altos: Fix up quadrature driver

Mostly works now, should work reliably with a bit of input filtering.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 1cde32e74616e884548442e2232faf96a6416051..1f94aa449266dac505411347497fb5edaed3d5e0 100644 (file)
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -21,23 +21,29 @@
 
 __xdata int32_t ao_quadrature_count;
 
-static uint8_t wait_clear;
+static uint8_t ao_quadrature_state;
+
+#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 void
 ao_quadrature_isr(void)
 {
-       if (wait_clear) {
-               wait_clear = 0;
-               ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_RISING);
-       } else {
-               wait_clear = 1;
-               ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_FALLING);
-               if (ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN))
-                       ao_quadrature_count++;
-               else
-                       ao_quadrature_count--;
-               ao_wakeup(&ao_quadrature_count);
+       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:
+               return;
        }
+       ao_wakeup(&ao_quadrature_count);
 }
 
 int32_t
@@ -58,17 +64,17 @@ ao_quadrature_wait(void)
 static void
 ao_quadrature_test(void)
 {
-#if 0
+#if 1
        for (;;) {
                int32_t c;
-               printf ("waiting...\n");
                flush();
                c = ao_quadrature_wait();
-               printf ("new count %d\n", c);
-               if (ao_stdin_ready)
+               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;
@@ -76,7 +82,7 @@ ao_quadrature_test(void)
                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\n", a, b);
+                       printf ("A %d B %d count %ld\n", a, b, ao_quadrature_count);
                        flush();
                        ao_yield();
                        old_a = a;
@@ -85,7 +91,7 @@ ao_quadrature_test(void)
                if (ao_stdin_ready)
                        break;
        }
-               
+#endif         
 }
 
 static const struct ao_cmds ao_quadrature_cmds[] = {
@@ -100,9 +106,12 @@ ao_quadrature_init(void)
 
        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_PRIORITY_MED,
+                     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_enable_input(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_EXTI_MODE_PULL_UP);
+       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);
        ao_cmd_register(&ao_quadrature_cmds[0]);
 }

diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h
index 17a76bd0893594bcc2f8ff8002c22dbb4ef9a9df..1f5ef4ffa24a42062f8f3f7463e6635b00e455a4 100644 (file)
--- a/src/stm-demo/ao_pins.h
+++ b/src/stm-demo/ao_pins.h
@@ -171,7 +171,7 @@ struct ao_adc {
 #define I2C_2_PB10_PB11                0
 
 #define AO_QUADRATURE_PORT     &stm_gpioc
-#define AO_QUADRATURE_A                0
-#define AO_QUADRATURE_B                1
+#define AO_QUADRATURE_A                1
+#define AO_QUADRATURE_B                0
 
 #endif /* _AO_PINS_H_ */