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-rw-r--r--src/drivers/ao_button.c82
-rw-r--r--src/drivers/ao_event.c17
-rw-r--r--src/drivers/ao_event.h6
-rw-r--r--src/drivers/ao_quadrature.c108
4 files changed, 136 insertions, 77 deletions
diff --git a/src/drivers/ao_button.c b/src/drivers/ao_button.c
index a507c909..7b1fb530 100644
--- a/src/drivers/ao_button.c
+++ b/src/drivers/ao_button.c
@@ -18,6 +18,7 @@
#include <ao.h>
#include <ao_button.h>
#include <ao_exti.h>
+#include <ao_debounce.h>
#if AO_EVENT
#include <ao_event.h>
#define ao_button_queue(b,v) ao_event_put_isr(AO_EVENT_BUTTON, b, v)
@@ -25,55 +26,70 @@
#define ao_button_queue(b,v)
#endif
-static uint8_t ao_button[AO_BUTTON_COUNT];
-static AO_TICK_TYPE ao_button_time[AO_BUTTON_COUNT];
+#define AO_BUTTON_DEBOUNCE_HOLD 10
-#define AO_DEBOUNCE AO_MS_TO_TICKS(20)
+static struct ao_debounce ao_button_debounce[AO_BUTTON_COUNT];
#define port(q) AO_BUTTON_ ## q ## _PORT
#define bit(q) AO_BUTTON_ ## q
#define pin(q) AO_BUTTON_ ## q ## _PIN
-static void
-ao_button_do(uint8_t b, uint8_t v)
-{
- /* Debounce */
- if ((AO_TICK_SIGNED) (ao_tick_count - ao_button_time[b]) < AO_DEBOUNCE)
- return;
-
- /* pins are inverted */
- v = !v;
- if (ao_button[b] != v) {
- ao_button[b] = v;
- ao_button_time[b] = ao_tick_count;
- ao_button_queue(b, v);
- ao_wakeup(&ao_button[b]);
- }
-}
+/* pins are inverted */
+#define ao_button_value(b) !ao_gpio_get(port(b), bit(b), pin(b))
-#define ao_button_update(b) ao_button_do(b, ao_gpio_get(port(b), bit(b), pin(b)))
-
-static void
-ao_button_isr(void)
+static uint8_t
+_ao_button_get(struct ao_debounce *debounce)
{
+ uint8_t b = debounce - ao_button_debounce;
+
+ switch (b) {
#if AO_BUTTON_COUNT > 0
- ao_button_update(0);
+ case 0: return ao_button_value(0);
#endif
#if AO_BUTTON_COUNT > 1
- ao_button_update(1);
+ case 1: return ao_button_value(1);
#endif
#if AO_BUTTON_COUNT > 2
- ao_button_update(2);
+ case 2: return ao_button_value(2);
#endif
#if AO_BUTTON_COUNT > 3
- ao_button_update(3);
+ case 3: return ao_button_value(3);
#endif
#if AO_BUTTON_COUNT > 4
- ao_button_update(4);
+ case 4: return ao_button_value(4);
#endif
+ }
+}
+
+static void
+_ao_button_set(struct ao_debounce *debounce, uint8_t value)
+{
+ uint8_t b = debounce - ao_button_debounce;
+
+ ao_button_queue(b, value);
+}
+
+
+#define ao_button_update(b) ao_button_do(b, ao_gpio_get(port(b), bit(b), pin(b)))
+
+static void
+ao_button_debounce_init(struct ao_debounce *debounce) {
+ debounce->hold = AO_BUTTON_DEBOUNCE_HOLD;
+ debounce->_get = _ao_button_get;
+ debounce->_set = _ao_button_set;
+}
+
+static void
+ao_button_isr(void)
+{
+ uint8_t b;
+
+ for (b = 0; b < AO_BUTTON_COUNT; b++)
+ _ao_debounce_start(&ao_button_debounce[b]);
}
#define init(b) do { \
+ ao_button_debounce_init(&ao_button_debounce[b]); \
ao_enable_port(port(b)); \
\
ao_exti_setup(port(b), bit(b), \
@@ -91,4 +107,14 @@ ao_button_init(void)
#if AO_BUTTON_COUNT > 1
init(1);
#endif
+#if AO_BUTTON_COUNT > 2
+ init(2);
+#endif
+#if AO_BUTTON_COUNT > 3
+ init(3);
+#endif
+#if AO_BUTTON_COUNT > 4
+ init(4);
+#endif
+ ao_debounce_init();
}
diff --git a/src/drivers/ao_event.c b/src/drivers/ao_event.c
index 440ef2de..c428125d 100644
--- a/src/drivers/ao_event.c
+++ b/src/drivers/ao_event.c
@@ -25,11 +25,6 @@
#define ao_event_queue_empty() (ao_event_queue_insert == ao_event_queue_remove)
#define ao_event_queue_full() (ao_event_queue_next(ao_event_queue_insert) == ao_event_queue_remove)
-/*
- * Whether a sequence of events from the same device should be collapsed
- */
-#define ao_event_can_collapse(type) ((type) == AO_EVENT_QUADRATURE)
-
struct ao_event ao_event_queue[AO_EVENT_QUEUE];
uint8_t ao_event_queue_insert;
uint8_t ao_event_queue_remove;
@@ -48,17 +43,9 @@ ao_event_get(struct ao_event *ev)
/* called with interrupts disabled */
void
-ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value)
+ao_event_put_isr(uint8_t type, uint8_t unit, int32_t value)
{
if (!ao_event_queue_full()) {
-
- if (ao_event_can_collapse(type) && !ao_event_queue_empty()) {
- uint8_t prev = ao_event_queue_prev(ao_event_queue_insert);
