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