*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
+#include <ao_fast_timer.h>
+#include <ao_event.h>
-__xdata int32_t ao_quadrature_count;
+__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
-static uint8_t wait_clear;
+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 bitb(q) AO_QUADRATURE_ ## q ## _B
+#define pina(q) AO_QUADRATURE_ ## q ## _A ## _PIN
+#define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
+#define isr(q) ao_quadrature_isr_ ## q
+
+#define DEBOUNCE 10
+
+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;
+}
+
+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_isr(void)
+_ao_quadrature_queue(uint8_t q, int8_t step)
{
- if (wait_clear) {
- wait_clear = 0;
- ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_RISING);
- } else {
- wait_clear = 1;
- ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_FALLING);
- if (ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN))
- ao_quadrature_count++;
- else
- ao_quadrature_count--;
- ao_wakeup(&ao_quadrature_count);
+ ao_quadrature_count[q] += step;
+#if AO_EVENT
+ ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
+#endif
+ ao_wakeup(&ao_quadrature_count[q]);
+}
+
+static void
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+ uint8_t old = ao_quadrature_state[q];
+
+ if (old != new && new == 0) {
+ if (old & 2)
+ _ao_quadrature_queue(q, 1);
+ else if (old & 1)
+ _ao_quadrature_queue(q, -1);
}
+ 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_poll(void)
+ao_quadrature_poll(uint8_t q)
{
int32_t ret;
- ao_arch_critical(ret = ao_quadrature_count;);
+ ao_arch_critical(ret = ao_quadrature_count[q];);
return ret;
}
int32_t
-ao_quadrature_wait(void)
+ao_quadrature_wait(uint8_t q)
{
- ao_sleep(&ao_quadrature_count);
- return ao_quadrature_poll();
+ ao_sleep(&ao_quadrature_count[q]);
+ return ao_quadrature_poll(q);
}
static void
ao_quadrature_test(void)
{
+ uint8_t q;
+ int32_t c;
+ uint8_t s;
+
+ ao_cmd_decimal();
+ q = ao_cmd_lex_i;
+ if (q >= AO_QUADRATURE_COUNT) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+
+ 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;
- printf ("waiting...\n");
flush();
- c = ao_quadrature_wait();
- printf ("new count %d\n", c);
- if (ao_stdin_ready)
+ c = ao_quadrature_wait(q);
+ printf ("new count %6d\n", c);
+ if (c == 100)
break;
}
#endif
- uint8_t a, old_a, b, old_b;
-
- old_a = 2; old_b = 2;
- for (;;) {
- a = ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_QUADRATURE_A_PIN);
- b = ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN);
- if (a != old_a || b != old_b) {
- printf ("A %d B %d\n", a, b);
- flush();
- ao_yield();
- old_a = a;
- old_b = b;
- }
- if (ao_stdin_ready)
- break;
- }
-
}
static const struct ao_cmds ao_quadrature_cmds[] = {
- { ao_quadrature_test, "q\0Test quadrature" },
+ { ao_quadrature_test, "q <unit>\0Test quadrature" },
{ 0, NULL }
};
+#define init(q) do { \
+ ao_enable_input(port(q), bita(q), 0); \
+ ao_enable_input(port(q), bitb(q), 0); \
+ } while (0)
+
void
ao_quadrature_init(void)
{
- ao_quadrature_count = 0;
-
- ao_enable_port(AO_QUADRATURE_PORT);
- ao_exti_setup(AO_QUADRATURE_PORT, AO_QUADRATURE_A,
- AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED,
- ao_quadrature_isr);
- ao_exti_enable(AO_QUADRATURE_PORT, AO_QUADRATURE_A);
- ao_enable_input(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_EXTI_MODE_PULL_UP);
+#if AO_QUADRATURE_COUNT > 0
+ init(0);
+#endif
+#if AO_QUADRATURE_COUNT > 1
+ init(1);
+#endif
+ ao_fast_timer_init();
+ ao_fast_timer_on(ao_quadrature_isr);
ao_cmd_register(&ao_quadrature_cmds[0]);
}