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commit e274655d1c2e427c553cd6aee7d242c2416a566e Author: raiden00pl <[email protected]> AuthorDate: Sat Apr 11 14:27:40 2026 +0200 boards/nrf5340-dk: add qencoder example add qencoder support and enable qe example for config Signed-off-by: raiden00pl <[email protected]> --- .../nrf5340-dk/configs/qencoder_cpuapp/defconfig | 51 +++++++++++++++ boards/arm/nrf53/nrf5340-dk/include/board.h | 5 ++ boards/arm/nrf53/nrf5340-dk/src/CMakeLists.txt | 4 ++ boards/arm/nrf53/nrf5340-dk/src/Make.defs | 4 ++ boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h | 12 ++++ boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c | 8 +++ boards/arm/nrf53/nrf5340-dk/src/nrf53_qencoder.c | 76 ++++++++++++++++++++++ 7 files changed, 160 insertions(+) diff --git a/boards/arm/nrf53/nrf5340-dk/configs/qencoder_cpuapp/defconfig b/boards/arm/nrf53/nrf5340-dk/configs/qencoder_cpuapp/defconfig new file mode 100644 index 00000000000..b991e2e4a29 --- /dev/null +++ b/boards/arm/nrf53/nrf5340-dk/configs/qencoder_cpuapp/defconfig @@ -0,0 +1,51 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_STANDARD_SERIAL is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="nrf5340-dk" +CONFIG_ARCH_BOARD_NRF5340_DK=y +CONFIG_ARCH_CHIP="nrf53" +CONFIG_ARCH_CHIP_NRF5340=y +CONFIG_ARCH_CHIP_NRF5340_CPUAPP=y +CONFIG_ARCH_CHIP_NRF53=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARCH_STDARG_H=y +CONFIG_BOARD_LOOPSPERMSEC=5500 +CONFIG_BUILTIN=y +CONFIG_EXAMPLES_QENCODER=y +CONFIG_EXAMPLES_QENCODER_HAVE_MAXPOS=y +CONFIG_EXAMPLES_QENCODER_MAXPOS=32 +CONFIG_EXPERIMENTAL=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FS_FAT=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_LINE_MAX=64 +CONFIG_MM_REGIONS=2 +CONFIG_NRF53_QDEC0=y +CONFIG_NRF53_UART0=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_READLINE=y +CONFIG_PREALLOC_TIMERS=4 +CONFIG_RAM_SIZE=524288 +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 +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_UART0_SERIAL_CONSOLE=y diff --git a/boards/arm/nrf53/nrf5340-dk/include/board.h b/boards/arm/nrf53/nrf5340-dk/include/board.h index 6b940111ed0..d0f924d99c5 100644 --- a/boards/arm/nrf53/nrf5340-dk/include/board.h +++ b/boards/arm/nrf53/nrf5340-dk/include/board.h @@ -179,4 +179,9 @@ #define NRF53_QSPI0_IO3_PIN (GPIO_MCUSEL_PERIP | GPIO_OUTPUT | \ GPIO_PORT0 | GPIO_PIN(16)) +/* QDEC Pins ****************************************************************/ + +#define BOARD_QDEC0_A_PIN (GPIO_MCUSEL_APP | GPIO_INPUT | GPIO_PORT0 | GPIO_PIN(25)) +#define BOARD_QDEC0_B_PIN (GPIO_MCUSEL_APP | GPIO_INPUT | GPIO_PORT0 | GPIO_PIN(26)) + #endif /* __BOARDS_ARM_NRF53_NRF5340_DK_INCLUDE_BOARD_H */ diff --git a/boards/arm/nrf53/nrf5340-dk/src/CMakeLists.txt b/boards/arm/nrf53/nrf5340-dk/src/CMakeLists.txt index f65cbeda9c7..9955186065b 100644 --- a/boards/arm/nrf53/nrf5340-dk/src/CMakeLists.txt +++ b/boards/arm/nrf53/nrf5340-dk/src/CMakeLists.txt @@ -64,6 +64,10 @@ if(CONFIG_NRF53_QSPI) list(APPEND SRCS nrf53_mx25.c) endif() +if(CONFIG_NRF53_QDEC) + list(APPEND SRCS nrf53_qencoder.c) +endif() + target_sources(board PRIVATE ${SRCS}) if(CONFIG_ARCH_BOARD_COMMON) diff --git a/boards/arm/nrf53/nrf5340-dk/src/Make.defs b/boards/arm/nrf53/nrf5340-dk/src/Make.defs index 350dbb62cf6..7f9cc96e158 100644 --- a/boards/arm/nrf53/nrf5340-dk/src/Make.defs +++ b/boards/arm/nrf53/nrf5340-dk/src/Make.defs @@ -66,6 +66,10 @@ ifeq ($(CONFIG_NRF53_QSPI),y) CSRCS += nrf53_mx25.c endif +ifeq ($(CONFIG_NRF53_QDEC),y) +CSRCS += nrf53_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/nrf53/nrf5340-dk/src/nrf5340-dk.h b/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h index 8a714b4007c..637d953f767 100644 --- a/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h +++ b/boards/arm/nrf53/nrf5340-dk/src/nrf5340-dk.h @@ -164,5 +164,17 @@ int nrf53_mx25_initialize(void); int nrf53_gpio_initialize(void); #endif +/**************************************************************************** + * Name: nrf53_qencoder_initialize + * + * Description: + * Initialize and register the qencoder driver + * + ****************************************************************************/ + +#ifdef CONFIG_NRF53_QDEC +int nrf53_qencoder_initialize(int devno); +#endif + #endif /* __ASSEMBLY__ */ #endif /* __BOARDS_ARM_NRF53_NRF5340_DK_SRC_NRF5340_DK_H */ diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c b/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c index 03c64034c5e..ce25793893e 100644 --- a/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c +++ b/boards/arm/nrf53/nrf5340-dk/src/nrf53_bringup.c @@ -267,6 +267,14 @@ int nrf53_bringup(void) } #endif +#ifdef CONFIG_NRF53_QDEC0 + ret = nrf53_qencoder_initialize(0); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: Failed to initialize qencoder: %d\n", ret); + } +#endif + #ifdef CONFIG_USBMONITOR /* Start the USB Monitor */ diff --git a/boards/arm/nrf53/nrf5340-dk/src/nrf53_qencoder.c b/boards/arm/nrf53/nrf5340-dk/src/nrf53_qencoder.c new file mode 100644 index 00000000000..178b8abc5a4 --- /dev/null +++ b/boards/arm/nrf53/nrf5340-dk/src/nrf53_qencoder.c @@ -0,0 +1,76 @@ +/**************************************************************************** + * boards/arm/nrf53/nrf5340-dk/src/nrf53_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 "nrf53_qdec.h" + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const struct nrf53_qeconfig_s g_qe0_config = +{ + .sample_period = 0, + .report_period = 0, + .enable_debounce = false, +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int nrf53_qencoder_initialize(int devno) +{ + struct qe_lowerhalf_s *lower; + char devpath[12]; + int ret; + + sninfo("Initializing /dev/qe%d\n", devno); + + lower = nrf53_qeinitialize(devno, &g_qe0_config); + if (lower == NULL) + { + snerr("ERROR: nrf53_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; +}
