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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>
__xdata int32_t ao_quadrature_count;
static uint8_t wait_clear;
static void
ao_quadrature_isr(void)
{
if (wait_clear) {
wait_clear = 0;
ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_RISING);
} else {
wait_clear = 1;
ao_exti_set_mode(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_EXTI_MODE_FALLING);
if (ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN))
ao_quadrature_count++;
else
ao_quadrature_count--;
ao_wakeup(&ao_quadrature_count);
}
}
int32_t
ao_quadrature_poll(void)
{
int32_t ret;
ao_arch_critical(ret = ao_quadrature_count;);
return ret;
}
int32_t
ao_quadrature_wait(void)
{
ao_sleep(&ao_quadrature_count);
return ao_quadrature_poll();
}
static void
ao_quadrature_test(void)
{
#if 0
for (;;) {
int32_t c;
printf ("waiting...\n");
flush();
c = ao_quadrature_wait();
printf ("new count %d\n", c);
if (ao_stdin_ready)
break;
}
#endif
uint8_t a, old_a, b, old_b;
old_a = 2; old_b = 2;
for (;;) {
a = ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_QUADRATURE_A_PIN);
b = ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN);
if (a != old_a || b != old_b) {
printf ("A %d B %d\n", a, b);
flush();
ao_yield();
old_a = a;
old_b = b;
}
if (ao_stdin_ready)
break;
}
}
static const struct ao_cmds ao_quadrature_cmds[] = {
{ ao_quadrature_test, "q\0Test quadrature" },
{ 0, NULL }
};
void
ao_quadrature_init(void)
{
ao_quadrature_count = 0;
ao_enable_port(AO_QUADRATURE_PORT);
ao_exti_setup(AO_QUADRATURE_PORT, AO_QUADRATURE_A,
AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED,
ao_quadrature_isr);
ao_exti_enable(AO_QUADRATURE_PORT, AO_QUADRATURE_A);
ao_enable_input(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_EXTI_MODE_PULL_UP);
ao_cmd_register(&ao_quadrature_cmds[0]);
}
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