#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 uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
+struct ao_debounce {
+ uint8_t state;
+ uint8_t 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)))
+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 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;
+#define DEBOUNCE 10
static uint8_t
-_ao_quadrature_get(struct ao_debounce *debounce) {
- uint8_t q = debounce_id(debounce);
- uint8_t v = 0;
-
- 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;
+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 v;
+ 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_queue(uint8_t q, int8_t step)
{
ao_wakeup(&ao_quadrature_count[q]);
}
-uint8_t quad_history[64];
-uint8_t quad_h;
-
static void
-_ao_quadrature_set(struct ao_debounce *debounce, uint8_t value) {
- uint8_t q = debounce_id(debounce);
-
- 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;
- }
-
- 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;
+_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)
{
- uint8_t q;
- for (q = 0; q < AO_QUADRATURE_COUNT; q++)
- _ao_debounce_start(&ao_quadrature_debounce[q]);
+#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_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;
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