Browse Source
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4395 7fd9a85b-ad96-42d3-883c-3090e2eb8679sbg
patacongo
13 years ago
24 changed files with 1107 additions and 181 deletions
@ -0,0 +1,105 @@
@@ -0,0 +1,105 @@
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############################################################################
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# apps/examples/qe/Makefile
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#
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# Copyright (C) 2012 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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#
|
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# Redistribution and use in source and binary forms, with or without
|
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# modification, are permitted provided that the following conditions
|
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# are met:
|
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#
|
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# 1. Redistributions of source code must retain the above copyright
|
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# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
|
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# distribution.
|
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# 3. Neither the name NuttX nor the names of its contributors may be
|
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# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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-include $(TOPDIR)/.config |
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-include $(TOPDIR)/Make.defs |
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include $(APPDIR)/Make.defs |
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# NuttX NX Graphics Example.
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ASRCS =
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CSRCS = qe_main.c
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AOBJS = $(ASRCS:.S=$(OBJEXT))
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COBJS = $(CSRCS:.c=$(OBJEXT))
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SRCS = $(ASRCS) $(CSRCS)
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OBJS = $(AOBJS) $(COBJS)
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|
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ifeq ($(WINTOOL),y) |
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BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
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else |
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BIN = "$(APPDIR)/libapps$(LIBEXT)"
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endif |
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ROOTDEPPATH = --dep-path .
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# Quadrature Encoder built-in application info
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|
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APPNAME = qe
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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|
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# Common build
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|
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VPATH =
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all: .built |
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.PHONY: context clean depend distclean |
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$(AOBJS): %$(OBJEXT): %.S |
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$(call ASSEMBLE, $<, $@)
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$(COBJS): %$(OBJEXT): %.c |
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$(call COMPILE, $<, $@)
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.built: $(OBJS) |
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@( for obj in $(OBJS) ; do \
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$(call ARCHIVE, $(BIN), $${obj}); \
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done ; )
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@touch .built
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.context: |
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y) |
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$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
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@touch $@
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endif |
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context: .context |
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.depend: Makefile $(SRCS) |
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@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
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@touch $@
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depend: .depend |
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clean: |
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@rm -f *.o *~ .*.swp .built
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$(call CLEAN)
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|
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distclean: clean |
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@rm -f Make.dep .depend
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-include Make.dep |
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@ -0,0 +1,123 @@
@@ -0,0 +1,123 @@
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/****************************************************************************
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* examples/examples/qe/qe.h |
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* |
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* Copyright (C) 2011 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
||||
* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#ifndef __APPS_EXAMPLES_QENCODER_QE_H |
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#define __APPS_EXAMPLES_QENCODER_QE_H |
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/****************************************************************************
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* Included Files |
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****************************************************************************/ |
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#include <nuttx/config.h> |
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/****************************************************************************
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* Definitions |
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****************************************************************************/ |
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/* Configuration ************************************************************/ |
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/* CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
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* Default: Built as a standalone problem |
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* CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default: |
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* /dev/qe0 |
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* CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS |
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* is defined, then the number of samples is provided on the command line |
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* and this value is ignored. Otherwise, this number of samples is |
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* collected and the program terminates. Default: Samples are collected |
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* indefinitely. |
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*/ |
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#ifndef CONFIG_QENCODER |
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# error "QE device support is not enabled (CONFIG_QENCODER)" |
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#endif |
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#ifndef CONFIG_EXAMPLES_QENCODER_DEVPATH |
