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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; 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>
int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
#ifndef AO_QUADRATURE_SINGLE_CODE
static int8_t ao_quadrature_step[AO_QUADRATURE_COUNT];
#endif
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
#ifndef AO_QUADRATURE_DEBOUNCE
#error must define AO_QUADRATURE_DEBOUNCE
#endif
static uint8_t
ao_debounce(uint8_t cur, struct ao_debounce *debounce)
{
#if AO_QUADRATURE_DEBOUNCE > 0
if (debounce->count > 0) {
debounce->count--;
} else if (cur != debounce->state) {
debounce->state = cur;
debounce->count = AO_QUADRATURE_DEBOUNCE;
}
return debounce->state;
#else
(void) debounce;
return cur;
#endif
}
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_step(uint8_t q, int8_t step)
{
#ifndef AO_QUADRATURE_SINGLE_CODE
ao_quadrature_step[q] += step;
if (ao_quadrature_state[q] != 0)
return;
if (ao_quadrature_step[q] >= 4) {
ao_quadrature_step[q] = 0;
step = 1;
} else if (ao_quadrature_step[q] <= -4) {
ao_quadrature_step[q] = 0;
step = -1;
} else
return;
#endif
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 struct {
uint8_t prev, next;
} ao_quadrature_steps[4] = {
[0] { .prev = 2, .next = 1 },
[1] { .prev = 0, .next = 3 },
[3] { .prev = 1, .next = 2 },
[2] { .prev = 3, .next = 0 },
};
static void
_ao_quadrature_set(uint8_t q, uint8_t new)
{
uint8_t old;
ao_arch_block_interrupts();
old = ao_quadrature_state[q];
ao_quadrature_state[q] = new;
ao_arch_release_interrupts();
if (new == ao_quadrature_steps[old].next)
_ao_quadrature_step(q, 1);
else if (new == ao_quadrature_steps[old].prev)
_ao_quadrature_step(q, -1);
}
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
}
static void
_ao_quadrature_start_one(uint8_t q, uint8_t new)
{
ao_arch_block_interrupts();
ao_quadrature_state[q] = new;
ao_arch_release_interrupts();
}
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;
#ifndef AO_QUADRATURE_SINGLE_CODE
int8_t t = 0;
#endif
q = ao_cmd_decimal();
if (q >= AO_QUADRATURE_COUNT)
ao_cmd_status = ao_cmd_syntax_error;
if (ao_cmd_status != ao_cmd_success)
return;
c = -10000;
s = 0;
while (ao_quadrature_count[q] != 10) {
if (ao_quadrature_count[q] != c ||
#ifndef AO_QUADRATURE_SINGLE_CODE
ao_quadrature_step[q] != t ||
#endif
ao_quadrature_state[q] != s)
{
c = ao_quadrature_count[q];
s = ao_quadrature_state[q];
#ifndef AO_QUADRATURE_SINGLE_CODE
t = ao_quadrature_step[q];
printf("step %3d ", t);
#endif
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); \
_ao_quadrature_start_one(q, _ao_quadrature_get(q)); \
} 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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