#include <ao_event.h>
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+#ifndef AO_QUADRATURE_SINGLE_CODE
+static int8_t ao_quadrature_step[AO_QUADRATURE_COUNT];
+#endif
+
static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
struct ao_debounce {
#define isr(q) ao_quadrature_isr_ ## q
#ifndef AO_QUADRATURE_DEBOUNCE
-#define AO_QUADRATURE_DEBOUNCE 30
+#error must define AO_QUADRATURE_DEBOUNCE
#endif
static uint8_t
#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_quadrature_step(uint8_t q, int8_t step)
{
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ ao_quadrature_step[q] += step;
+ if (ao_quadrature_state[q] != 0)
+ return;
+ if (ao_quadrature_step[q] >= 4) {
+ ao_quadrature_step[q] = 0;
+ step = 1;
+ } else if (ao_quadrature_step[q] <= -4) {
+ ao_quadrature_step[q] = 0;
+ step = -1;
+ } else
+ return;
+#endif
ao_quadrature_count[q] += step;
#if AO_EVENT
ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
ao_wakeup(&ao_quadrature_count[q]);
}
-#if AO_QUADRATURE_SINGLE_CODE
-struct ao_quadrature_step {
- uint8_t inc;
- uint8_t dec;
+static const struct {
+ uint8_t prev, next;
+} ao_quadrature_steps[4] = {
+ [0] { .prev = 2, .next = 1 },
+ [1] { .prev = 0, .next = 3 },
+ [3] { .prev = 1, .next = 2 },
+ [2] { .prev = 3, .next = 0 },
};
-static struct ao_quadrature_step ao_quadrature_steps[4] = {
- [0] = { .inc = 1, .dec = 2 },
- [1] = { .inc = 3, .dec = 0 },
- [3] = { .inc = 2, .dec = 1 },
- [2] = { .inc = 0, .dec = 3 },
-};
-#endif
-
static void
_ao_quadrature_set(uint8_t q, uint8_t new) {
- uint8_t old = ao_quadrature_state[q];
+ uint8_t old;
-#ifdef AO_QUADRATURE_SINGLE_CODE
- if (new == ao_quadrature_steps[old].inc) {
- _ao_quadrature_queue(q, 1);
- } else if (new == ao_quadrature_steps[old].dec) {
- _ao_quadrature_queue(q, -1);
- }
-#else
- if (old != new && new == 0) {
- if (old == 2)
- _ao_quadrature_queue(q, 1);
- else if (old == 1)
- _ao_quadrature_queue(q, -1);
- }
-#endif
+ ao_arch_block_interrupts();
+ old = ao_quadrature_state[q];
ao_quadrature_state[q] = new;
+ ao_arch_release_interrupts();
+
+ if (new == ao_quadrature_steps[old].next)
+ _ao_quadrature_step(q, 1);
+ else if (new == ao_quadrature_steps[old].prev)
+ _ao_quadrature_step(q, -1);
}
static void
uint8_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;
- if (q >= AO_QUADRATURE_COUNT) {
+ if (q >= AO_QUADRATURE_COUNT)
ao_cmd_status = ao_cmd_syntax_error;
+ if (ao_cmd_status != ao_cmd_success)
return;
- }
c = -10000;
s = 0;
while (ao_quadrature_count[q] != 10) {
if (ao_quadrature_count[q] != c ||
- ao_quadrature_state[q] != s) {
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ ao_quadrature_step[q] != t ||
+#endif
+ ao_quadrature_state[q] != s)
+ {
c = ao_quadrature_count[q];
s = ao_quadrature_state[q];
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ t = ao_quadrature_step[q];
+ printf("step %3d ", t);
+#endif
printf ("count %3d state %2x\n", c, s);
flush();
}