altos/driver: Add support for one-step-per-click quadrature encoder

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

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index deecfb79422b9c2980507a0a00e9eb3344b64842..98bd7c083f7eaaec4f0bdcb33f5025e0c7f0bd61 100644 (file)
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -39,20 +39,25 @@ static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2];
 #define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
 #define isr(q)  ao_quadrature_isr_ ## q
 
-#define DEBOUNCE       10
+#ifndef AO_QUADRATURE_DEBOUNCE
+#define AO_QUADRATURE_DEBOUNCE 30
+#endif
 
 static uint8_t
 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;
-               }
+#if AO_QUADRATURE_DEBOUNCE > 0
+       if (debounce->count > 0) {
+               debounce->count--;
+       } else if (cur != debounce->state) {
+               debounce->state = cur;
+               debounce->count = AO_QUADRATURE_DEBOUNCE;
        }
        return debounce->state;
+#else
+       (void) debounce;
+       return cur;
+#endif
 }
 
 static uint16_t
@@ -79,16 +84,38 @@ _ao_quadrature_queue(uint8_t q, int8_t step)
        ao_wakeup(&ao_quadrature_count[q]);
 }
 
+#if AO_QUADRATURE_SINGLE_CODE
+struct ao_quadrature_step {
+       uint8_t inc;
+       uint8_t dec;
+};
+
+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];
 
+#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)
+               if (old == 2)
                        _ao_quadrature_queue(q, 1);
-               else if (old & 1)
+               else if (old == 1)
                        _ao_quadrature_queue(q, -1);
        }
+#endif
        ao_quadrature_state[q] = new;
 }