diff options
| author | Keith Packard <keithp@keithp.com> | 2014-05-15 09:31:24 -0600 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-05-15 09:31:24 -0600 |
| commit | 819f73698f57e76dca50fe4fadccebd23ffb776d (patch) | |
| tree | 76248f4f2f500fcbec025ee586d883eafc1c484f | |
| parent | da13064382e9673e69cdfae6abbac253c9fc42fc (diff) | |
altos: Make quadrature debounce per-pin rather than per-device
Debouncing per-pin means we don't lose transitions, which makes
counting a lot more precise.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/drivers/ao_quadrature.c | 39 | ||||
| -rw-r--r-- | src/telelco-v0.2/ao_pins.h | 2 |
2 files changed, 34 insertions, 7 deletions
diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c index 66a77dfa..0cdcc9fb 100644 --- a/src/drivers/ao_quadrature.c +++ b/src/drivers/ao_quadrature.c @@ -24,6 +24,13 @@ __xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT]; static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT]; +struct ao_debounce { + uint8_t state; + uint8_t count; +}; + +static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2]; + #define port(q) AO_QUADRATURE_ ## q ## _PORT #define bita(q) AO_QUADRATURE_ ## q ## _A #define bitb(q) AO_QUADRATURE_ ## q ## _B @@ -31,14 +38,35 @@ static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT]; #define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN #define isr(q) ao_quadrature_isr_ ## q -static inline uint16_t -ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b) { - uint16_t v = stm_gpio_get_all(gpio); +#define DEBOUNCE 10 - return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3; +static uint8_t +ao_debounce(uint8_t cur, struct ao_debounce *debounce) +{ + if (cur == debounce->state) + debounce->count = 0; + else { + if (++debounce->count == DEBOUNCE) { + debounce->state = cur; + debounce->count = 0; + } + } + return debounce->state; } -#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q)) +static uint16_t +ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct ao_debounce debounce_state[2]) { + uint16_t v = ~stm_gpio_get_all(gpio); + uint8_t a = (v >> pin_a) & 1; + uint8_t b = (v >> pin_b) & 1; + + a = ao_debounce(a, &debounce_state[0]); + b = ao_debounce(b, &debounce_state[1]); + + return a | (b << 1); +} + +#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q]) static void _ao_quadrature_queue(uint8_t q, int8_t step) @@ -50,7 +78,6 @@ _ao_quadrature_queue(uint8_t q, int8_t step) ao_wakeup(&ao_quadrature_count[q]); } - static void _ao_quadrature_set(uint8_t q, uint8_t new) { uint8_t old = ao_quadrature_state[q]; diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h index 609e5494..a6fd4ff8 100644 --- a/src/telelco-v0.2/ao_pins.h +++ b/src/telelco-v0.2/ao_pins.h @@ -72,7 +72,7 @@ #define PACKET_HAS_SLAVE 0 #define PACKET_HAS_MASTER 0 -#define FAST_TIMER_FREQ 200 /* 5ms for debouncing */ +#define FAST_TIMER_FREQ 10000 /* .1ms for debouncing */ /* * Radio is a cc1120 connected via SPI |