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/*
* Copyright © 2012 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.
*/
#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
#include <ao_debounce.h>
#include <ao_event.h>
#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];
static uint8_t ao_quadrature_state[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)))
#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 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
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
q_case(0);
#endif
#if AO_QUADRATURE_COUNT > 1
q_case(1);
#endif
}
if (q == 0) {
quad_raw[quad_r] = v;
quad_r = (quad_r + 1) & 63;
}
return v;
}
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)
{
int32_t ret;
ao_arch_critical(ret = ao_quadrature_count[q];);
return ret;
}
int32_t
ao_quadrature_wait(uint8_t q)
{
ao_sleep(&ao_quadrature_count[q]);
return ao_quadrature_poll(q);
}
static void
ao_quadrature_test(void)
{
uint8_t q;
ao_cmd_decimal();
q = ao_cmd_lex_i;
for (;;) {
int32_t c;
flush();
c = ao_quadrature_wait(q);
printf ("new count %6d\n", c);
if (c == 100)
break;
}
}
static const struct ao_cmds ao_quadrature_cmds[] = {
{ ao_quadrature_test, "q <unit>\0Test quadrature" },
{ 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); \
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)); \
} while (0)
void
ao_quadrature_init(void)
{
ao_debounce_init();
#if AO_QUADRATURE_COUNT > 0
init(0);
#endif
#if AO_QUADRATURE_COUNT > 1
init(1);
#endif
ao_cmd_register(&ao_quadrature_cmds[0]);
}
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