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}; \
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\
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static struct qdec_stm32_dev_data qdec##n##_stm32_data; \
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\
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DEVICE_DT_INST_DEFINE(n, qdec_stm32_initialize, NULL, \
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&qdec##n##_stm32_data, &qdec##n##_stm32_config, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&qdec_stm32_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(QDEC_STM32_INIT)

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