-
- if (ao_event_queue[prev].type == type &&
- ao_event_queue[prev].unit == unit)
- ao_event_queue_insert = prev;
- }
ao_event_queue[ao_event_queue_insert] = (struct ao_event) {
.type = type,
.unit = unit,
@@ -71,7 +58,7 @@ ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value)
}
void
-ao_event_put(uint8_t type, uint8_t unit, uint32_t value)
+ao_event_put(uint8_t type, uint8_t unit, int32_t value)
{
ao_arch_critical(ao_event_put_isr(type, unit, value););
}
diff --git a/src/drivers/ao_event.h b/src/drivers/ao_event.h
index 25c49c35..ed9a7433 100644
--- a/src/drivers/ao_event.h
+++ b/src/drivers/ao_event.h
@@ -26,16 +26,16 @@ struct ao_event {
uint8_t type;
uint8_t unit;
uint16_t tick;
- uint32_t value;
+ int32_t value;
};
uint8_t
ao_event_get(struct ao_event *ev);
void
-ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value);
+ao_event_put_isr(uint8_t type, uint8_t unit, int32_t value);
void
-ao_event_put(uint8_t type, uint8_t unit, uint32_t value);
+ao_event_put(uint8_t type, uint8_t unit, int32_t value);
#endif /* _AO_EVENT_H_ */
diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c
index 6cc2467a..cfa58da6 100644
--- a/src/drivers/ao_quadrature.c
+++ b/src/drivers/ao_quadrature.c
@@ -18,12 +18,14 @@
#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
-#if AO_EVENT
+#include <ao_debounce.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
+
+#define AO_QUADRATURE_DEBOUNCE_HOLD 3
+
+static __xdata struct ao_debounce ao_quadrature_debounce[AO_QUADRATURE_COUNT];
+
+#define debounce_id(d) ((d) - ao_quadrature_debounce)
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
@@ -35,41 +37,77 @@ 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 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)
-
+#define q_case(q) case q: v = (!ao_gpio_get(port(q), bita(q), pina(q))) | ((!ao_gpio_get(port(q), bitb(q), pinb(q))) << 1); break
-static void
-ao_quadrature_isr(void)
-{
- uint8_t q;
+uint8_t quad_raw[64];
+uint8_t quad_r;
+
+static uint8_t
+_ao_quadrature_get(struct ao_debounce *debounce) {
+ uint8_t q = debounce_id(debounce);
+ uint8_t v = 0;
+
+ switch (q) {
#if AO_QUADRATURE_COUNT > 0
- ao_quadrature_update(0);
+ q_case(0);
#endif
#if AO_QUADRATURE_COUNT > 1
- ao_quadrature_update(1);
+ q_case(1);
#endif
+ }
+ if (q == 0) {
+ quad_raw[quad_r] = v;
+ quad_r = (quad_r + 1) & 63;
+ }
+ return v;
+}
- 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 void
+_ao_quadrature_queue(uint8_t q, int8_t step)
+{
+ ao_quadrature_count[q] += step;
+#if AO_EVENT
+ ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
+#endif
+ ao_wakeup(&ao_quadrature_count[q]);
+}
+
+uint8_t quad_history[64];
+uint8_t quad_h;
+
+static void
+_ao_quadrature_set(struct ao_debounce *debounce, uint8_t value) {
+ uint8_t q = debounce_id(debounce);
+
+ ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2);
+ ao_quadrature_state[q] |= value;
+
+ if (q == 0) {
+ quad_history[quad_h] = ao_quadrature_state[0];
+ quad_h = (quad_h + 1) & 63;
+ }
+
+ switch (ao_quadrature_state[q]) {
+ case STATE(0, 1, 0, 0):
+ _ao_quadrature_queue(q, 1);
+ break;
+ case STATE(1, 0, 0, 0):
+ _ao_quadrature_queue(q, -1);
+ break;
}
}
+static void
+ao_quadrature_isr(void)
+{
+ uint8_t q;
+ for (q = 0; q < AO_QUADRATURE_COUNT; q++)
+ _ao_debounce_start(&ao_quadrature_debounce[q]);
+}
+
int32_t
ao_quadrature_poll(uint8_t q)
{
@@ -107,9 +145,16 @@ static const struct ao_cmds ao_quadrature_cmds[] = {
{ 0, NULL }
};
+static void
+ao_quadrature_debounce_init(struct ao_debounce *debounce) {
+ debounce->hold = AO_QUADRATURE_DEBOUNCE_HOLD;
+ debounce->_get = _ao_quadrature_get;
+ debounce->_set = _ao_quadrature_set;
+}
+
#define init(q) do { \
ao_enable_port(port(q)); \
- \
+ ao_quadrature_debounce_init(&ao_quadrature_debounce[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); \
@@ -124,6 +169,7 @@ static const struct ao_cmds ao_quadrature_cmds[] = {
void
ao_quadrature_init(void)
{
+ ao_debounce_init();
#if AO_QUADRATURE_COUNT > 0
init(0);
#endif
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-18 02:17:34 +0000