diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/ao_74hc165.c | 58 | ||||
| -rw-r--r-- | src/drivers/ao_74hc165.h | 27 | ||||
| -rw-r--r-- | src/drivers/ao_button.c | 83 | ||||
| -rw-r--r-- | src/drivers/ao_event.c | 17 | ||||
| -rw-r--r-- | src/drivers/ao_event.h | 6 | ||||
| -rw-r--r-- | src/drivers/ao_pad.c | 51 | ||||
| -rw-r--r-- | src/drivers/ao_quadrature.c | 122 |
7 files changed, 266 insertions, 98 deletions
diff --git a/src/drivers/ao_74hc165.c b/src/drivers/ao_74hc165.c new file mode 100644 index 00000000..f24fce37 --- /dev/null +++ b/src/drivers/ao_74hc165.c @@ -0,0 +1,58 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * 74HC165 driver. + * Reads a single byte from the shift register + */ + +#include <ao.h> +#include <ao_74hc165.h> + +uint8_t +ao_74hc165_read(void) +{ + static __xdata state; + ao_mutex_get(&ao_spi_mutex); + ao_spi_set_speed(AO_SPI_SPEED_FAST); + AO_74HC165_CS = 1; + ao_spi_recv(&state, 1, AO_74HC165_SPI_BUS); + AO_74HC165_CS = 0; + ao_mutex_put(&ao_spi_mutex); + return state; +} + +static void +ao_74hc165_cmd(void) +{ + uint8_t v; + + v = ao_74hc165_read(); + printf ("Switches: 0x%02x\n", v); +} + +static const struct ao_cmds ao_74hc165_cmds[] = { + { ao_74hc165_cmd, "L\0Show 74hc165" }, + { 0, NULL } +}; + +void +ao_74hc165_init(void) +{ + ao_enable_output(AO_74HC165_CS_PORT, AO_74HC165_CS_PIN, AO_74HC165_CS, 0); + ao_cmd_register(&ao_74hc165_cmds[0]); +} diff --git a/src/drivers/ao_74hc165.h b/src/drivers/ao_74hc165.h new file mode 100644 index 00000000..3ae51353 --- /dev/null +++ b/src/drivers/ao_74hc165.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_74HC165_H_ +#define _AO_74HC165_H_ + +uint8_t +ao_74hc165_read(void); + +void +ao_74hc165_init(void); + +#endif /* _AO_74HC165_H_ */ diff --git a/src/drivers/ao_button.c b/src/drivers/ao_button.c index a507c909..25c0cd5c 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 +26,71 @@ #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) { + ao_debounce_config(debounce, + _ao_button_get, + _ao_button_set, + AO_BUTTON_DEBOUNCE_HOLD); +} + +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 +108,14 @@ 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_pad.c b/src/drivers/ao_pad.c index 6cec98ab..e205f99b 100644 --- a/src/drivers/ao_pad.c +++ b/src/drivers/ao_pad.c @@ -17,7 +17,7 @@ #include <ao.h> #include <ao_pad.h> -#include <ao_74hc497.h> +#include <ao_74hc165.h> #include <ao_radio_cmac.h> static __xdata uint8_t ao_pad_ignite; @@ -182,10 +182,7 @@ ao_pad_monitor(void) if (ao_pad_armed) { ao_strobe(1); - if (sample & 2) - ao_siren(1); - else - ao_siren(0); + ao_siren(1); beeping = 1; } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) { if (arm_beep_time == 0) { @@ -218,6 +215,21 @@ ao_pad_enable(void) ao_wakeup (&ao_pad_disabled); } +#if HAS_74HC165 +static uint8_t +ao_pad_read_box(void) +{ + uint8_t byte = ao_74hc165_read(); + uint8_t h, l; + + h = byte >> 4; + l = byte & 0xf; + return h * 10 + l; +} +#else +#define ao_pad_read_box() 0 +#endif + static void ao_pad(void) { @@ -236,8 +248,10 @@ ao_pad(void) if (ret != AO_RADIO_CMAC_OK) continue; - PRINTD ("tick %d box %d cmd %d channels %02x\n", - command.tick, command.box, command.cmd, command.channels); + ao_pad_box = ao_pad_read_box(); + + PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n", + command.tick, command.box, ao_pad_box, command.cmd, command.channels); switch (command.cmd) { case AO_LAUNCH_ARM: @@ -327,7 +341,7 @@ ao_pad_test(void) } for (c = 0; c < AO_PAD_NUM; c++) { - printf ("Pad %d: "); + printf ("Pad %d: ", c); switch (query.igniter_status[c]) { case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED: printf ("No igniter. Relay closed\n"); break; case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN: printf ("No igniter. Relay open\n"); break; @@ -362,6 +376,26 @@ ao_pad_set_debug(void) if (ao_cmd_status == ao_cmd_success) ao_pad_debug = ao_cmd_lex_i != 0; } + + +static void +ao_pad_alarm_debug(void) +{ + uint8_t which, value; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + which = ao_cmd_lex_i; + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + value = ao_cmd_lex_i; + printf ("Set %s to %d\n", which ? "siren" : "strobe", value); + if (which) + ao_siren(value); + else + ao_strobe(value); +} #endif __code struct ao_cmds ao_pad_cmds[] = { @@ -369,6 +403,7 @@ __code struct ao_cmds ao_pad_cmds[] = { { ao_pad_manual, "i <key> <n>\0Fire igniter. <key> is doit with D&I" }, #if DEBUG { ao_pad_set_debug, "D <0 off, 1 on>\0Debug" }, + { ao_pad_alarm_debug, "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" }, #endif { 0, NULL } }; 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]); } |