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Posted to commits@nuttx.apache.org by GitBox <gi...@apache.org> on 2022/06/12 19:23:14 UTC
[GitHub] [incubator-nuttx] pkarashchenko commented on a diff in pull request #6412: drivers/sensors: add driver for as5048a magnetic encoder
pkarashchenko commented on code in PR #6412:
URL: https://github.com/apache/incubator-nuttx/pull/6412#discussion_r895222657
##########
drivers/sensors/as5048a.c:
##########
@@ -0,0 +1,632 @@
+/****************************************************************************
+ * drivers/sensors/as5048a.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+#include <stdlib.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sensors/as5048a.h>
+
+#if defined(CONFIG_SENSORS_AS5048A)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct as5048a_dev_s
+{
+ struct qe_lowerhalf_s lower; /* AS5048A quadrature encoder lower half */
+ FAR struct spi_dev_s *spi; /* SPI interface */
+
+ /* Since multiple AS5048A can be connected to the same SPI bus we need
+ * to use multiple spi device ids which are employed by NuttX to select/
+ * deselect the desired AS5048A chip via their chip select inputs.
+ */
+
+ int spi_devid;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int as5048a_writeu16(FAR struct as5048a_dev_s *priv,
+ uint16_t regaddr, uint16_t regval);
+static int as5048a_exchange(FAR struct as5048a_dev_s *priv,
+ uint16_t regaddr, FAR uint16_t *regval);
+static uint16_t calc_even_parity(uint16_t value);
+static int as5048a_readzero(FAR struct as5048a_dev_s *priv,
+ FAR uint16_t *zero);
+static int as5048a_writezero(FAR struct as5048a_dev_s *priv, uint16_t zero);
+static int as5048a_readagc(FAR struct as5048a_dev_s *priv,
+ FAR uint16_t *agc);
+static int as5048a_readdiag(FAR struct as5048a_dev_s *priv,
+ FAR uint16_t *diag);
+static int as5048a_readmag(FAR struct as5048a_dev_s *priv,
+ FAR uint16_t *mag);
+static int as5048a_readang(FAR struct as5048a_dev_s *priv,
+ FAR uint16_t *ang);
+
+/* Character Driver Methods */
+
+static int as5048a_setup(FAR struct qe_lowerhalf_s *lower);
+static int as5048a_shutdown(FAR struct qe_lowerhalf_s *lower);
+static int as5048a_position(FAR struct qe_lowerhalf_s *lower,
+ FAR int32_t *pos);
+static int as5048a_reset(FAR struct qe_lowerhalf_s *lower);
+static int as5048a_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
+ unsigned long arg);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct qe_ops_s g_qeops =
+{
+ .setup = as5048a_setup,
+ .shutdown = as5048a_shutdown,
+ .position = as5048a_position,
+ .setposmax = NULL, /* not supported yet */
+ .reset = as5048a_reset,
+ .setindex = NULL, /* not supported yet */
+ .ioctl = as5048a_ioctl
Review Comment:
C89 incompatible
##########
include/nuttx/sensors/as5048a.h:
##########
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * include/nuttx/sensors/as5048a.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_AS5048A
+#define __INCLUDE_NUTTX_SENSORS_AS5048A
Review Comment:
```suggestion
#ifndef __INCLUDE_NUTTX_SENSORS_AS5048A_H
#define __INCLUDE_NUTTX_SENSORS_AS5048A_H
```
##########
include/nuttx/sensors/as5048a.h:
##########
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * include/nuttx/sensors/as5048a.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_AS5048A
+#define __INCLUDE_NUTTX_SENSORS_AS5048A
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sensors/qencoder.h>
+
+#if defined(CONFIG_SENSORS_AS5048A)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************
+ * Prerequisites:
+ *
+ * CONFIG_SPI
+ * Enables support for SPI drivers
+ * CONFIG_AS5048A
+ * Enables support for the AS5048A driver
+ */
+
+/* The device always operates in mode 0 */
+
+#define AS5048A_SPI_MODE SPIDEV_MODE1 /* Mode 1 */
+
+/* SPI frequency */
+
+#define AS5048A_SPI_MAXFREQUENCY 1000000 /* 1MHz */
+
+/* IOCTL Commands ***********************************************************/
+
+/* Arg: int32_t* pointer */
+
+#define QEIOC_AS5048A_ZEROPOSITION _QEIOC(QE_AS5048A_FIRST+0)
+
+/* Arg: uint8_t* pointer */
+
+#define QEIOC_AS5048A_AUTOGAINCTL _QEIOC(QE_AS5048A_FIRST+1)
+
+/* Arg: uint8_t* pointer */
+
+#define QEIOC_AS5048A_DIAGNOSTICS _QEIOC(QE_AS5048A_FIRST+2)
+
+/* Arg: int32_t* pointer */
+
+#define QEIOC_AS5048A_MAGNITUDE _QEIOC(QE_AS5048A_FIRST+3)
+
+/* Resolution ***************************************************************/
+
+#define AS5048A_MAX 0x3fff /* Maximum value (14 bits) */
+
+/* Register Definitions *****************************************************/
+
+/* Register Addresses */
+
+#define AS5048A_CMD_READ 0x4000 /* flag indicating read attempt */
+#define AS5048A_CMD_WRITE 0x0000 /* flag indicating write attempt */
+#define AS5048A_CLRERR_REG 0x1 /* clear error register */
+#define AS5048A_PROG_REG 0x03 /* Programming Control Register */
+#define AS5048A_ZEROLO_REG 0x17 /* Zero Position Register Bits 0~5 */
+#define AS5048A_ZEROHI_REG 0x16 /* Zero Position Register Bits 6~13 */
+#define AS5048A_AGC_REG 0x3ffd /* Automatic Gain Control Register */
+#define AS5048A_DIAG_REG 0x3ffd /* Diagnostics Register */
+#define AS5048A_MAG_REG 0x3ffe /* Magnitude Register Bits 0~13 */
+#define AS5048A_ANGLE_REG 0x3fff /* Angle Register Bits 0~13 */
+
+/* Programming Control Register Bit Definitions */
+
+#define AS5048A_PROG_ENABLE (1 << 0)
+#define AS5048A_PROG_BURN (1 << 3)
+#define AS5048A_PROG_VERIFY (1 << 6)
+
+/* Diagnostics Register Bit Definitions */
+
+#define AS5048A_DIAG_OCF (1 << 8) /* Offset Compensation Finished */
+#define AS5048A_DIAG_COF (1 << 9) /* Cordic Overflow */
+#define AS5048A_DIAG_COMPLOW (1 << 10) /* High Magnetic Field */
+#define AS5048A_DIAG_COMPHIGH (1 << 11) /* Low Magnetic Field */
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: as5048a_initialize
+ *
+ * Description:
+ * Initialize the AS5048A device.
+ *
+ * Input Parameters:
+ * spi - An SPI driver instance.
+ *
+ * Returned Value:
+ * A new lower half encoder interface for the AS5048A on success;
+ * NULL on failure.
+ *
+ ****************************************************************************/
+
+FAR struct qe_lowerhalf_s *as5048a_initialize(FAR struct spi_dev_s *spi,
+ int spi_devid);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SENSORS_AS5048A */
+#endif /* __INCLUDE_NUTTX_SENSORS_AS5048A */
Review Comment:
```suggestion
#endif /* __INCLUDE_NUTTX_SENSORS_AS5048A_H */
```
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