X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_quadrature.c;h=a5fbd1daaa43e30340a066373a8221cdb6d19b34;hp=59e845181ceea6f5f43f0fe1c854f185e2806076;hb=6aeb000899ad7f22e92b487b5891664554bc4d33;hpb=16482bf5d63eafc5256f14a218d3a374f6584e0a

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 59e84518..a5fbd1da 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -22,7 +22,7 @@
 #include <ao_fast_timer.h>
 #include <ao_event.h>
 
-__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
 #ifndef AO_QUADRATURE_SINGLE_CODE
 static int8_t ao_quadrature_step[AO_QUADRATURE_COUNT];
 #endif
@@ -111,7 +111,8 @@ static const struct {
 };
 
 static void
-_ao_quadrature_set(uint8_t q, uint8_t new) {
+_ao_quadrature_set(uint8_t q, uint8_t new)
+{
 	uint8_t	old;
 
 	ao_arch_block_interrupts();
@@ -136,6 +137,14 @@ ao_quadrature_isr(void)
 #endif
 }
 
+static void
+_ao_quadrature_start_one(uint8_t q, uint8_t new)
+{
+	ao_arch_block_interrupts();
+	ao_quadrature_state[q] = new;
+	ao_arch_release_interrupts();
+}
+
 int32_t
 ao_quadrature_poll(uint8_t q)
 {
@@ -161,8 +170,7 @@ ao_quadrature_test(void)
 	int8_t t = 0;
 #endif
 
-	ao_cmd_decimal();
-	q = ao_cmd_lex_i;
+	q = ao_cmd_decimal();
 	if (q >= AO_QUADRATURE_COUNT)
 		ao_cmd_status = ao_cmd_syntax_error;
 	if (ao_cmd_status != ao_cmd_success)
@@ -204,9 +212,10 @@ static const struct ao_cmds ao_quadrature_cmds[] = {
 	{ 0, NULL }
 };
 
-#define init(q) do {					\
-		ao_enable_input(port(q), bita(q), 0);	\
-		ao_enable_input(port(q), bitb(q), 0);	\
+#define init(q) do {							\
+		ao_enable_input(port(q), bita(q), 0);			\
+		ao_enable_input(port(q), bitb(q), 0);			\
+		_ao_quadrature_start_one(q, _ao_quadrature_get(q));	\
 	} while (0)
 
 void