diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/ao_gps_ublox.c | 2 | ||||
| -rw-r--r-- | src/drivers/ao_pad.c | 6 | ||||
| -rw-r--r-- | src/drivers/ao_pca9922.c | 21 | ||||
| -rw-r--r-- | src/drivers/ao_quadrature.c | 66 |
4 files changed, 50 insertions, 45 deletions
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index 01169522..8676a670 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -713,7 +713,7 @@ ao_gps(void) __reentrant ao_gps_data.flags |= AO_GPS_RUNNING; if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) { uint8_t nsat = nav_sol.nsat; - ao_gps_data.flags |= AO_GPS_VALID; + ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID; if (nsat > 15) nsat = 15; ao_gps_data.flags |= nsat; diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c index 62ae68e9..144cbd70 100644 --- a/src/drivers/ao_pad.c +++ b/src/drivers/ao_pad.c @@ -153,11 +153,11 @@ ao_pad_monitor(void) * * v_pyro \ * 100k igniter - * output / + * output / * 100k \ * sense relay - * 27k / - * gnd --- + * 27k / + * gnd --- * * If the relay is closed, then sense will be 0 * If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2 diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c index d376b968..6d1b5fae 100644 --- a/src/drivers/ao_pca9922.c +++ b/src/drivers/ao_pca9922.c @@ -66,6 +66,24 @@ ao_led_set_mask(uint8_t colors, uint8_t mask) ao_led_apply(); } +#define LED_TEST 1 +#if LED_TEST +static void +ao_led_test(void) +{ + ao_cmd_hexbyte(); + if (ao_cmd_status != ao_cmd_success) + return; + ao_led_set(ao_cmd_lex_i); + printf("LEDs set to %02x\n", ao_cmd_lex_i); +} + +static const struct ao_cmds ao_led_cmds[] = { + { ao_led_test, "l <value>\0Set LEDs to <value>" }, + { 0, NULL } +}; +#endif + void ao_led_toggle(uint8_t colors) { @@ -86,4 +104,7 @@ ao_led_init(uint8_t enable) { (void) enable; ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1); +#if LED_TEST + ao_cmd_register(&ao_led_cmds[0]); +#endif } diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c index d07488d0..66a77dfa 100644 --- a/src/drivers/ao_quadrature.c +++ b/src/drivers/ao_quadrature.c @@ -22,11 +22,7 @@ #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 @@ -54,51 +50,29 @@ _ao_quadrature_queue(uint8_t q, int8_t step) 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; +_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); - else if (ao_quadrature_raw[q] == -4) + else if (old & 1) _ao_quadrature_queue(q, -1); - ao_quadrature_raw[q] = 0; } + ao_quadrature_state[q] = new; } static void ao_quadrature_isr(void) { +#if AO_QUADRATURE_COUNT > 0 _ao_quadrature_set(0, _ao_quadrature_get(0)); +#endif +#if AO_QUADRATURE_COUNT > 1 _ao_quadrature_set(1, _ao_quadrature_get(1)); +#endif } int32_t @@ -120,6 +94,8 @@ static void ao_quadrature_test(void) { uint8_t q; + int32_t c; + uint8_t s; ao_cmd_decimal(); q = ao_cmd_lex_i; @@ -127,10 +103,18 @@ ao_quadrature_test(void) 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; |