#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];
+static uint8_t ao_quadrature_state[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)))
+struct ao_debounce {
+ uint8_t state;
+ uint8_t count;
+};
+
+static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2];
#define port(q) AO_QUADRATURE_ ## q ## _PORT
#define bita(q) AO_QUADRATURE_ ## q ## _A
#define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
#define isr(q) ao_quadrature_isr_ ## q
-static inline uint16_t
-ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b) {
- uint16_t v = stm_gpio_get_all(gpio);
+#define DEBOUNCE 10
- return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3;
+static uint8_t
+ao_debounce(uint8_t cur, struct ao_debounce *debounce)
+{
+ if (cur == debounce->state)
+ debounce->count = 0;
+ else {
+ if (++debounce->count == DEBOUNCE) {
+ debounce->state = cur;
+ debounce->count = 0;
+ }
+ }
+ return debounce->state;
}
-#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q))
+static uint16_t
+ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct ao_debounce debounce_state[2]) {
+ uint16_t v = ~stm_gpio_get_all(gpio);
+ uint8_t a = (v >> pin_a) & 1;
+ uint8_t b = (v >> pin_b) & 1;
+
+ a = ao_debounce(a, &debounce_state[0]);
+ b = ao_debounce(b, &debounce_state[1]);
+
+ return a | (b << 1);
+}
+
+#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
static void
_ao_quadrature_queue(uint8_t q, int8_t step)
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
-_ao_quadrature_set(uint8_t q, uint8_t value) {
- uint8_t v;
-
- v = ao_quadrature_state[q] & 3;
- value = value & 3;
-
- if (v == value)
- return;
-
- ao_quadrature_state[q] = (v << 2) | value;
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+ uint8_t old = ao_quadrature_state[q];
- 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);
- else if (ao_quadrature_raw[q] == -4)
+ else if (old & 1)
_ao_quadrature_queue(q, -1);
- ao_quadrature_raw[q] = 0;
}
+ ao_quadrature_state[q] = new;
}
static void
ao_quadrature_isr(void)
{
+#if AO_QUADRATURE_COUNT > 0
_ao_quadrature_set(0, _ao_quadrature_get(0));
+#endif
+#if AO_QUADRATURE_COUNT > 1
_ao_quadrature_set(1, _ao_quadrature_get(1));
+#endif
}
int32_t
ao_quadrature_test(void)
{
uint8_t q;
+ int32_t c;
+ uint8_t s;
ao_cmd_decimal();
q = ao_cmd_lex_i;
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;