altos: Add debounce helper. Use in button and quadrature drivers for TeleLCO

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

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 6cc2467a44ba2449121faaffcf4451d9401d0fe0..cfa58da662bfbe218e6cdf672b6ec1232c523b00 100644 (file)
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -18,12 +18,14 @@
 #include <ao.h>
 #include <ao_quadrature.h>
 #include <ao_exti.h>
-#if AO_EVENT
+#include <ao_debounce.h>
 #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
+
+#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];
 
@@ -35,41 +37,77 @@ static uint8_t      ao_quadrature_state[AO_QUADRATURE_COUNT];
 #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 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)
-       
+#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
 
-static void
-ao_quadrature_isr(void)
-{
-       uint8_t q;
+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
-       ao_quadrature_update(0);
+               q_case(0);
 #endif
 #if AO_QUADRATURE_COUNT > 1
-       ao_quadrature_update(1);
+               q_case(1);
 #endif
+       }
+       if (q == 0) {
+               quad_raw[quad_r] = v;
+               quad_r = (quad_r + 1) & 63;
+       }
+       return v;
+}
 
-       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]);
+static void
+_ao_quadrature_queue(uint8_t q, int8_t step)
+{
+       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;
+
+       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;
        }
 }
 
+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(uint8_t q)
 {
@@ -107,9 +145,16 @@ 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);                       \
@@ -124,6 +169,7 @@ static const struct ao_cmds ao_quadrature_cmds[] = {
 void
 ao_quadrature_init(void)
 {
+       ao_debounce_init();
 #if AO_QUADRATURE_COUNT > 0
        init(0);
 #endif