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
181
182
183
184
185
186
187
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,
};
|
