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PetervdPerk-NXPkartben
PetervdPerk-NXP
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kartben
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drivers: sensor: qdec_tpm: Add QDEC support for NXP TPM
Allows to run the NXP Timer/PWM Module (TPM) in Quadrature Decoder Mode. Signed-off-by: Peter van der Perk <[email protected]>
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‎drivers/sensor/nxp/CMakeLists.txt

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@@ -10,6 +10,7 @@ add_subdirectory_ifdef(CONFIG_NXP_TEMPMON nxp_tempmon)
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add_subdirectory_ifdef(CONFIG_P3T1755 p3t1755)
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add_subdirectory_ifdef(CONFIG_QDEC_MCUX qdec_mcux)
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add_subdirectory_ifdef(CONFIG_QDEC_NXP_S32 qdec_nxp_s32)
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add_subdirectory_ifdef(CONFIG_QDEC_TPM qdec_tpm)
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add_subdirectory_ifdef(CONFIG_SENSOR_MCUX_ACMP mcux_acmp)
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add_subdirectory_ifdef(CONFIG_TEMP_KINETIS nxp_kinetis_temp)
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# zephyr-keep-sorted-stop

‎drivers/sensor/nxp/Kconfig

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@@ -12,4 +12,5 @@ source "drivers/sensor/nxp/nxp_tempmon/Kconfig"
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source "drivers/sensor/nxp/p3t1755/Kconfig"
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source "drivers/sensor/nxp/qdec_mcux/Kconfig"
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source "drivers/sensor/nxp/qdec_nxp_s32/Kconfig"
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source "drivers/sensor/nxp/qdec_tpm/Kconfig"
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# zephyr-keep-sorted-stop

‎drivers/sensor/nxp/qdec_tpm/CMakeLists.txt

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# Copyright 2025 NXP
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# SPDX-License-Identifier: Apache-2.0
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zephyr_library()
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zephyr_library_sources(qdec_nxp_tpm.c)

‎drivers/sensor/nxp/qdec_tpm/Kconfig

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# Copyright 2025 NXP
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# SPDX-License-Identifier: Apache-2.0
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config QDEC_TPM
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bool "NXP Quad Decoder TPM driver"
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default y
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depends on DT_HAS_NXP_TPM_QDEC_ENABLED
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select PINCTRL
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help
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Enable drivers for NXP TPM QUADRATURE DECODER

