1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
|
/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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];
struct ao_debounce {
uint8_t state;
uint8_t count;
};
static struct ao_debounce ao_debounce_state[AO_QUADRATURE_COUNT][2];
#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 DEBOUNCE 10
static uint8_t
ao_debounce(uint8_t cur, struct ao_debounce *debounce)
{
if (cur == debounce->state)
debounce->count = 0;
else {
if (++debounce->count == DEBOUNCE) {
debounce->state = cur;
debounce->count = 0;
}
}
return debounce->state;
}
static uint16_t
ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b, struct ao_debounce debounce_state[2]) {
uint16_t v = ~stm_gpio_get_all(gpio);
uint8_t a = (v >> pin_a) & 1;
uint8_t b = (v >> pin_b) & 1;
a = ao_debounce(a, &debounce_state[0]);
b = ao_debounce(b, &debounce_state[1]);
return a | (b << 1);
}
#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[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 void
_ao_quadrature_set(uint8_t q, uint8_t new) {
uint8_t old = ao_quadrature_state[q];
if (old != new && new == 0) {
if (old & 2)
_ao_quadrature_queue(q, 1);
else if (old & 1)
_ao_quadrature_queue(q, -1);
}
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
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;
int32_t c;
uint8_t s;
ao_cmd_decimal();
q = ao_cmd_lex_i;
if (q >= AO_QUADRATURE_COUNT) {
ao_cmd_status = ao_cmd_syntax_error;
return;
}
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;
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]);
}
|