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# define CONFIG_EXAMPLES_QENCODER_DEVPATH "/dev/qe0" |
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#endif |
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/* Debug ********************************************************************/ |
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#ifdef CONFIG_CPP_HAVE_VARARGS |
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# ifdef CONFIG_DEBUG |
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# define message(...) lib_rawprintf(__VA_ARGS__) |
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# define msgflush() |
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# else |
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# define message(...) printf(__VA_ARGS__) |
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# define msgflush() fflush(stdout) |
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# endif |
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#else |
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# ifdef CONFIG_DEBUG |
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# define message lib_rawprintf |
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# define msgflush() |
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# else |
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# define message printf |
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# define msgflush() fflush(stdout) |
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# endif |
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#endif |
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/****************************************************************************
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* Public Types |
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****************************************************************************/ |
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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struct qe_example_s |
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{ |
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bool reset; |
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int nloops; |
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}; |
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#endif |
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/****************************************************************************
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* Public Variables |
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****************************************************************************/ |
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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extern struct qe_example_s g_qeexample; |
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#endif |
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/****************************************************************************
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* Public Function Prototypes |
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****************************************************************************/ |
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/****************************************************************************
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* Name: qe_devinit() |
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* |
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* Description: |
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* Perform architecuture-specific initialization of the QE hardware. This |
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* interface must be provided by all configurations using apps/examples/qe |
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* |
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****************************************************************************/ |
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int qe_devinit(void); |
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#endif /* __APPS_EXAMPLES_QENCODER_QE_H */ |
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@ -0,0 +1,310 @@
@@ -0,0 +1,310 @@
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/****************************************************************************
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* examples/qe/qe_main.c |
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* |
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* Copyright (C) 2012 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/****************************************************************************
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* Included Files |
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****************************************************************************/ |
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#include <nuttx/config.h> |
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#include <sys/types.h> |
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#include <sys/ioctl.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <limits.h> |
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#include <errno.h> |
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#include <debug.h> |
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#include <nuttx/sensors/qencoder.h> |
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#include "qe.h" |
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/****************************************************************************
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* Pre-processor Definitions |
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****************************************************************************/ |
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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# define MAIN_NAME qe_main |
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# define MAIN_STRING "qe_main: " |
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#else |
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# define MAIN_NAME user_start |
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# define MAIN_STRING "user_start: " |
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#endif |
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|
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/****************************************************************************
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* Private Types |
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****************************************************************************/ |
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|
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/****************************************************************************
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* Private Function Prototypes |
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****************************************************************************/ |
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|
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/****************************************************************************
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* Private Data |
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****************************************************************************/ |
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/****************************************************************************
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* Public Data |
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****************************************************************************/ |
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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struct qe_example_s g_qeexample; |
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#endif |
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/****************************************************************************
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* Private Functions |
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****************************************************************************/ |
