Merge pull request #5468 from jepler/encoder-divisor

rotaryio: Add the ability to set the divisor

Author: dhalbert

locale/circuitpython.pot

@@ -2976,6 +2976,10 @@ msgstr ""
 msgid "division by zero"
 msgstr ""
 
+#: ports/espressif/common-hal/rotaryio/IncrementalEncoder.c
+msgid "divisor must be 4"
+msgstr ""
+
 #: py/objdeque.c
 msgid "empty"
 msgstr ""

ports/atmel-samd/common-hal/rotaryio/IncrementalEncoder.c

@@ -67,7 +67,7 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
     set_eic_channel_data(self->eic_channel_b, (void *)self);
 
     self->position = 0;
-    self->quarter_count = 0;
+    self->sub_count = 0;
 
     shared_module_softencoder_state_init(self,
         ((uint8_t)gpio_get_pin_level(self->pin_a) << 1) |

ports/atmel-samd/common-hal/rotaryio/IncrementalEncoder.h

@@ -38,7 +38,8 @@ typedef struct {
     uint8_t eic_channel_a;
     uint8_t eic_channel_b;
     uint8_t state;        // <old A><old B>
-    int8_t quarter_count; // count intermediate transitions between detents
+    int8_t sub_count; // count intermediate transitions between detents
+    int8_t divisor; // Number of quadrature edges required per count
     mp_int_t position;
 } rotaryio_incrementalencoder_obj_t;
 

ports/espressif/common-hal/rotaryio/IncrementalEncoder.c

@@ -84,3 +84,13 @@ void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalenc
     self->position = new_position;
     pcnt_counter_clear(self->unit);
 }
+
+mp_int_t common_hal_rotaryio_incrementalencoder_get_divisor(rotaryio_incrementalencoder_obj_t *self) {
+    return 4;
+}
+
+void common_hal_rotaryio_incrementalencoder_set_divisor(rotaryio_incrementalencoder_obj_t *self, mp_int_t divisor) {
+    if (divisor != 4) {
+        mp_raise_ValueError(translate("divisor must be 4"));
+    }
+}

ports/nrf/common-hal/rotaryio/IncrementalEncoder.h

@@ -36,7 +36,8 @@ typedef struct {
     uint8_t pin_a;
     uint8_t pin_b;
     uint8_t state;        // <old A><old B>
-    int8_t quarter_count; // count intermediate transitions between detents
+    int8_t sub_count; // count intermediate transitions between detents
+    int8_t divisor; // Number of quadrature edges required per count
     mp_int_t position;
 } rotaryio_incrementalencoder_obj_t;
 

ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c

@@ -73,7 +73,7 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
     }
 
     self->position = 0;
-    self->quarter_count = 0;
+    self->sub_count = 0;
 
     common_hal_rp2pio_statemachine_construct(&self->state_machine,
         encoder, MP_ARRAY_SIZE(encoder),

ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.h

@@ -35,7 +35,8 @@ typedef struct {
     mp_obj_base_t base;
     rp2pio_statemachine_obj_t state_machine;
     uint8_t state;        // <old A><old B>
-    int8_t quarter_count; // count intermediate transitions between detents
+    int8_t sub_count; // count intermediate transitions between detents
+    int8_t divisor; // Number of quadrature edges required per count
     bool swapped;         // Did the pins need to be swapped to be sequential?
     mp_int_t position;
 } rotaryio_incrementalencoder_obj_t;

shared-bindings/rotaryio/IncrementalEncoder.c

@@ -37,13 +37,14 @@
 //| 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) -> None:
+//|     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::
 //|
@@ -61,10 +62,11 @@
 //|         ...
 //|
 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 };
+    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);
@@ -77,6 +79,7 @@ STATIC mp_obj_t rotaryio_incrementalencoder_make_new(const mp_obj_type_t *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);
 }
 
