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boards/nucleo-c0XX: add qencoder support
add qencoder support for nucleo-c0 boards Signed-off-by: raiden00pl <[email protected]>
1 parent 7cb0822 commit 6092ef1

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‎boards/arm/stm32f0l0g0/common/include/board_qencoder.h‎

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/****************************************************************************
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* boards/arm/stm32f0l0g0/common/include/stm32_qencoder.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_STM32_QENCODER_H
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#define __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_STM32_QENCODER_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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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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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: board_qencoder_initialize
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*
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* Description:
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* Initialize the quadrature encoder driver for the given timer
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*
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****************************************************************************/
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int board_qencoder_initialize(int devno, int timerno);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __BOARDS_ARM_STM32F0L0G0_COMMON_INCLUDE_STM32_QENCODER_H */

‎boards/arm/stm32f0l0g0/common/src/CMakeLists.txt‎

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@@ -26,5 +26,9 @@ if(CONFIG_ARCH_BOARD_COMMON)
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list(APPEND SRCS stm32_ssd1306.c)
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endif()
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if(CONFIG_SENSORS_QENCODER)
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list(APPEND SRCS stm32_qencoder.c)
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endif()
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endif()
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target_sources(board PRIVATE ${SRCS})

‎boards/arm/stm32f0l0g0/common/src/Make.defs‎

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Original file line numberDiff line numberDiff line change
@@ -26,6 +26,10 @@ ifeq ($(CONFIG_LCD_SSD1306),y)
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CSRCS += stm32_ssd1306.c
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endif
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ifeq ($(CONFIG_SENSORS_QENCODER),y)
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CSRCS += board_qencoder.c
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endif
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DEPPATH += --dep-path src
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VPATH += :src
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CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src

‎boards/arm/stm32f0l0g0/common/src/board_qencoder.c‎

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/****************************************************************************
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* boards/arm/stm32f0l0g0/common/src/stm32_qencoder.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 <errno.h>
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#include <debug.h>
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#include <stdio.h>
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#include <nuttx/sensors/qencoder.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "arm_internal.h"
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#include "stm32_qencoder.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_qencoder_initialize
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*
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* Description:
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* Initialize the quadrature encoder driver for the given timer
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*
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****************************************************************************/
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int board_qencoder_initialize(int devno, int timerno)
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{
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int ret;
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char devpath[12];
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/* Initialize a quadrature encoder interface. */
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sninfo("Initializing the quadrature encoder using TIM%d\n", timerno);
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snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno);
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ret = stm32_qeinitialize(devpath, timerno);
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if (ret < 0)
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{
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snerr("ERROR: stm32_qeinitialize failed: %d\n", ret);
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}
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return ret;
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}

‎boards/arm/stm32f0l0g0/nucleo-c071rb/configs/jumbo/defconfig‎

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Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@ CONFIG_ADC=y
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CONFIG_ANALOG=y
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="nucleo-c071rb"
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CONFIG_ARCH_BOARD_COMMON=y
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CONFIG_ARCH_BOARD_NUCLEO_C071RB=y
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CONFIG_ARCH_BUTTONS=y
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CONFIG_ARCH_CHIP="stm32f0l0g0"
@@ -38,6 +39,7 @@ CONFIG_EXAMPLES_ADC_GROUPSIZE=2
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CONFIG_EXAMPLES_ADC_SWTRIG=y
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CONFIG_EXAMPLES_BUTTONS=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_QENCODER=y
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CONFIG_EXAMPLES_WATCHDOG=y
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INIT_STACKSIZE=1536
@@ -51,6 +53,8 @@ CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_FILEIOSIZE=64
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CONFIG_NSH_READLINE=y
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CONFIG_SENSORS=y
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CONFIG_SENSORS_QENCODER=y
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CONFIG_NUNGET_CHARS=0
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CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=1536
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CONFIG_PTHREAD_MUTEX_UNSAFE=y
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CONFIG_STM32F0L0G0_ADC1=y
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CONFIG_STM32F0L0G0_DMA1=y
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CONFIG_STM32F0L0G0_IWDG=y
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CONFIG_STM32F0L0G0_TIM3=y
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CONFIG_STM32F0L0G0_TIM3_QE=y
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CONFIG_STM32F0L0G0_USART2=y
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CONFIG_STM32F0L0G0_WWDG=y
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CONFIG_SYSTEM_NSH=y

