#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
+#include <ao_fast_timer.h>
+#include <ao_event.h>
-__xdata int32_t ao_quadrature_count;
-
-static uint8_t ao_quadrature_state;
+__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
+static int8_t ao_quadrature_raw[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 isr(q) ao_quadrature_isr_ ## q
+
+static inline uint16_t
+ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b) {
+ uint16_t v = stm_gpio_get_all(gpio);
+
+ return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3;
+}
+
+#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q))
+
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;
-
- switch (ao_quadrature_state) {
- case STATE(0, 1, 0, 0):
- ao_quadrature_count++;
- break;
- case STATE(1, 0, 0, 0):
- ao_quadrature_count--;
- break;
- default:
+ ao_quadrature_count[q] += step;
+#if AO_EVENT
+ ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
+#endif
+ ao_wakeup(&ao_quadrature_count[q]);
+}
+
+static const int8_t step[16] = {
+ [STATE(0,0,0,0)] = 0,
+ [STATE(0,0,0,1)] = -1,
+ [STATE(0,0,1,0)] = 1,
+ [STATE(0,0,1,1)] = 0,
+ [STATE(0,1,0,0)] = 1,
+ [STATE(0,1,1,0)] = 0,
+ [STATE(0,1,1,1)] = -1,
+ [STATE(1,0,0,0)] = -1,
+ [STATE(1,0,0,1)] = 0,
+ [STATE(1,0,1,0)] = 0,
+ [STATE(1,0,1,1)] = 1,
+ [STATE(1,1,0,0)] = 0,
+ [STATE(1,1,0,1)] = 1,
+ [STATE(1,1,1,0)] = -1,
+ [STATE(1,1,1,1)] = 0
+};
+
+static void
+_ao_quadrature_set(uint8_t q, uint8_t value) {
+ uint8_t v;
+
+ v = ao_quadrature_state[q] & 3;
+ value = value & 3;
+
+ if (v == value)
return;
+
+ ao_quadrature_state[q] = (v << 2) | value;
+
+ ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
+ if (value == 0) {
+ if (ao_quadrature_raw[q] == 4)
+ _ao_quadrature_queue(q, 1);
+ else if (ao_quadrature_raw[q] == -4)
+ _ao_quadrature_queue(q, -1);
+ ao_quadrature_raw[q] = 0;
}
- ao_wakeup(&ao_quadrature_count);
+}
+
+static void
+ao_quadrature_isr(void)
+{
+ _ao_quadrature_set(0, _ao_quadrature_get(0));
+ _ao_quadrature_set(1, _ao_quadrature_get(1));
}
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;
+ if (q >= AO_QUADRATURE_COUNT) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ printf ("count %d state %x raw %d\n",
+ ao_quadrature_count[q],
+ ao_quadrature_state[q],
+ ao_quadrature_raw[q]);
+#if 0
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 }
};
+#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_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);
+#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