circuitpython/shared-bindings/rotaryio/IncrementalEncoder.c

188 lines
8.6 KiB
C

/*
* 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 constructed.
//|
//| :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, MP_QSTR_pin_a);
const mcu_pin_obj_t *pin_b = validate_obj_is_free_pin(args[ARG_pin_b].u_obj, MP_QSTR_pin_b);
// Make long-lived because some implementations use a pointer to the object as interrupt-handler data.
rotaryio_incrementalencoder_obj_t *self = m_new_ll_obj_with_finaliser(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___del__), 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,
};