altos/drivers: Make quadrature debounce longer by default. Fix state tracking

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

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index deecfb79422b9c2980507a0a00e9eb3344b64842..d9cdfe7c154334419679fdef2de7c58ec35caec8 100644 (file)
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -39,20 +39,24 @@ 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
+       return cur;
+#endif
 }
 
 static uint16_t
@@ -84,9 +88,9 @@ _ao_quadrature_set(uint8_t q, uint8_t new) {
        uint8_t old = ao_quadrature_state[q];
 
        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);
        }
        ao_quadrature_state[q] = new;