diff options
Diffstat (limited to 'circuitpython/shared-bindings/rotaryio/IncrementalEncoder.c')
| -rw-r--r-- | circuitpython/shared-bindings/rotaryio/IncrementalEncoder.c | 188 |
1 files changed, 188 insertions, 0 deletions
diff --git a/circuitpython/shared-bindings/rotaryio/IncrementalEncoder.c b/circuitpython/shared-bindings/rotaryio/IncrementalEncoder.c new file mode 100644 index 0000000..0fe22be --- /dev/null +++ b/circuitpython/shared-bindings/rotaryio/IncrementalEncoder.c @@ -0,0 +1,188 @@ +/* + * This file is part of the Micro Python project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2018 Scott Shawcroft for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include <stdint.h> + +#include "shared/runtime/context_manager_helpers.h" +#include "py/objproperty.h" +#include "py/runtime.h" +#include "py/runtime0.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/rotaryio/IncrementalEncoder.h" +#include "shared-bindings/util.h" + +//| class IncrementalEncoder: +//| """IncrementalEncoder determines the relative rotational position based on two series of pulses.""" +//| +//| def __init__(self, pin_a: microcontroller.Pin, pin_b: microcontroller.Pin, divisor: int = 4) -> None: +//| """Create an IncrementalEncoder object associated with the given pins. It tracks the positional +//| state of an incremental rotary encoder (also known as a quadrature encoder.) Position is +//| relative to the position when the object is contructed. +//| +//| :param ~microcontroller.Pin pin_a: First pin to read pulses from. +//| :param ~microcontroller.Pin pin_b: Second pin to read pulses from. +//| :param int divisor: The divisor of the quadrature signal. +//| +//| For example:: +//| +//| import rotaryio +//| import time +//| from board import * +//| +//| enc = rotaryio.IncrementalEncoder(D1, D2) +//| last_position = None +//| while True: +//| position = enc.position +//| if last_position == None or position != last_position: +//| print(position) +//| last_position = position""" +//| ... +//| +STATIC mp_obj_t rotaryio_incrementalencoder_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { + enum { ARG_pin_a, ARG_pin_b, ARG_divisor }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_pin_a, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_pin_b, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_divisor, MP_ARG_INT, { .u_int = 4 } }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + const mcu_pin_obj_t *pin_a = validate_obj_is_free_pin(args[ARG_pin_a].u_obj); + const mcu_pin_obj_t *pin_b = validate_obj_is_free_pin(args[ARG_pin_b].u_obj); + + rotaryio_incrementalencoder_obj_t *self = m_new_obj(rotaryio_incrementalencoder_obj_t); + self->base.type = &rotaryio_incrementalencoder_type; + + common_hal_rotaryio_incrementalencoder_construct(self, pin_a, pin_b); + common_hal_rotaryio_incrementalencoder_set_divisor(self, args[ARG_divisor].u_int); + + return MP_OBJ_FROM_PTR(self); +} + +//| def deinit(self) -> None: +//| """Deinitializes the IncrementalEncoder and releases any hardware resources for reuse.""" +//| ... +//| +STATIC mp_obj_t rotaryio_incrementalencoder_deinit(mp_obj_t self_in) { + rotaryio_incrementalencoder_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_rotaryio_incrementalencoder_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(rotaryio_incrementalencoder_deinit_obj, rotaryio_incrementalencoder_deinit); + +STATIC void check_for_deinit(rotaryio_incrementalencoder_obj_t *self) { + if (common_hal_rotaryio_incrementalencoder_deinited(self)) { + raise_deinited_error(); + } +} + +//| def __enter__(self) -> IncrementalEncoder: +//| """No-op used by Context Managers.""" +//| ... +//| +// Provided by context manager helper. + +//| def __exit__(self) -> None: +//| """Automatically deinitializes the hardware when exiting a context. See +//| :ref:`lifetime-and-contextmanagers` for more info.""" +//| ... +//| +STATIC mp_obj_t rotaryio_incrementalencoder_obj___exit__(size_t n_args, const mp_obj_t *args) { + (void)n_args; + common_hal_rotaryio_incrementalencoder_deinit(args[0]); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(rotaryio_incrementalencoder___exit___obj, 4, 4, rotaryio_incrementalencoder_obj___exit__); + + +//| divisor: int +//| """The divisor of the quadrature signal. Use 1 for encoders without +//| detents, or encoders with 4 detents per cycle. Use 2 for encoders with 2 +//| detents per cycle. Use 4 for encoders with 1 detent per cycle.""" +//| +STATIC mp_obj_t rotaryio_incrementalencoder_obj_get_divisor(mp_obj_t self_in) { + rotaryio_incrementalencoder_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + return mp_obj_new_int(common_hal_rotaryio_incrementalencoder_get_divisor(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(rotaryio_incrementalencoder_get_divisor_obj, rotaryio_incrementalencoder_obj_get_divisor); + +STATIC mp_obj_t rotaryio_incrementalencoder_obj_set_divisor(mp_obj_t self_in, mp_obj_t new_divisor) { + rotaryio_incrementalencoder_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + common_hal_rotaryio_incrementalencoder_set_divisor(self, mp_obj_get_int(new_divisor)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(rotaryio_incrementalencoder_set_divisor_obj, rotaryio_incrementalencoder_obj_set_divisor); + +MP_PROPERTY_GETSET(rotaryio_incrementalencoder_divisor_obj, + (mp_obj_t)&rotaryio_incrementalencoder_get_divisor_obj, + (mp_obj_t)&rotaryio_incrementalencoder_set_divisor_obj); + +//| position: int +//| """The current position in terms of pulses. The number of pulses per rotation is defined by the +//| specific hardware and by the divisor.""" +//| +STATIC mp_obj_t rotaryio_incrementalencoder_obj_get_position(mp_obj_t self_in) { + rotaryio_incrementalencoder_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + return mp_obj_new_int(common_hal_rotaryio_incrementalencoder_get_position(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(rotaryio_incrementalencoder_get_position_obj, rotaryio_incrementalencoder_obj_get_position); + +STATIC mp_obj_t rotaryio_incrementalencoder_obj_set_position(mp_obj_t self_in, mp_obj_t new_position) { + rotaryio_incrementalencoder_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + common_hal_rotaryio_incrementalencoder_set_position(self, mp_obj_get_int(new_position)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(rotaryio_incrementalencoder_set_position_obj, rotaryio_incrementalencoder_obj_set_position); + +MP_PROPERTY_GETSET(rotaryio_incrementalencoder_position_obj, + (mp_obj_t)&rotaryio_incrementalencoder_get_position_obj, + (mp_obj_t)&rotaryio_incrementalencoder_set_position_obj); + +STATIC const mp_rom_map_elem_t rotaryio_incrementalencoder_locals_dict_table[] = { + // Methods + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rotaryio_incrementalencoder_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&rotaryio_incrementalencoder___exit___obj) }, + { MP_ROM_QSTR(MP_QSTR_position), MP_ROM_PTR(&rotaryio_incrementalencoder_position_obj) }, + { MP_ROM_QSTR(MP_QSTR_divisor), MP_ROM_PTR(&rotaryio_incrementalencoder_divisor_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(rotaryio_incrementalencoder_locals_dict, rotaryio_incrementalencoder_locals_dict_table); + +const mp_obj_type_t rotaryio_incrementalencoder_type = { + { &mp_type_type }, + .name = MP_QSTR_IncrementalEncoder, + .make_new = rotaryio_incrementalencoder_make_new, + .locals_dict = (mp_obj_dict_t *)&rotaryio_incrementalencoder_locals_dict, +}; |