Merge pull request #59 from petejohanson/sensors/en11-encoder-sensor

Initial low level EC11 sensor driver

1 files changed, 153 insertions, 0 deletions

diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
new file mode 100644
index 0000000..1bc5d6a
--- /dev/null
+++ b/app/drivers/zephyr/ec11.c
@@ -0,0 +1,153 @@
+/*
+ * Copyright (c) 2020 Peter Johanson
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#define DT_DRV_COMPAT alps_ec11
+
+#include <device.h>
+#include <drivers/gpio.h>
+#include <sys/util.h>
+#include <kernel.h>
+#include <drivers/sensor.h>
+#include <sys/__assert.h>
+#include <logging/log.h>
+
+#include "ec11.h"
+
+LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL);
+
+static int ec11_get_ab_state(struct device *dev)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
+
+	return (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin);
+}
+
+static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
+	u8_t val;
+	s8_t delta;
+
+	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION);
+
+	val = ec11_get_ab_state(dev);
+
+	LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val);
+
+	switch(val | (drv_data->ab_state << 2)) {
+		case 0b0010: case 0b0100: case 0b1101: case 0b1011:
+			delta = -1;
+			break;
+		case 0b0001: case 0b0111: case 0b1110: case 0b1000:
+			delta = 1;
+			break;
+		default:
+			delta = 0;
+			break;
+	}
+
+	LOG_DBG("Delta: %d", delta);
+
+	drv_data->pulses += delta;
+	drv_data->ab_state = val;
+
+	drv_data->ticks = drv_data->pulses / drv_cfg->resolution;
+	drv_data->delta = delta;
+	drv_data->pulses %= drv_cfg->resolution;
+	
+	return 0;
+}
+
+static int ec11_channel_get(struct device *dev,
+			       enum sensor_channel chan,
+			       struct sensor_value *val)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	
+	if (chan != SENSOR_CHAN_ROTATION) {
+		return -ENOTSUP;
+	}
+
+	val->val1 = drv_data->ticks;
+	val->val2 = drv_data->delta;
+	
+	return 0;
+}
+
+static const struct sensor_driver_api ec11_driver_api = {
+#ifdef CONFIG_EC11_TRIGGER
+	.trigger_set = ec11_trigger_set,
+#endif
+	.sample_fetch = ec11_sample_fetch,
+	.channel_get = ec11_channel_get,
+};
+
+int ec11_init(struct device *dev)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
+
+	LOG_DBG("A: %s %d B: %s %d resolution %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin, drv_cfg->resolution);	
+
+	drv_data->a = device_get_binding(drv_cfg->a_label);
+	if (drv_data->a == NULL) {
+		LOG_ERR("Failed to get pointer to A GPIO device");
+		return -EINVAL;
+	}
+
+	drv_data->b = device_get_binding(drv_cfg->b_label);
+	if (drv_data->b == NULL) {
+		LOG_ERR("Failed to get pointer to B GPIO device");
+		return -EINVAL;
+	}
+
+	if (gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
+			   drv_cfg->a_flags
+			   | GPIO_INPUT)) {
+		LOG_DBG("Failed to configure A pin");
+		return -EIO;
+	}
+
+	if (gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
+			   drv_cfg->b_flags
+			   | GPIO_INPUT)) {
+		LOG_DBG("Failed to configure B pin");
+		return -EIO;
+	}
+
+
+
+#ifdef CONFIG_EC11_TRIGGER
+	if (ec11_init_interrupt(dev) < 0) {
+		LOG_DBG("Failed to initialize interrupt!");
+		return -EIO;
+	}
+#endif
+
+	drv_data->ab_state = ec11_get_ab_state(dev);
+
+	return 0;
+}
+
+#define EC11_INST(n) \
+	struct ec11_data ec11_data_##n;                                                            \
+	const struct ec11_config ec11_cfg_##n = {                                                  \
+		.a_label = DT_INST_GPIO_LABEL(n, a_gpios),                                             \
+		.a_pin = DT_INST_GPIO_PIN(n, a_gpios),                                                 \
+		.a_flags = DT_INST_GPIO_FLAGS(n, a_gpios),                                             \
+		.b_label = DT_INST_GPIO_LABEL(n, b_gpios),                                             \
+		.b_pin = DT_INST_GPIO_PIN(n, b_gpios),                                                 \
+		.b_flags = DT_INST_GPIO_FLAGS(n, b_gpios),                                             \
+		COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))), \
+	};                                                                                         \
+	DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(n), ec11_init,                                     \
+				&ec11_data_##n,                                                                \
+				&ec11_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,                       \
+				&ec11_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(EC11_INST)
\ No newline at end of file