‎drivers/sensor/nxp/qdec_tpm/qdec_nxp_tpm.c

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/*
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* Copyright 2025 NXP
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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 nxp_tpm_qdec
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#include <errno.h>
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#include <soc.h>
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#include <fsl_tpm.h>
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#include <zephyr/drivers/clock_control.h>
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#include <zephyr/drivers/pinctrl.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/sensor/qdec_nxp_tpm.h>
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#include <zephyr/logging/log.h>
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#include <math.h>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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LOG_MODULE_REGISTER(qdec_tpm, CONFIG_SENSOR_LOG_LEVEL);
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struct qdec_tpm_config {
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TPM_Type *base;
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const struct pinctrl_dev_config *pincfg;
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const tpm_phase_params_t phaseParams;
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};
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struct qdec_tpm_data {
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int32_t count;
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double micro_ticks_per_rev;
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};
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static int qdec_tpm_attr_set(const struct device *dev, enum sensor_channel ch,
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enum sensor_attribute attr, const struct sensor_value *val)
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{
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struct qdec_tpm_data *data = dev->data;
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if (ch != SENSOR_CHAN_ROTATION) {
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return -ENOTSUP;
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}
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switch ((enum sensor_attribute_qdec_tpm)attr) {
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case SENSOR_ATTR_QDEC_MOD_VAL:
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data->micro_ticks_per_rev = val->val1 / 1000000.0f;
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return 0;
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default:
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return -ENOTSUP;
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}
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}
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static int qdec_tpm_attr_get(const struct device *dev, enum sensor_channel ch,
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enum sensor_attribute attr, struct sensor_value *val)
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{
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struct qdec_tpm_data *data = dev->data;
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if (ch != SENSOR_CHAN_ROTATION) {
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return -ENOTSUP;
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}
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switch ((enum sensor_attribute_qdec_tpm)attr) {
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case SENSOR_ATTR_QDEC_MOD_VAL:
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val->val1 = data->micro_ticks_per_rev * 1000000;
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return 0;
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default:
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return -ENOTSUP;
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}
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}
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static int qdec_tpm_fetch(const struct device *dev, enum sensor_channel ch)
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{
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const struct qdec_tpm_config *config = dev->config;
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struct qdec_tpm_data *data = dev->data;
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if (ch != SENSOR_CHAN_ALL) {
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return -ENOTSUP;
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}
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/* Read count */
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data->count = TPM_GetCurrentTimerCount(config->base);
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LOG_DBG("pos %d", data->count);
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return 0;
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}
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static int qdec_tpm_ch_get(const struct device *dev, enum sensor_channel ch,
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struct sensor_value *val)
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{
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struct qdec_tpm_data *data = dev->data;
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double rotation = (data->count * M_PI) / (data->micro_ticks_per_rev);
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switch (ch) {
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case SENSOR_CHAN_ROTATION:
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sensor_value_from_double(val, rotation);
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break;
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default:
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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_tpm_init(const struct device *dev)
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{
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const struct qdec_tpm_config *config = dev->config;
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tpm_config_t tpm_config;
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int err;
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err = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
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if (err) {
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return err;
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}
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TPM_GetDefaultConfig(&tpm_config);
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tpm_config.prescale = kTPM_Prescale_Divide_1;
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TPM_Init(config->base, &tpm_config);
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TPM_SetTimerPeriod(config->base, 0xFFFFFFFF);
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TPM_SetupQuadDecode(config->base, &config->phaseParams, &config->phaseParams,
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kTPM_QuadPhaseEncode);
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TPM_StartTimer(config->base, kTPM_SystemClock);
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return 0;
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}
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static DEVICE_API(sensor, qdec_tpm_api) = {
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.attr_set = &qdec_tpm_attr_set,
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.attr_get = &qdec_tpm_attr_get,
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.sample_fetch = &qdec_tpm_fetch,
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.channel_get = &qdec_tpm_ch_get,
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};
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#define QDEC_MCUX_INIT(n) \
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\
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static struct qdec_tpm_data qdec_mcux_##n##_data = { \
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.micro_ticks_per_rev = \
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(double)(DT_INST_PROP(n, micro_ticks_per_rev) / 1000000.0f)}; \
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\
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PINCTRL_DT_INST_DEFINE(n); \
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\
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static const struct qdec_tpm_config qdec_mcux_##n##_config = { \
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.base = (TPM_Type *)DT_INST_REG_ADDR(n), \
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.pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n), \
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.phaseParams = {0, kTPM_QuadPhaseNormal}}; \
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\
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SENSOR_DEVICE_DT_INST_DEFINE(n, qdec_tpm_init, NULL, &qdec_mcux_##n##_data, \
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&qdec_mcux_##n##_config, POST_KERNEL, \
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CONFIG_SENSOR_INIT_PRIORITY, &qdec_tpm_api);
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DT_INST_FOREACH_STATUS_OKAY(QDEC_MCUX_INIT)

‎dts/bindings/sensor/nxp,tpm-qdec.yaml

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# Copyright (c) 2025 NXP
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# SPDX-License-Identifier: Apache-2.0
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description: |
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NXP Timer/PWM Module (TPM) Quadrature Decoder Mode driver.
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This driver uses tpm_chn0 (phase A) and tpm_chn1 (phase B) input signals to control the
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TPM counter increment and decrement. The Zephyr Sensor API exposes the rotational position as
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SENSOR_CHAN_ROTATION by dividing the counter by counts-per revolution definition.
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To use the NXP TPM module you've to override the compatible string to use the QDEC mode driver
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with 'nxp,tpm-qdec'
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&tpm4 {
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compatible = "nxp,tpm-qdec";
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status = "okay";
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pinctrl-0 = <&tpm4_pwm2_pwm3>;
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pinctrl-names = "default";
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micro-ticks-per-rev = <685440000>;
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};
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When inherting from an existing TPM instance you might want to remove the prescaler property
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Since the QDEC mode doesn't use the prescaler, you do this using:
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/delete-property/ prescaler;
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compatible: "nxp,tpm-qdec"
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include: [pinctrl-device.yaml, sensor-device.yaml]
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properties:
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reg:
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required: true
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interrupts:
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required: true
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micro-ticks-per-rev:
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type: int
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required: true
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description: |
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This is a number that is used to determine how many revolutions * 1000000
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were done based on the current counter's value.
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pinctrl-0:
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required: true

‎include/zephyr/drivers/sensor/qdec_nxp_tpm.h

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/*
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* Copyright (c) 2022, Prevas A/S
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* Copyright (c) 2025 NXP
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_INCLUDE_DRIVERS_SENSOR_QDEC_NXP_TPM_H_
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#define ZEPHYR_INCLUDE_DRIVERS_SENSOR_QDEC_NXP_TPM_H_
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#include <zephyr/drivers/sensor.h>
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enum sensor_attribute_qdec_tpm {
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/* Number of counts per revolution */
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SENSOR_ATTR_QDEC_MOD_VAL = SENSOR_ATTR_PRIV_START,
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};
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#endif /* ZEPHYR_INCLUDE_DRIVERS_SENSOR_QDEC_NXP_TPM_H_ */

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