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altos: Simplify quadrature tracking
[fw/altos]
/
src
/
drivers
/
ao_quadrature.c
diff --git
a/src/drivers/ao_quadrature.c
b/src/drivers/ao_quadrature.c
index d07488d08d4f9307b661a0f690f9447dab4fec73..66a77dfaa997b22824805cbbdc4bda9c63b5618d 100644
(file)
--- a/
src/drivers/ao_quadrature.c
+++ b/
src/drivers/ao_quadrature.c
@@
-22,11
+22,7
@@
#include <ao_event.h>
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
#include <ao_event.h>
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
-static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
-static int8_t ao_quadrature_raw[AO_QUADRATURE_COUNT];
-
-#define BIT(a,b) ((a) | ((b) << 1))
-#define STATE(old_a, old_b, new_a, new_b) (((BIT(old_a, old_b) << 2) | BIT(new_a, new_b)))
+static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
#define port(q) AO_QUADRATURE_ ## q ## _PORT
#define bita(q) AO_QUADRATURE_ ## q ## _A
#define port(q) AO_QUADRATURE_ ## q ## _PORT
#define bita(q) AO_QUADRATURE_ ## q ## _A
@@
-54,51
+50,29
@@
_ao_quadrature_queue(uint8_t q, int8_t step)
ao_wakeup(&ao_quadrature_count[q]);
}
ao_wakeup(&ao_quadrature_count[q]);
}
-static const int8_t step[16] = {
- [STATE(0,0,0,0)] = 0,
- [STATE(0,0,0,1)] = -1,
- [STATE(0,0,1,0)] = 1,
- [STATE(0,0,1,1)] = 0,
- [STATE(0,1,0,0)] = 1,
- [STATE(0,1,1,0)] = 0,
- [STATE(0,1,1,1)] = -1,
- [STATE(1,0,0,0)] = -1,
- [STATE(1,0,0,1)] = 0,
- [STATE(1,0,1,0)] = 0,
- [STATE(1,0,1,1)] = 1,
- [STATE(1,1,0,0)] = 0,
- [STATE(1,1,0,1)] = 1,
- [STATE(1,1,1,0)] = -1,
- [STATE(1,1,1,1)] = 0
-};
static void
static void
-_ao_quadrature_set(uint8_t q, uint8_t value) {
- uint8_t v;
-
- v = ao_quadrature_state[q] & 3;
- value = value & 3;
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+ uint8_t old = ao_quadrature_state[q];
- if (v == value)
- return;
-
- ao_quadrature_state[q] = (v << 2) | value;
-
- ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
- if (value == 0) {
- if (ao_quadrature_raw[q] == 4)
+ if (old != new && new == 0) {
+ if (old & 2)
_ao_quadrature_queue(q, 1);
_ao_quadrature_queue(q, 1);
- else if (
ao_quadrature_raw[q] == -4
)
+ else if (
old & 1
)
_ao_quadrature_queue(q, -1);
_ao_quadrature_queue(q, -1);
- ao_quadrature_raw[q] = 0;
}
}
+ ao_quadrature_state[q] = new;
}
static void
ao_quadrature_isr(void)
{
}
static void
ao_quadrature_isr(void)
{
+#if AO_QUADRATURE_COUNT > 0
_ao_quadrature_set(0, _ao_quadrature_get(0));
_ao_quadrature_set(0, _ao_quadrature_get(0));
+#endif
+#if AO_QUADRATURE_COUNT > 1
_ao_quadrature_set(1, _ao_quadrature_get(1));
_ao_quadrature_set(1, _ao_quadrature_get(1));
+#endif
}
int32_t
}
int32_t
@@
-120,6
+94,8
@@
static void
ao_quadrature_test(void)
{
uint8_t q;
ao_quadrature_test(void)
{
uint8_t q;
+ int32_t c;
+ uint8_t s;
ao_cmd_decimal();
q = ao_cmd_lex_i;
ao_cmd_decimal();
q = ao_cmd_lex_i;
@@
-127,10
+103,18
@@
ao_quadrature_test(void)
ao_cmd_status = ao_cmd_syntax_error;
return;
}
ao_cmd_status = ao_cmd_syntax_error;
return;
}
- printf ("count %d state %x raw %d\n",
- ao_quadrature_count[q],
- ao_quadrature_state[q],
- ao_quadrature_raw[q]);
+
+ c = -10000;
+ s = 0;
+ while (ao_quadrature_count[q] != 10) {
+ if (ao_quadrature_count[q] != c ||
+ ao_quadrature_state[q] != s) {
+ c = ao_quadrature_count[q];
+ s = ao_quadrature_state[q];
+ printf ("count %3d state %2x\n", c, s);
+ flush();
+ }
+ }
#if 0
for (;;) {
int32_t c;
#if 0
for (;;) {
int32_t c;