*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#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[AO_QUADRATURE_COUNT];
+static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
-static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
+struct ao_debounce {
+ uint8_t state;
+ uint8_t 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)))
+static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2];
#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
-#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 DEBOUNCE 10
+
+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;
+ }
+ }
+ return debounce->state;
+}
+
+static uint16_t
+ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct ao_debounce debounce_state[2]) {
+ uint16_t v = ~stm_gpio_get_all(gpio);
+ uint8_t a = (v >> pin_a) & 1;
+ uint8_t b = (v >> pin_b) & 1;
+
+ a = ao_debounce(a, &debounce_state[0]);
+ b = ao_debounce(b, &debounce_state[1]);
+
+ return a | (b << 1);
+}
+
+#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[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]);
+}
+
+static void
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+ uint8_t old = ao_quadrature_state[q];
+
+ if (old != new && new == 0) {
+ if (old & 2)
+ _ao_quadrature_queue(q, 1);
+ else if (old & 1)
+ _ao_quadrature_queue(q, -1);
+ }
+ ao_quadrature_state[q] = new;
+}
static void
ao_quadrature_isr(void)
{
- uint8_t q;
#if AO_QUADRATURE_COUNT > 0
- ao_quadrature_update(0);
+ _ao_quadrature_set(0, _ao_quadrature_get(0));
#endif
#if AO_QUADRATURE_COUNT > 1
- ao_quadrature_update(1);
+ _ao_quadrature_set(1, _ao_quadrature_get(1));
#endif
-
- 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_wakeup(&ao_quadrature_count[q]);
- }
}
int32_t
static void
ao_quadrature_test(void)
{
-#if 1
+ uint8_t q;
+ int32_t c;
+ uint8_t s;
+
+ ao_cmd_decimal();
+ q = ao_cmd_lex_i;
+ if (q >= AO_QUADRATURE_COUNT) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+
+ c = -10000;
+ s = 0;
+ while (ao_quadrature_count[q] != 10) {
+ if (ao_quadrature_count[q] != c ||
+ ao_quadrature_state[q] != s) {
+ c = ao_quadrature_count[q];
+ s = ao_quadrature_state[q];
+ printf ("count %3d state %2x\n", c, s);
+ flush();
+ }
+ }
+#if 0
for (;;) {
int32_t c;
flush();
- c = ao_quadrature_wait(0);
+ 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_port(port(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)); \
+#define init(q) do { \
+ ao_enable_input(port(q), bita(q), 0); \
+ ao_enable_input(port(q), bitb(q), 0); \
} while (0)
void
#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