diff options
| -rw-r--r-- | src/drivers/ao_quadrature.c | 24 |
1 files changed, 14 insertions, 10 deletions
diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c index deecfb79..d9cdfe7c 100644 --- a/src/drivers/ao_quadrature.c +++ b/src/drivers/ao_quadrature.c @@ -39,20 +39,24 @@ static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2]; #define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN #define isr(q) ao_quadrature_isr_ ## q -#define DEBOUNCE 10 +#ifndef AO_QUADRATURE_DEBOUNCE +#define AO_QUADRATURE_DEBOUNCE 30 +#endif 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; - } +#if AO_QUADRATURE_DEBOUNCE > 0 + if (debounce->count > 0) { + debounce->count--; + } else if (cur != debounce->state) { + debounce->state = cur; + debounce->count = AO_QUADRATURE_DEBOUNCE; } return debounce->state; +#else + return cur; +#endif } static uint16_t @@ -84,9 +88,9 @@ _ao_quadrature_set(uint8_t q, uint8_t new) { uint8_t old = ao_quadrature_state[q]; if (old != new && new == 0) { - if (old & 2) + if (old == 2) _ao_quadrature_queue(q, 1); - else if (old & 1) + else if (old == 1) _ao_quadrature_queue(q, -1); } ao_quadrature_state[q] = new; |