From: Keith Packard <keithp@keithp.com>
Date: Wed, 4 Jul 2018 23:08:31 +0000 (-0700)
Subject: altos: Fetch current quadrature status at startup time
X-Git-Tag: 1.8.6~1^2~7
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=323a79e6ed3dfdd2afadfc2a464bb0610380b03b

altos: Fetch current quadrature status at startup time

This avoids having the state appear to change the first time we look
at the device.

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

diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 59e84518..250e035f 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -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)
 {
@@ -204,9 +213,10 @@ 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