machctl: r20 - sys

Author: vedge
Date: 2009-03-25 05:13:48 -0300 (Wed, 25 Mar 2009)
New Revision: 20

Added:
   sys/cnc_encoder.c
   sys/cnc_encodervar.h
Log:
driver for quadrature signal optical encoders.

Added: sys/cnc_encoder.c
===================================================================
--- sys/cnc_encoder.c	                        (rev 0)
+++ sys/cnc_encoder.c	2009-03-25 08:13:48 UTC (rev 20)
@@ -0,0 +1,140 @@
+/*
+ * Copyright (c) 2009 Hypertriton, Inc. <http://www.hypertriton.com/>
+ * All rights reserved.
+ *
+ * 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.
+ * 
+ * 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 AUTHOR 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.
+ */
+
+/*
+ * Device generating a quadrature signal. This includes linear encoders,
+ * micrometers, digital potentiometers and manual pulse generators.
+ */
+
+#include <sys/param.h>
+#include <sys/queue.h>
+#include <sys/fcntl.h>
+#include <sys/vnode.h>
+#include <sys/systm.h>
+#include <sys/kernel.h>
+#include <sys/device.h>
+#include <sys/pool.h>
+#include <sys/conf.h>
+#include <sys/lock.h>
+
+#include <sys/gpio.h>
+#include <sys/cnc.h>
+
+#include <dev/gpio/gpiovar.h>
+
+#include <dev/cnc/cnc_devicevar.h>
+#include <dev/cnc/cncvar.h>
+#include <dev/cnc/cnc_encodervar.h>
+
+int	encoder_match(struct device *, void *, void *);
+void	encoder_attach(struct device *, struct device *, void *);
+int	encoder_detach(struct device *, int);
+int	encoder_activate(struct device *, enum devact);
+
+struct cfattach encoder_ca = {
+	sizeof(struct encoder_softc),
+	encoder_match,
+	encoder_attach,
+	encoder_detach,
+	encoder_activate
+};
+
+struct cfdriver encoder_cd = {
+	NULL, "encoder", DV_DULL
+};
+
+int
+encoder_match(struct device *parent, void *match, void *aux)
+{
+	struct cfdata *cf = match;
+
+	return (strcmp(cf->cf_driver->cd_name, "encoder") == 0);
+}
+
+void
+encoder_attach(struct device *parent, struct device *self, void *aux)
+{
+	struct encoder_softc *sc = (struct encoder_softc *)self;
+	struct gpio_attach_args *ga = aux;
+
+	/* Generic CNC device initialization. */
+	if (cnc_device_attach(sc, CNC_DEVICE_ENCODER) == -1)
+		return;
+
+	/* Check that we have enough pins */
+	if (gpio_npins(ga->ga_mask) != ENCODER_NPINS) {
+		printf(": invalid pin mask\n");
+		return;
+	}
+
+	/* Map pins */
+	sc->sc_gpio = ga->ga_gpio;
+	sc->sc_map.pm_map = sc->__map;
+	if (gpio_pin_map(sc->sc_gpio, ga->ga_offset, ga->ga_mask,
+	    &sc->sc_map)) {
+		printf(": can't map pins\n");
+		return;
+	}
+	
+	/* Configure quadrature signal input pins. */
+	CNC_MAP_INPUT(sc, ENCODER_PIN_A, "A");
+	CNC_MAP_INPUT(sc, ENCODER_PIN_B, "B");
+	
+	printf("\n");
+	return;
+fail:
+	gpio_pin_unmap(sc->sc_gpio, &sc->sc_map);
+}
+
+int
+encoder_detach(struct device *self, int flags)
+{
+	return (cnc_device_detach(self));
+}
+
+int
+encoder_activate(struct device *self, enum devact act)
+{
+	return (cnc_device_activate(self));
+}
+
+/* Update encoder status; called from cnc_update(). */
+void
+encoder_update(struct encoder_softc *sc)
+{
+	int a, b;
+
+	a = gpio_pin_read(sc->sc_gpio, &sc->sc_map, ENCODER_PIN_A);
+	b = gpio_pin_read(sc->sc_gpio, &sc->sc_map, ENCODER_PIN_B);
+
+	if (sc->sc_state_a != a) {
+		printf("A changed to %d\n", a);
+		sc->sc_state_a = a;
+	}
+	if (sc->sc_state_b != b) {
+		printf("B changed to %d\n", b);
+		sc->sc_state_b = b;
+	}
+}

Added: sys/cnc_encodervar.h
===================================================================
--- sys/cnc_encodervar.h	                        (rev 0)
+++ sys/cnc_encodervar.h	2009-03-25 08:13:48 UTC (rev 20)
@@ -0,0 +1,17 @@
+/*	Public domain	*/
+
+#define ENCODER_NPINS		2
+#define ENCODER_PIN_A		0
+#define ENCODER_PIN_B		1
+
+struct encoder_softc {
+	struct cnc_device sc_cdev;
+	void *sc_gpio;
+	struct gpio_pinmap sc_map;
+	int __map[ENCODER_NPINS];
+	int sc_state_a;				/* last A state */
+	int sc_state_b;				/* last B state */
+};
+
+void encoder_update(struct encoder_softc *);
+