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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_fast_timer.h>
#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)))
#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
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_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]);
}
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)
{
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;
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();
c = ao_quadrature_wait(q);
printf ("new count %6d\n", c);
if (c == 100)
break;
}
#endif
}
static const struct ao_cmds ao_quadrature_cmds[] = {
{ ao_quadrature_test, "q <unit>\0Test quadrature" },
{ 0, NULL }
};
#define init(q) do { \
ao_enable_input(port(q), bita(q), 0); \
ao_enable_input(port(q), bitb(q), 0); \
} while (0)
void
ao_quadrature_init(void)
{
#if AO_QUADRATURE_COUNT > 0
init(0);
#endif
#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]);
}
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