diff options
Diffstat (limited to 'src/drivers/ao_quadrature.c')
| -rw-r--r-- | src/drivers/ao_quadrature.c | 122 |
1 files changed, 78 insertions, 44 deletions
diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c index 6cc2467a..d07488d0 100644 --- a/src/drivers/ao_quadrature.c +++ b/src/drivers/ao_quadrature.c @@ -18,16 +18,12 @@ #include <ao.h> #include <ao_quadrature.h> #include <ao_exti.h> -#if AO_EVENT +#include <ao_fast_timer.h> #include <ao_event.h> -#define ao_quadrature_queue(q) ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q]) -#else -#define ao_quadrature_queue(q) -#endif __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))) @@ -35,41 +31,76 @@ static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT]; #define port(q) AO_QUADRATURE_ ## q ## _PORT #define bita(q) AO_QUADRATURE_ ## q ## _A #define bitb(q) AO_QUADRATURE_ ## q ## _B +#define pina(q) AO_QUADRATURE_ ## q ## _A ## _PIN +#define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN +#define isr(q) ao_quadrature_isr_ ## q -#define ao_quadrature_update(q) do { \ - ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2); \ - ao_quadrature_state[q] |= ao_gpio_get(port(q), bita(q), 0); \ - ao_quadrature_state[q] |= ao_gpio_get(port(q), bitb(q), 0) << 1; \ - } while (0) - +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); + + return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3; +} + +#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q)) static void -ao_quadrature_isr(void) +_ao_quadrature_queue(uint8_t q, int8_t step) { - uint8_t q; -#if AO_QUADRATURE_COUNT > 0 - ao_quadrature_update(0); -#endif -#if AO_QUADRATURE_COUNT > 1 - ao_quadrature_update(1); + ao_quadrature_count[q] += step; +#if AO_EVENT + ao_event_put_isr(AO_EVENT_QUADRATURE, q, step); #endif + ao_wakeup(&ao_quadrature_count[q]); +} - for (q = 0; q < AO_QUADRATURE_COUNT; q++) { - switch (ao_quadrature_state[q]) { - case STATE(0, 1, 0, 0): - ao_quadrature_count[q]++; - break; - case STATE(1, 0, 0, 0): - ao_quadrature_count[q]--; - break; - default: - continue; - } - ao_quadrature_queue(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 +}; + +static void +_ao_quadrature_set(uint8_t q, uint8_t value) { + uint8_t v; + + v = ao_quadrature_state[q] & 3; + value = value & 3; + + 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) + _ao_quadrature_queue(q, 1); + else if (ao_quadrature_raw[q] == -4) + _ao_quadrature_queue(q, -1); + ao_quadrature_raw[q] = 0; } } +static void +ao_quadrature_isr(void) +{ + _ao_quadrature_set(0, _ao_quadrature_get(0)); + _ao_quadrature_set(1, _ao_quadrature_get(1)); +} + int32_t ao_quadrature_poll(uint8_t q) { @@ -92,6 +123,15 @@ ao_quadrature_test(void) ao_cmd_decimal(); q = ao_cmd_lex_i; + if (q >= AO_QUADRATURE_COUNT) { + 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]); +#if 0 for (;;) { int32_t c; flush(); @@ -100,6 +140,7 @@ ao_quadrature_test(void) if (c == 100) break; } +#endif } static const struct ao_cmds ao_quadrature_cmds[] = { @@ -107,18 +148,9 @@ static const struct ao_cmds ao_quadrature_cmds[] = { { 0, NULL } }; -#define init(q) do { \ - ao_enable_port(port(q)); \ - \ - ao_exti_setup(port(q), bita(q), \ - AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ - ao_quadrature_isr); \ - ao_exti_enable(port(q), bita(q)); \ - \ - ao_exti_setup(port(q), bitb(q), \ - AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ - ao_quadrature_isr); \ - ao_exti_enable(port(q), bitb(q)); \ +#define init(q) do { \ + ao_enable_input(port(q), bita(q), 0); \ + ao_enable_input(port(q), bitb(q), 0); \ } while (0) void @@ -130,5 +162,7 @@ ao_quadrature_init(void) #if AO_QUADRATURE_COUNT > 1 init(1); #endif + ao_fast_timer_init(); + ao_fast_timer_on(ao_quadrature_isr); ao_cmd_register(&ao_quadrature_cmds[0]); } |