#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
+#include <ao_debounce.h>
+#include <ao_event.h>
-__xdata int32_t ao_quadrature_count;
+#define AO_QUADRATURE_DEBOUNCE_HOLD 3
-static uint8_t ao_quadrature_state;
+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];
#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 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 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;
+
+ 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;
+}
+
static void
-ao_quadrature_isr(void)
+_ao_quadrature_queue(uint8_t q, int8_t step)
{
- ao_quadrature_state = ((ao_quadrature_state & 3) << 2);
- ao_quadrature_state |= ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_QUADRATURE_A_PIN);
- ao_quadrature_state |= ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN) << 1;
+ ao_quadrature_count[q] += step;
+#if AO_EVENT
+ ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
+#endif
+ 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;
- switch (ao_quadrature_state) {
+ 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_count++;
+ _ao_quadrature_queue(q, 1);
break;
case STATE(1, 0, 0, 0):
- ao_quadrature_count--;
+ _ao_quadrature_queue(q, -1);
break;
- default:
- return;
}
- ao_wakeup(&ao_quadrature_count);
+}
+
+static void
+ao_quadrature_isr(void)
+{
+ uint8_t q;
+ for (q = 0; q < AO_QUADRATURE_COUNT; q++)
+ _ao_debounce_start(&ao_quadrature_debounce[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 1
+ uint8_t q;
+
+ ao_cmd_decimal();
+ q = ao_cmd_lex_i;
for (;;) {
int32_t c;
flush();
- c = ao_quadrature_wait();
+ c = ao_quadrature_wait(q);
printf ("new count %6d\n", c);
if (c == 100)
break;
}
-#endif
-#if 0
- 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 count %ld\n", a, b, ao_quadrature_count);
- flush();
- ao_yield();
- old_a = a;
- old_b = b;
- }
- if (ao_stdin_ready)
- break;
- }
-#endif
}
static const struct ao_cmds ao_quadrature_cmds[] = {
- { ao_quadrature_test, "q\0Test quadrature" },
+ { ao_quadrature_test, "q <unit>\0Test quadrature" },
{ 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)); \
+ } 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_MODE_RISING|AO_EXTI_PRIORITY_MED,
- ao_quadrature_isr);
- ao_exti_enable(AO_QUADRATURE_PORT, AO_QUADRATURE_A);
- ao_exti_setup(AO_QUADRATURE_PORT, AO_QUADRATURE_B,
- AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED,
- ao_quadrature_isr);
- ao_exti_enable(AO_QUADRATURE_PORT, AO_QUADRATURE_B);
+ ao_debounce_init();
+#if AO_QUADRATURE_COUNT > 0
+ init(0);
+#endif
+#if AO_QUADRATURE_COUNT > 1
+ init(1);
+#endif
ao_cmd_register(&ao_quadrature_cmds[0]);
}
projects / fw / altos / blobdiff