X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_quadrature.c;h=6cc2467a44ba2449121faaffcf4451d9401d0fe0;hb=fb0fb6f4beab484e7fe55b39d18c1f19778f1211;hp=aed4999e974cb666a6293934a85cd9f4ca5efe96;hpb=11046bc89b3ce6386f1005fc8476b08f54d6f5fb;p=fw%2Faltos

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index aed4999e..6cc2467a 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -18,6 +18,12 @@
 #include <ao.h>
 #include <ao_quadrature.h>
 #include <ao_exti.h>
+#if AO_EVENT
+#include <ao_event.h>
+#define ao_quadrature_queue(q)	ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q])
+#else
+#define ao_quadrature_queue(q)
+#endif
 
 __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
 
@@ -59,6 +65,7 @@ ao_quadrature_isr(void)
 		default:
 			continue;
 		}
+		ao_quadrature_queue(q);
 		ao_wakeup(&ao_quadrature_count[q]);
 	}
 }
@@ -81,38 +88,22 @@ ao_quadrature_wait(uint8_t q)
 static void
 ao_quadrature_test(void)
 {
-#if 1
+	uint8_t	q;
+
+	ao_cmd_decimal();
+	q = ao_cmd_lex_i;
 	for (;;) {
 		int32_t	c;
 		flush();
-		c = ao_quadrature_wait(0);
+		c = ao_quadrature_wait(q);
 		printf ("new count %6d\n", c);
 		if (c == 100)
 			break;
 	}
-#endif
-#if 0
-	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 count %ld\n", a, b, ao_quadrature_count);
-			flush();
-			ao_yield();
-			old_a = a;
-			old_b = b;
-		}
-		if (ao_stdin_ready)
-			break;
-	}
-#endif		
 }
 
 static const struct ao_cmds ao_quadrature_cmds[] = {
-	{ ao_quadrature_test,	"q\0Test quadrature" },
+	{ ao_quadrature_test,	"q <unit>\0Test quadrature" },
 	{ 0, NULL }
 };