Set the timer to 200Hz for a 5ms debounce interval. Then, simply look
for transitions ending in both bits in the encoder being off, which
indicates the the encoder is resting in a detent. If bit '2' is
turning off, the encoder was rotated clockwise, otherwise the encoder
was rotated counter clockwise.
This is a lot more reliable, although still not perfect.
Signed-off-by: Keith Packard <keithp@keithp.com>
#include <ao_event.h>
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
#include <ao_event.h>
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
-static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
-static int8_t ao_quadrature_raw[AO_QUADRATURE_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 uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
#define port(q) AO_QUADRATURE_ ## q ## _PORT
#define bita(q) AO_QUADRATURE_ ## q ## _A
#define port(q) AO_QUADRATURE_ ## q ## _PORT
#define bita(q) AO_QUADRATURE_ ## q ## _A
ao_wakeup(&ao_quadrature_count[q]);
}
ao_wakeup(&ao_quadrature_count[q]);
}
-static const int8_t step[16] = {
- [STATE(0,0,0,0)] = 0,
- [STATE(0,0,0,1)] = -1,
- [STATE(0,0,1,0)] = 1,
- [STATE(0,0,1,1)] = 0,
- [STATE(0,1,0,0)] = 1,
- [STATE(0,1,1,0)] = 0,
- [STATE(0,1,1,1)] = -1,
- [STATE(1,0,0,0)] = -1,
- [STATE(1,0,0,1)] = 0,
- [STATE(1,0,1,0)] = 0,
- [STATE(1,0,1,1)] = 1,
- [STATE(1,1,0,0)] = 0,
- [STATE(1,1,0,1)] = 1,
- [STATE(1,1,1,0)] = -1,
- [STATE(1,1,1,1)] = 0
-};
-_ao_quadrature_set(uint8_t q, uint8_t value) {
- uint8_t v;
-
- v = ao_quadrature_state[q] & 3;
- value = value & 3;
+_ao_quadrature_set(uint8_t q, uint8_t new) {
+ uint8_t old = ao_quadrature_state[q];
- if (v == value)
- return;
-
- ao_quadrature_state[q] = (v << 2) | value;
-
- ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
- if (value == 0) {
- if (ao_quadrature_raw[q] == 4)
+ if (old != new && new == 0) {
+ if (old & 2)
_ao_quadrature_queue(q, 1);
_ao_quadrature_queue(q, 1);
- else if (ao_quadrature_raw[q] == -4)
_ao_quadrature_queue(q, -1);
_ao_quadrature_queue(q, -1);
- ao_quadrature_raw[q] = 0;
+ ao_quadrature_state[q] = new;
}
static void
ao_quadrature_isr(void)
{
}
static void
ao_quadrature_isr(void)
{
+#if AO_QUADRATURE_COUNT > 0
_ao_quadrature_set(0, _ao_quadrature_get(0));
_ao_quadrature_set(0, _ao_quadrature_get(0));
+#endif
+#if AO_QUADRATURE_COUNT > 1
_ao_quadrature_set(1, _ao_quadrature_get(1));
_ao_quadrature_set(1, _ao_quadrature_get(1));
ao_quadrature_test(void)
{
uint8_t q;
ao_quadrature_test(void)
{
uint8_t q;
+ int32_t c;
+ uint8_t s;
ao_cmd_decimal();
q = ao_cmd_lex_i;
ao_cmd_decimal();
q = ao_cmd_lex_i;
ao_cmd_status = ao_cmd_syntax_error;
return;
}
ao_cmd_status = ao_cmd_syntax_error;
return;
}
- printf ("count %d state %x raw %d\n",
- ao_quadrature_count[q],
- ao_quadrature_state[q],
- ao_quadrature_raw[q]);
+
+ 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;
#if 0
for (;;) {
int32_t c;
#define TIMER_23467_SCALER 1
#endif
#define TIMER_23467_SCALER 1
#endif
-#define TIMER_10kHz ((AO_PCLK1 * TIMER_23467_SCALER) / 10000)
+#ifndef FAST_TIMER_FREQ
+#define FAST_TIMER_FREQ 10000
+#endif
+
+#define TIMER_FAST ((AO_PCLK1 * TIMER_23467_SCALER) / FAST_TIMER_FREQ)
void
ao_fast_timer_init(void)
void
ao_fast_timer_init(void)
/* Turn on timer 6 */
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
/* Turn on timer 6 */
stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
- stm_tim6.psc = TIMER_10kHz;
+ stm_tim6.psc = TIMER_FAST;
stm_tim6.arr = 9;
stm_tim6.cnt = 0;
stm_tim6.arr = 9;
stm_tim6.cnt = 0;
#define PACKET_HAS_SLAVE 0
#define PACKET_HAS_MASTER 0
#define PACKET_HAS_SLAVE 0
#define PACKET_HAS_MASTER 0
+#define FAST_TIMER_FREQ 200 /* 5ms for debouncing */
+
/*
* Radio is a cc1120 connected via SPI
*/
/*
* Radio is a cc1120 connected via SPI
*/