This is an automated email from the ASF dual-hosted git repository. linguini pushed a commit to branch master in repository https://gitbox.apache.org/repos/asf/nuttx.git
commit 83264bac8450eb64b8ffdf0d66b8a3199f9a04d1 Author: raiden00pl <[email protected]> AuthorDate: Sat Apr 11 12:51:19 2026 +0200 boards/nrf52840-dk: add qencoder example add qencoder support and enable qe example for jumbo config Signed-off-by: raiden00pl <[email protected]> --- .../arm/nrf52/nrf52840-dk/configs/jumbo/defconfig | 8 +++ boards/arm/nrf52/nrf52840-dk/include/board.h | 5 ++ boards/arm/nrf52/nrf52840-dk/src/CMakeLists.txt | 4 ++ boards/arm/nrf52/nrf52840-dk/src/Make.defs | 4 ++ boards/arm/nrf52/nrf52840-dk/src/nrf52840-dk.h | 12 ++++ boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c | 8 +++ boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c | 76 ++++++++++++++++++++++ 7 files changed, 117 insertions(+) diff --git a/boards/arm/nrf52/nrf52840-dk/configs/jumbo/defconfig b/boards/arm/nrf52/nrf52840-dk/configs/jumbo/defconfig index 7d6286b6835..7ed0451d04b 100644 --- a/boards/arm/nrf52/nrf52840-dk/configs/jumbo/defconfig +++ b/boards/arm/nrf52/nrf52840-dk/configs/jumbo/defconfig @@ -23,10 +23,15 @@ CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_STDARG_H=y CONFIG_BOARD_LOOPSPERMSEC=5500 CONFIG_BUILTIN=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y CONFIG_EXAMPLES_ADC=y CONFIG_EXAMPLES_ADC_NSAMPLES=4 CONFIG_EXAMPLES_ADC_SWTRIG=y CONFIG_EXAMPLES_PWM=y +CONFIG_EXAMPLES_QENCODER=y +CONFIG_EXAMPLES_QENCODER_HAVE_MAXPOS=y +CONFIG_EXAMPLES_QENCODER_MAXPOS=32 CONFIG_EXAMPLES_TIMER=y CONFIG_EXAMPLES_WATCHDOG=y CONFIG_FAT_LCNAMES=y @@ -44,6 +49,7 @@ CONFIG_NRF52_PWM0_CH1=y CONFIG_NRF52_PWM0_CH2=y CONFIG_NRF52_PWM0_CH3=y CONFIG_NRF52_PWM_MULTICHAN=y +CONFIG_NRF52_QDEC0=y CONFIG_NRF52_QSPI=y CONFIG_NRF52_SAADC=y CONFIG_NRF52_TIMER2=y @@ -62,6 +68,8 @@ CONFIG_RAM_START=0x20000000 CONFIG_RAW_BINARY=y CONFIG_RR_INTERVAL=200 CONFIG_SCHED_WAITPID=y +CONFIG_SENSORS=y +CONFIG_SENSORS_QENCODER=y CONFIG_START_DAY=26 CONFIG_START_MONTH=3 CONFIG_SYMTAB_ORDEREDBYNAME=y diff --git a/boards/arm/nrf52/nrf52840-dk/include/board.h b/boards/arm/nrf52/nrf52840-dk/include/board.h index 9e5d0e0fd4a..a92c149f7df 100644 --- a/boards/arm/nrf52/nrf52840-dk/include/board.h +++ b/boards/arm/nrf52/nrf52840-dk/include/board.h @@ -185,4 +185,9 @@ #define NRF52_QSPI0_IO2_PIN (GPIO_OUTPUT | GPIO_PORT0 | GPIO_PIN(22)) #define NRF52_QSPI0_IO3_PIN (GPIO_OUTPUT | GPIO_PORT0 | GPIO_PIN(23)) +/* QDEC Pins ****************************************************************/ + +#define BOARD_QDEC0_A_PIN (GPIO_INPUT | GPIO_PORT0 | GPIO_PIN(30)) +#define BOARD_QDEC0_B_PIN (GPIO_INPUT | GPIO_PORT0 | GPIO_PIN(31)) + #endif /* __BOARDS_ARM_NRF52_NRF52840_DK_INCLUDE_BOARD_H */ diff --git a/boards/arm/nrf52/nrf52840-dk/src/CMakeLists.txt b/boards/arm/nrf52/nrf52840-dk/src/CMakeLists.txt index 15aa13df962..3c970424884 100644 --- a/boards/arm/nrf52/nrf52840-dk/src/CMakeLists.txt +++ b/boards/arm/nrf52/nrf52840-dk/src/CMakeLists.txt @@ -84,6 +84,10 @@ if(CONFIG_NRF52_QSPI) list(APPEND SRCS nrf52_mx25.c) endif() +if(CONFIG_NRF52_QDEC) + list(APPEND SRCS nrf52_qencoder.c) +endif() + target_sources(board PRIVATE ${SRCS}) if(CONFIG_ARCH_BOARD_COMMON) diff --git a/boards/arm/nrf52/nrf52840-dk/src/Make.defs b/boards/arm/nrf52/nrf52840-dk/src/Make.defs index 9dd96ed383a..2de1ad31645 100644 --- a/boards/arm/nrf52/nrf52840-dk/src/Make.defs +++ b/boards/arm/nrf52/nrf52840-dk/src/Make.defs @@ -86,6 +86,10 @@ ifeq ($(CONFIG_NRF52_QSPI),y) CSRCS += nrf52_mx25.c endif +ifeq ($(CONFIG_NRF52_QDEC),y) +CSRCS += nrf52_qencoder.c +endif + DEPPATH += --dep-path board VPATH += :board CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board diff --git a/boards/arm/nrf52/nrf52840-dk/src/nrf52840-dk.h b/boards/arm/nrf52/nrf52840-dk/src/nrf52840-dk.h index 8d932f5235c..e7a9a4fe529 100644 --- a/boards/arm/nrf52/nrf52840-dk/src/nrf52840-dk.h +++ b/boards/arm/nrf52/nrf52840-dk/src/nrf52840-dk.h @@ -215,5 +215,17 @@ int nrf52_mx25_initialize(void); int nrf52_gpioleds_initialize(void); #endif +/**************************************************************************** + * Name: nrf52_qencoder_initialize + * + * Description: + * Initialize quadrature encoder driver. + * + ****************************************************************************/ + +#ifdef CONFIG_SENSORS_QENCODER +int nrf52_qencoder_initialize(int devno); +#endif + #endif /* __ASSEMBLY__ */ #endif /* __BOARDS_ARM_NRF52_NRF52840_DK_SRC_NRF52840_DK_H */ diff --git a/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c b/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c index 25faf003e1e..cc617cfbbeb 100644 --- a/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c +++ b/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c @@ -333,6 +333,14 @@ int nrf52_bringup(void) } #endif +#ifdef CONFIG_NRF52_QDEC0 + ret = nrf52_qencoder_initialize(0); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: Failed to initialize qencoder: %d\n", ret); + } +#endif + UNUSED(ret); return OK; } diff --git a/boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c b/boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c new file mode 100644 index 00000000000..3284c604fa5 --- /dev/null +++ b/boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c @@ -0,0 +1,76 @@ +/**************************************************************************** + * boards/arm/nrf52/nrf52840-dk/src/nrf52_qencoder.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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 <errno.h> +#include <debug.h> + +#include <nuttx/sensors/qencoder.h> + +#include "nrf52_qdec.h" + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const struct nrf52_qeconfig_s g_qe0_config = +{ + .sample_period = 0, + .report_period = 0, + .enable_debounce = false, +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int nrf52_qencoder_initialize(int devno) +{ + struct qe_lowerhalf_s *lower; + char devpath[12]; + int ret; + + sninfo("Initializing /dev/qe%d\n", devno); + + lower = nrf52_qeinitialize(devno, &g_qe0_config); + if (lower == NULL) + { + snerr("ERROR: nrf52_qeinitialize failed\n"); + return -ENODEV; + } + + snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno); + + ret = qe_register(devpath, lower); + if (ret < 0) + { + snerr("ERROR: qe_register failed: %d\n", ret); + return ret; + } + + return OK; +}
