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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/11/07 09:52:58 UTC
[incubator-nuttx] 03/03: boards/b-g431b-esc1: register Qenco index
pin
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit f2405ccc57ba1c259984fc27b69398a79146104b
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Nov 6 19:14:32 2021 +0100
boards/b-g431b-esc1: register Qenco index pin
---
boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h | 7 ++++++
boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c | 28 +++++++++++++++++++-----
2 files changed, 29 insertions(+), 6 deletions(-)
diff --git a/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
index 46e139e..afa2052 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
+++ b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
@@ -70,6 +70,13 @@
#define GPIO_BTN_USER (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN10)
+#ifdef CONFIG_SENSORS_QENCODER
+/* Qenco index pin */
+
+# define QENCODER_TIM4_INDEX_GPIO (GPIO_INPUT | GPIO_FLOAT |\
+ GPIO_EXTI | GPIO_PORTB | GPIO_PIN8)
+#endif
+
#ifdef CONFIG_SENSORS_HALL3PHASE
/* GPIO pins used by the 3-phase Hall effect sensor */
diff --git a/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
index 0dc8d15..291a590 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
+++ b/boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
@@ -40,6 +40,10 @@
#include "stm32_foc.h"
+#ifdef CONFIG_SENSORS_QENCODER
+# include "stm32_qencoder.h"
+#endif
+
#include "arm_arch.h"
#include "b-g431b-esc1.h"
@@ -535,6 +539,24 @@ int stm32_foc_setup(void)
if (g_foc_dev == NULL)
{
+#if defined(CONFIG_SENSORS_QENCODER) || defined(CONFIG_SENSORS_HALL3PHASE)
+ /* Disable USB Type-C and Power Delivery Dead Battery */
+
+ modifyreg32(STM32_PWR_CR3, 0, PWR_CR3_UCPD1_DBDIS);
+#endif
+
+#if defined(CONFIG_SENSORS_QENCODER) && defined(CONFIG_STM32_QENCODER_INDEX_PIN)
+ /* Configure encoder index GPIO */
+
+ ret = stm32_qe_index_init(4, QENCODER_TIM4_INDEX_GPIO);
+ if (ret < 0)
+ {
+ mtrerr("Failed to register encoder index pin %d\n", ret);
+ ret = -EACCES;
+ goto errout;
+ }
+#endif
+
/* Initialize arch specific FOC lower-half */
foc = stm32_foc_initialize(0, &g_stm32_foc_board);
@@ -584,12 +606,6 @@ int stm32_adc_setup(void)
if (initialized == false)
{
-#if defined(CONFIG_SENSORS_QENCODER) || defined(CONFIG_SENSORS_HALL3PHASE)
- /* Disable USB Type-C and Power Delivery Dead Battery */
-
- modifyreg32(STM32_PWR_CR3, 0, PWR_CR3_UCPD1_DBDIS);
-#endif
-
if (g_foc_dev == NULL)
{
mtrerr("Failed to get g_foc_dev device\n");