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/****************************************************************************
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* Name: qe_help |
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****************************************************************************/ |
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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static void qe_help(void) |
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{ |
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message("\nUsage: qe [OPTIONS]\n\n"); |
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message("OPTIONS include:\n"); |
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message(" [-n samples] number of samples\n"); |
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message(" [-r] reset the count\n"); |
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message(" [-h] shows this message and exits\n\n"); |
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} |
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#endif |
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|
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/****************************************************************************
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* Name: arg_string |
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****************************************************************************/ |
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|
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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int arg_string(FAR char **arg, FAR char **value) |
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{ |
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FAR char *ptr = *arg; |
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|
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if (ptr[2] == '\0') |
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{ |
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*value = arg[1]; |
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return 2; |
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} |
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else |
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{ |
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*value = &ptr[2]; |
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return 1; |
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} |
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} |
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#endif |
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|
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/****************************************************************************
|
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* Name: arg_decimal |
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****************************************************************************/ |
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|
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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int arg_decimal(FAR char **arg, FAR long *value) |
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{ |
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FAR char *string; |
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int ret; |
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|
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ret = arg_string(arg, &string); |
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*value = strtol(string, NULL, 10); |
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return ret; |
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} |
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#endif |
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|
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/****************************************************************************
|
||||
* Name: parse_args |
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****************************************************************************/ |
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|
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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void parse_args(int argc, FAR char **argv) |
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{ |
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FAR char *ptr; |
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long value; |
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int index; |
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int nargs; |
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|
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g_qeexample.reset = false; |
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g_qeexample.nloops = 1; |
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|
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for (index = 1; index < argc; ) |
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{ |
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ptr = argv[index]; |
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if (ptr[0] != '-') |
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{ |
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message("Invalid options format: %s\n", ptr); |
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exit(0); |
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} |
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|
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switch (ptr[1]) |
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{ |
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case 'n': |
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nargs = arg_decimal(&argv[index], &value); |
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if (value < 0 || value > INT_MAX) |
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{ |
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message("Sample count out of range: %ld\n", value); |
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exit(1); |
||||
} |
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|
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g_qeexample.nloops = (int)value; |
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index += nargs; |
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break; |
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|
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case 'r': |
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g_qeexample.reset = true; |
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index++; |
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break; |
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|
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case 'h': |
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qe_help(); |
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exit(EXIT_SUCCESS); |
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|
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default: |
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message("Unsupported option: %s\n", ptr); |
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qe_help(); |
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exit(EXIT_FAILURE); |
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} |
||||
} |
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} |
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#endif |
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|
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/****************************************************************************
|
||||
* Public Functions |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Name: user_start/qe_main |
||||
****************************************************************************/ |
||||
|
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int MAIN_NAME(int argc, char *argv[]) |
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{ |
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int32_t position; |
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int fd; |
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int exitval = EXIT_SUCCESS; |
