X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_quadrature.c;h=b50f1bf5c90b4c1e52f0ac73a77ca55a47b26203;hb=c49bd3cb0c31a51fae79ddc92237cc309be9a242;hp=59e845181ceea6f5f43f0fe1c854f185e2806076;hpb=16482bf5d63eafc5256f14a218d3a374f6584e0a;p=fw%2Faltos

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 59e84518..b50f1bf5 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -22,7 +22,7 @@
 #include <ao_fast_timer.h>
 #include <ao_event.h>
 
-__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
 #ifndef AO_QUADRATURE_SINGLE_CODE
 static int8_t ao_quadrature_step[AO_QUADRATURE_COUNT];
 #endif
@@ -73,7 +73,7 @@ ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct a
 	a = ao_debounce(a, &debounce_state[0]);
 	b = ao_debounce(b, &debounce_state[1]);
 
-	return a | (b << 1);
+	return (uint16_t) (a | (b << 1));
 }
 
 #define _ao_quadrature_get(q)	ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
@@ -111,7 +111,8 @@ static const struct {
 };
 
 static void
-_ao_quadrature_set(uint8_t q, uint8_t new) {
+_ao_quadrature_set(uint8_t q, uint8_t new)
+{
 	uint8_t	old;
 
 	ao_arch_block_interrupts();
@@ -129,13 +130,21 @@ static void
 ao_quadrature_isr(void)
 {
 #if AO_QUADRATURE_COUNT > 0
-	_ao_quadrature_set(0, _ao_quadrature_get(0));
+	_ao_quadrature_set(0, (uint8_t) _ao_quadrature_get(0));
 #endif
 #if AO_QUADRATURE_COUNT > 1
-	_ao_quadrature_set(1, _ao_quadrature_get(1));
+	_ao_quadrature_set(1, (uint8_t) _ao_quadrature_get(1));
 #endif
 }
 
+static void
+_ao_quadrature_start_one(uint8_t q, uint8_t new)
+{
+	ao_arch_block_interrupts();
+	ao_quadrature_state[q] = new;
+	ao_arch_release_interrupts();
+}
+
 int32_t
 ao_quadrature_poll(uint8_t q)
 {
@@ -154,15 +163,14 @@ ao_quadrature_wait(uint8_t q)
 static void
 ao_quadrature_test(void)
 {
-	uint8_t	q;
+	uint32_t q;
 	int32_t	c;
 	uint8_t	s;
 #ifndef AO_QUADRATURE_SINGLE_CODE
 	int8_t t = 0;
 #endif
 
-	ao_cmd_decimal();
-	q = ao_cmd_lex_i;
+	q = ao_cmd_decimal();
 	if (q >= AO_QUADRATURE_COUNT)
 		ao_cmd_status = ao_cmd_syntax_error;
 	if (ao_cmd_status != ao_cmd_success)
@@ -183,7 +191,7 @@ ao_quadrature_test(void)
 			t = ao_quadrature_step[q];
 			printf("step %3d ", t);
 #endif
-			printf ("count %3d state %2x\n", c, s);
+			printf ("count %3ld state %2x\n", (long) c, s);
 			flush();
 		}
 	}
@@ -204,9 +212,10 @@ static const struct ao_cmds ao_quadrature_cmds[] = {
 	{ 0, NULL }
 };
 
-#define init(q) do {					\
-		ao_enable_input(port(q), bita(q), 0);	\
-		ao_enable_input(port(q), bitb(q), 0);	\
+#define init(q) do {							\
+		ao_enable_input(port(q), bita(q), 0);			\
+		ao_enable_input(port(q), bitb(q), 0);			\
+		_ao_quadrature_start_one(q, (uint8_t) _ao_quadrature_get(q)); \
 	} while (0)
 
 void