#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
-#include <ao_debounce.h>
+#include <ao_fast_timer.h>
#include <ao_event.h>
-#define AO_QUADRATURE_DEBOUNCE_HOLD 3
-
-static __xdata struct ao_debounce ao_quadrature_debounce[AO_QUADRATURE_COUNT];
-
-#define debounce_id(d) ((d) - ao_quadrature_debounce)
-
__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];
#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)))
#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 q_case(q) case q: v = (!ao_gpio_get(port(q), bita(q), pina(q))) | ((!ao_gpio_get(port(q), bitb(q), pinb(q))) << 1); break
-
-uint8_t quad_raw[64];
-uint8_t quad_r;
-
-static uint8_t
-_ao_quadrature_get(struct ao_debounce *debounce) {
- uint8_t q = debounce_id(debounce);
- uint8_t v = 0;
+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);
- switch (q) {
-#if AO_QUADRATURE_COUNT > 0
- q_case(0);
-#endif
-#if AO_QUADRATURE_COUNT > 1
- q_case(1);
-#endif
- }
- if (q == 0) {
- quad_raw[quad_r] = v;
- quad_r = (quad_r + 1) & 63;
- }
- return v;
+ return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3;
}
+#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q))
+
static void
_ao_quadrature_queue(uint8_t q, int8_t step)
{
ao_wakeup(&ao_quadrature_count[q]);
}
-uint8_t quad_history[64];
-uint8_t quad_h;
+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(struct ao_debounce *debounce, uint8_t value) {
- uint8_t q = debounce_id(debounce);
+_ao_quadrature_set(uint8_t q, uint8_t value) {
+ uint8_t v;
- ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2);
- ao_quadrature_state[q] |= value;
-
- if (q == 0) {
- quad_history[quad_h] = ao_quadrature_state[0];
- quad_h = (quad_h + 1) & 63;
- }
+ v = ao_quadrature_state[q] & 3;
+ value = value & 3;
- switch (ao_quadrature_state[q]) {
- case STATE(0, 1, 0, 0):
- _ao_quadrature_queue(q, 1);
- break;
- case STATE(1, 0, 0, 0):
- _ao_quadrature_queue(q, -1);
- break;
+ if (v == value)
+ return;
+
+ ao_quadrature_state[q] = (v << 2) | value;
+
+ ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
+ if (value == 0) {
+ if (ao_quadrature_raw[q] == 4)
+ _ao_quadrature_queue(q, 1);
+ else if (ao_quadrature_raw[q] == -4)
+ _ao_quadrature_queue(q, -1);
+ ao_quadrature_raw[q] = 0;
}
}
static void
ao_quadrature_isr(void)
{
- uint8_t q;
- for (q = 0; q < AO_QUADRATURE_COUNT; q++)
- _ao_debounce_start(&ao_quadrature_debounce[q]);
+ _ao_quadrature_set(0, _ao_quadrature_get(0));
+ _ao_quadrature_set(1, _ao_quadrature_get(1));
}
int32_t
ao_cmd_decimal();
q = ao_cmd_lex_i;
+ if (q >= AO_QUADRATURE_COUNT) {
+ 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]);
+#if 0
for (;;) {
int32_t c;
flush();
if (c == 100)
break;
}
+#endif
}
static const struct ao_cmds ao_quadrature_cmds[] = {
{ 0, NULL }
};
-static void
-ao_quadrature_debounce_init(struct ao_debounce *debounce) {
- debounce->hold = AO_QUADRATURE_DEBOUNCE_HOLD;
- debounce->_get = _ao_quadrature_get;
- debounce->_set = _ao_quadrature_set;
-}
-
-#define init(q) do { \
- ao_enable_port(port(q)); \
- ao_quadrature_debounce_init(&ao_quadrature_debounce[q]); \
- ao_exti_setup(port(q), bita(q), \
- AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
- ao_quadrature_isr); \
- ao_exti_enable(port(q), bita(q)); \
- \
- ao_exti_setup(port(q), bitb(q), \
- AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
- ao_quadrature_isr); \
- ao_exti_enable(port(q), bitb(q)); \
+#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_debounce_init();
#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]);
}
projects / fw / altos / blobdiff