‎boards/arm/stm32f0l0g0/nucleo-c071rb/include/board.h‎

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@@ -162,6 +162,14 @@
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#define GPIO_USART2_RX (GPIO_USART2_RX_1|GPIO_SPEED_HIGH) /* PA3 */
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#define GPIO_USART2_TX (GPIO_USART2_TX_1|GPIO_SPEED_HIGH) /* PA2 */
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/* Qencoder on TIM3:
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* TIM3_CH1IN - PB4 (D5)
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* TIM3_CH2IN - PC7 (D3)
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*/
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#define GPIO_TIM3_CH1IN (GPIO_TIM3_CH1IN_2|GPIO_SPEED_HIGH)
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#define GPIO_TIM3_CH2IN (GPIO_TIM3_CH2IN_6|GPIO_SPEED_HIGH)
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/* DMA channels *************************************************************/
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/* ADC */

‎boards/arm/stm32f0l0g0/nucleo-c071rb/src/stm32_bringup.c‎

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@@ -42,6 +42,10 @@
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# include <stm32_wdg.h>
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#endif
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#ifdef CONFIG_SENSORS_QENCODER
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# include "board_qencoder.h"
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#endif
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#include <arch/board/board.h>
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#include "nucleo-c071rb.h"
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}
110114
#endif
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#ifdef CONFIG_SENSORS_QENCODER
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/* Initialize and register the qencoder driver - TIM3 */
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ret = board_qencoder_initialize(0, 3);
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if (ret != OK)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to register the qencoder: %d\n",
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ret);
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return ret;
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}
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#endif
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UNUSED(ret);
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return OK;
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}

‎boards/arm/stm32f0l0g0/nucleo-c092rc/configs/jumbo/defconfig‎

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Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@ CONFIG_ADC=y
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CONFIG_ANALOG=y
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="nucleo-c092rc"
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CONFIG_ARCH_BOARD_COMMON=y
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CONFIG_ARCH_BOARD_NUCLEO_C092RC=y
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CONFIG_ARCH_BUTTONS=y
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CONFIG_ARCH_CHIP="stm32f0l0g0"
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CONFIG_EXAMPLES_ADC_SWTRIG=y
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CONFIG_EXAMPLES_BUTTONS=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXAMPLES_QENCODER=y
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CONFIG_EXAMPLES_WATCHDOG=y
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INIT_STACKSIZE=1536
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_FILEIOSIZE=64
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CONFIG_NSH_READLINE=y
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CONFIG_SENSORS=y
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CONFIG_SENSORS_QENCODER=y
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CONFIG_NUNGET_CHARS=0
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CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=1536
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CONFIG_PTHREAD_MUTEX_UNSAFE=y
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CONFIG_STM32F0L0G0_ADC1=y
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CONFIG_STM32F0L0G0_DMA1=y
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CONFIG_STM32F0L0G0_IWDG=y
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CONFIG_STM32F0L0G0_TIM3=y
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CONFIG_STM32F0L0G0_TIM3_QE=y
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CONFIG_STM32F0L0G0_USART2=y
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CONFIG_STM32F0L0G0_WWDG=y
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CONFIG_SYSTEM_NSH=y

‎boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h‎

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@@ -172,6 +172,14 @@
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#define GPIO_FDCAN1_RX (GPIO_FDCAN1_RX_8|GPIO_SPEED_HIGH) /* PD0 */
173173
#define GPIO_FDCAN1_TX (GPIO_FDCAN1_TX_9|GPIO_SPEED_HIGH) /* PD1 */
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/* Qencoder on TIM3:
176+
* TIM3_CH1IN - PB4 (D5)
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* TIM3_CH2IN - PC7 (D3)
178+
*/
179+
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#define GPIO_TIM3_CH1IN (GPIO_TIM3_CH1IN_2|GPIO_SPEED_HIGH)
181+
#define GPIO_TIM3_CH2IN (GPIO_TIM3_CH2IN_6|GPIO_SPEED_HIGH)
182+
175183
/* DMA channels *************************************************************/
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177185
/* ADC */

‎boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c‎

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@@ -42,6 +42,10 @@
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# include <stm32_wdg.h>
4343
#endif
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#ifdef CONFIG_SENSORS_QENCODER
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# include "board_qencoder.h"
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#endif
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4549
#include <arch/board/board.h>
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4751
#include "nucleo-c092rc.h"
@@ -129,6 +133,19 @@ int stm32_bringup(void)
129133
}
130134
#endif
131135

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#ifdef CONFIG_SENSORS_QENCODER
137+
/* Initialize and register the qencoder driver - TIM3 */
138+
139+
ret = board_qencoder_initialize(0, 3);
140+
if (ret != OK)
141+
{
142+
syslog(LOG_ERR,
143+
"ERROR: Failed to register the qencoder: %d\n",
144+
ret);
145+
return ret;
146+
}
147+
#endif
148+
132149
UNUSED(ret);
133150
return OK;
134151
}

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