X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_quadrature.c;h=cfa58da662bfbe218e6cdf672b6ec1232c523b00;hp=aed4999e974cb666a6293934a85cd9f4ca5efe96;hb=72b6c699d355fcd41addb9919d846e63105b9db7;hpb=11046bc89b3ce6386f1005fc8476b08f54d6f5fb

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index aed4999e..cfa58da6 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -18,6 +18,14 @@
 #include <ao.h>
 #include <ao_quadrature.h>
 #include <ao_exti.h>
+#include <ao_debounce.h>
+#include <ao_event.h>
+
+#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];
 
@@ -29,38 +37,75 @@ 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_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
@@ -81,44 +126,35 @@ ao_quadrature_wait(uint8_t q)
 static void
 ao_quadrature_test(void)
 {
-#if 1
+	uint8_t	q;
+
+	ao_cmd_decimal();
+	q = ao_cmd_lex_i;
 	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 }
 };
 
+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);			\
@@ -133,6 +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