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int ret; |
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#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES) |
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int nloops; |
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#endif |
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|
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/* Parse command line arguments */ |
||||
|
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#ifdef CONFIG_NSH_BUILTIN_APPS |
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parse_args(argc, argv); |
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#endif |
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|
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/* Initialization of the encoder hardware is performed by logic external to
|
||||
* this test. |
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*/ |
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|
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message(MAIN_STRING "Initializing external encoder\n"); |
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ret = qe_devinit(); |
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if (ret != OK) |
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{ |
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message(MAIN_STRING "qe_devinit failed: %d\n", ret); |
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exitval = EXIT_FAILURE; |
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goto errout; |
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} |
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|
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/* Open the encoder device for reading */ |
||||
|
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message(MAIN_STRING "Hardware initialized. Opening the encoder device\n"); |
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fd = open(CONFIG_EXAMPLES_QENCODER_DEVPATH, O_RDONLY); |
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if (fd < 0) |
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{ |
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message(MAIN_STRING "open %s failed: %d\n", |
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CONFIG_EXAMPLES_QENCODER_DEVPATH, errno); |
||||
exitval = EXIT_FAILURE; |
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goto errout_with_dev; |
||||
} |
||||
|
||||
/* Reset the count if so requested */ |
||||
|
||||
if (g_qeexample.reset) |
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{ |
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message(MAIN_STRING "Resetting the count...\n"); |
||||
ret = ioctl(fd, QEIOC_RESET, 0); |
||||
if (ret < 0) |
||||
{ |
||||
message(MAIN_STRING "ioctl(QEIOC_RESET) failed: %d\n", errno); |
||||
exitval = EXIT_FAILURE; |
||||
goto errout_with_dev; |
||||
} |
||||
} |
||||
|
||||
/* Now loop the appropriate number of times, displaying the collected
|
||||
* encoder samples. |
||||
*/ |
||||
|
||||
#if defined(CONFIG_NSH_BUILTIN_APPS) |
||||
message(MAIN_STRING "Number of samples: %d\n", g_qeexample.nloops); |
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for (nloops = 0; nloops < g_qeexample.nloops; nloops++) |
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#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES) |
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message(MAIN_STRING "Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES); |
||||
for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++) |
||||
#else |
||||
for (;;) |
||||
#endif |
||||
{ |
||||
/* Flush any output before the loop entered or from the previous pass
|
||||
* through the loop. |
||||
*/ |
||||
|
||||
msgflush(); |
||||
|
||||
/* Get the positions data using the ioctl */ |
||||
|
||||
ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position)); |
||||
if (ret < 0) |
||||
{ |
||||
message(MAIN_STRING "ioctl(QEIOC_POSITION) failed: %d\n", errno); |
||||
exitval = EXIT_FAILURE; |
||||
goto errout_with_dev; |
||||
} |
||||
|
||||
/* Print the sample data on successful return */ |
||||
|
||||
else |
||||
{ |
||||
message(MAIN_STRING " %d\n", position); |
||||
} |
||||
} |
||||
|
||||
errout_with_dev: |
||||
close(fd); |
||||
|
||||
errout: |
||||
message("Terminating!\n"); |
||||
msgflush(); |
||||
return exitval; |
||||
} |
||||
@ -0,0 +1,144 @@
@@ -0,0 +1,144 @@
|
||||
/************************************************************************************
|
||||
* configs/stm32f4discovery/src/up_qencoder.c |
||||
* arch/arm/src/board/up_qencoder.c |
||||
* |
||||
* Copyright (C) 2012 Gregory Nutt. All rights reserved. |
||||
* Author: Gregory Nutt <gnutt@nuttx.org> |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name NuttX nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
************************************************************************************/ |
||||
|
||||
/************************************************************************************
|
||||
* Included Files |
||||
************************************************************************************/ |
||||
|
||||
#include <nuttx/config.h> |
||||
|
||||
#include <errno.h> |
||||
#include <debug.h> |
||||
|
||||
#include <nuttx/sensors/qencoder.h> |
||||
#include <arch/board/board.h> |
||||
|
||||
#include "chip.h" |
||||
#include "up_arch.h" |
||||
#include "stm32_qencoder.h" |
||||
#include "stm32f4discovery-internal.h" |
||||
|
||||
/************************************************************************************
|
||||
* Definitions |
||||
************************************************************************************/ |
||||
/* Configuration *******************************************************************/ |
||||
/* The following checks assum that the quadrature encoder is on TIM2. Make the
|
||||
* appropriate changes if your configuration differes. |
||||
*/ |
||||
|
||||
#define HAVE_QENCODER 1 |
||||
|
||||
#ifndef CONFIG_QENCODER |
||||
# undef HAVE_QENCODER |
||||
#endif |
||||
|
||||
#ifndef CONFIG_STM32_TIM2 |
||||
# undef HAVE_QENCODER |
||||
#endif |
||||
|
||||
#ifndef CONFIG_STM32_TIM2_QE |
||||
# undef HAVE_QENCODER |
||||
#endif |
||||
|
||||
#ifdef HAVE_QENCODER |
||||
|
||||
/* Debug ***************************************************************************/ |
||||
/* Non-standard debug that may be enabled just for testing the quadrature encoder */ |
||||
|
||||
#ifndef CONFIG_DEBUG |
||||
# undef CONFIG_DEBUG_QENCODER |
||||
#endif |
||||
|
||||
#ifdef CONFIG_DEBUG_QENCODER |
||||
# define qedbg dbg |
||||
# define qelldbg lldbg |
||||
# ifdef CONFIG_DEBUG_VERBOSE |
||||
# define qevdbg vdbg |
||||
# define qellvdbg llvdbg |
||||
# else |
||||
# define qelldbg(x...) |
||||
# define qellvdbg(x...) |
||||
# endif |
||||
#else |
||||
# define qedbg(x...) |
||||
# define qelldbg(x...) |
||||
# define qevdbg(x...) |
||||
# define qellvdbg(x...) |
||||
#endif |
||||
|
||||
/************************************************************************************
|
||||
* Private Functions |
||||
************************************************************************************/ |
||||
|
||||
/************************************************************************************
|
||||
* Public Functions |
||||
************************************************************************************/ |
||||
|
||||
/************************************************************************************
|
||||
* Name: qe_devinit |
||||
* |
||||
* Description: |
||||
* All STM32 architectures must provide the following interface to work with |
||||
* examples/qencoder. |
||||
* |
||||
************************************************************************************/ |
||||
|
||||
int qe_devinit(void) |
||||
{ |
||||
static initialized = false; |
||||
int ret; |
||||
|
||||
/* Check if we are already initialized */ |
||||
|
||||
if (!initialized) |
||||
{ |
||||
/* Initialize a quadrature encoder interface. */ |
||||
|
||||
qevdbg("Initializing the quadrature encoder\n"); |
||||
ret = stm32_qeinitialize("/dev/qe0", 2); |
||||
if (ret < 0) |
||||
{ |
||||
qedbg("stm32_qeinitialize failed: %d\n", ret); |
||||
return ret; |
||||
} |
||||
|
||||
initialized = true; |
||||
} |
||||
|
||||
return OK; |
||||
} |
||||
|
||||
#endif /* HAVE_QENCODER */ |
||||
Loading…
Reference in new issue