altos: Test multiple quadrature devices. Export quadrature count.

[fw/altos] / src / drivers / ao_quadrature.c

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 1cde32e74616e884548442e2232faf96a6416051..6cc2467a44ba2449121faaffcf4451d9401d0fe0 100644 (file)
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -18,91 +18,117 @@
 #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];
+
+static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
 
-__xdata int32_t 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)))
 
-static uint8_t wait_clear;
+#define port(q)        AO_QUADRATURE_ ## q ## _PORT
+#define bita(q) AO_QUADRATURE_ ## q ## _A
+#define bitb(q) AO_QUADRATURE_ ## q ## _B
+
+#define ao_quadrature_update(q) do {                                   \
+               ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2); \
+               ao_quadrature_state[q] |= ao_gpio_get(port(q), bita(q), 0); \
+               ao_quadrature_state[q] |= ao_gpio_get(port(q), bitb(q), 0) << 1; \
+       } while (0)
+       
 
 static void
 ao_quadrature_isr(void)
 {
-       if (wait_clear) {
-               wait_clear = 0;
-               ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_RISING);
-       } else {
-               wait_clear = 1;
-               ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_FALLING);
-               if (ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN))
-                       ao_quadrature_count++;
-               else
-                       ao_quadrature_count--;
-               ao_wakeup(&ao_quadrature_count);
+       uint8_t q;
+#if AO_QUADRATURE_COUNT > 0
+       ao_quadrature_update(0);
+#endif
+#if AO_QUADRATURE_COUNT > 1
+       ao_quadrature_update(1);
+#endif
+
+       for (q = 0; q < AO_QUADRATURE_COUNT; q++) {
+               switch (ao_quadrature_state[q]) {
+               case STATE(0, 1, 0, 0):
+                       ao_quadrature_count[q]++;
+                       break;
+               case STATE(1, 0, 0, 0):
+                       ao_quadrature_count[q]--;
+                       break;
+               default:
+                       continue;
+               }
+               ao_quadrature_queue(q);
+               ao_wakeup(&ao_quadrature_count[q]);
        }
 }
 
 int32_t
-ao_quadrature_poll(void)
+ao_quadrature_poll(uint8_t q)
 {
        int32_t ret;
-       ao_arch_critical(ret = ao_quadrature_count;);
+       ao_arch_critical(ret = ao_quadrature_count[q];);
        return ret;
 }
 
 int32_t
-ao_quadrature_wait(void)
+ao_quadrature_wait(uint8_t q)
 {
-       ao_sleep(&ao_quadrature_count);
-       return ao_quadrature_poll();
+       ao_sleep(&ao_quadrature_count[q]);
+       return ao_quadrature_poll(q);
 }
 
 static void
 ao_quadrature_test(void)
 {
-#if 0
+       uint8_t q;
+
+       ao_cmd_decimal();
+       q = ao_cmd_lex_i;
        for (;;) {
                int32_t c;
-               printf ("waiting...\n");
                flush();
-               c = ao_quadrature_wait();
-               printf ("new count %d\n", c);
-               if (ao_stdin_ready)
+               c = ao_quadrature_wait(q);
+               printf ("new count %6d\n", c);
+               if (c == 100)
                        break;
        }
-#endif
-       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\n", a, b);
-                       flush();
-                       ao_yield();
-                       old_a = a;
-                       old_b = b;
-               }
-               if (ao_stdin_ready)
-                       break;
-       }
-               
 }
 
 static const struct ao_cmds ao_quadrature_cmds[] = {
-       { ao_quadrature_test,   "q\0Test quadrature" },
+       { ao_quadrature_test,   "q <unit>\0Test quadrature" },
        { 0, NULL }
 };
 
+#define init(q) do {                                                   \
+               ao_enable_port(port(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));                       \
+       } while (0)
+
 void
 ao_quadrature_init(void)
 {
-       ao_quadrature_count = 0;
-
-       ao_enable_port(AO_QUADRATURE_PORT);
-       ao_exti_setup(AO_QUADRATURE_PORT, AO_QUADRATURE_A,
-                     AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED,
-                     ao_quadrature_isr);
-       ao_exti_enable(AO_QUADRATURE_PORT, AO_QUADRATURE_A);
-       ao_enable_input(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_EXTI_MODE_PULL_UP);
+#if AO_QUADRATURE_COUNT > 0
+       init(0);
+#endif
+#if AO_QUADRATURE_COUNT > 1
+       init(1);
+#endif
        ao_cmd_register(&ao_quadrature_cmds[0]);
 }