@@ -116,9 +119,38 @@ STATIC mp_obj_t rotaryio_incrementalencoder_obj___exit__(size_t n_args, const mp
 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);
+
+const mp_obj_property_t rotaryio_incrementalencoder_divisor_obj = {
+    .base.type = &mp_type_property,
+    .proxy = {(mp_obj_t)&rotaryio_incrementalencoder_get_divisor_obj,
+              (mp_obj_t)&rotaryio_incrementalencoder_set_divisor_obj,
+              MP_ROM_NONE},
+};
+
 //|     position: int
 //|     """The current position in terms of pulses. The number of pulses per rotation is defined by the
-//|     specific hardware."""
+//|     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);
@@ -150,6 +182,7 @@ STATIC const mp_rom_map_elem_t rotaryio_incrementalencoder_locals_dict_table[] =
     { 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);
 

shared-bindings/rotaryio/IncrementalEncoder.h

@@ -39,5 +39,8 @@ extern bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incremental
 extern mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t *self);
 extern void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t *self,
     mp_int_t new_position);
+extern mp_int_t common_hal_rotaryio_incrementalencoder_get_divisor(rotaryio_incrementalencoder_obj_t *self);
+extern void common_hal_rotaryio_incrementalencoder_set_divisor(rotaryio_incrementalencoder_obj_t *self,
+    mp_int_t new_divisor);
 
 #endif // MICROPY_INCLUDED_SHARED_BINDINGS_ROTARYIO_INCREMENTALENCODER_H

shared-module/rotaryio/IncrementalEncoder.c

@@ -30,26 +30,25 @@
 
 void shared_module_softencoder_state_init(rotaryio_incrementalencoder_obj_t *self, uint8_t quiescent_state) {
     self->state = quiescent_state;
-    self->quarter_count = 0;
+    self->sub_count = 0;
     common_hal_rotaryio_incrementalencoder_set_position(self, 0);
 }
 
 void shared_module_softencoder_state_update(rotaryio_incrementalencoder_obj_t *self, uint8_t new_state) {
-    #define BAD 7
     static const int8_t transitions[16] = {
         0,    // 00 -> 00 no movement
         -1,   // 00 -> 01 3/4 ccw (11 detent) or 1/4 ccw (00 at detent)
         +1,   // 00 -> 10 3/4 cw or 1/4 cw
-        BAD,  // 00 -> 11 non-Gray-code transition
+        0,     // 00 -> 11 non-Gray-code transition
         +1,   // 01 -> 00 2/4 or 4/4 cw
         0,    // 01 -> 01 no movement
-        BAD,  // 01 -> 10 non-Gray-code transition
+        0,    // 01 -> 10 non-Gray-code transition
         -1,   // 01 -> 11 4/4 or 2/4 ccw
         -1,   // 10 -> 00 2/4 or 4/4 ccw
-        BAD,  // 10 -> 01 non-Gray-code transition
+        0,    // 10 -> 01 non-Gray-code transition
         0,    // 10 -> 10 no movement
         +1,   // 10 -> 11 4/4 or 2/4 cw
-        BAD,  // 11 -> 00 non-Gray-code transition
+        0,    // 11 -> 00 non-Gray-code transition
         +1,   // 11 -> 01 1/4 or 3/4 cw
         -1,   // 11 -> 10 1/4 or 3/4 ccw
         0,    // 11 -> 11 no movement
@@ -59,20 +58,16 @@ void shared_module_softencoder_state_update(rotaryio_incrementalencoder_obj_t *s
     int idx = (self->state << 2) | new_state;
     self->state = new_state;
 
-    int8_t quarter_incr = transitions[idx];
-    if (quarter_incr == BAD) {
-        // Missed a transition. We don't know which way we're going, so do nothing.
-        return;
-    }
+    int8_t sub_incr = transitions[idx];
 
-    self->quarter_count += quarter_incr;
+    self->sub_count += sub_incr;
 
-    if (self->quarter_count >= 4) {
+    if (self->sub_count >= self->divisor) {
         self->position += 1;
-        self->quarter_count = 0;
-    } else if (self->quarter_count <= -4) {
+        self->sub_count = 0;
+    } else if (self->sub_count <= -self->divisor) {
         self->position -= 1;
-        self->quarter_count = 0;
+        self->sub_count = 0;
     }
 }
 
@@ -83,4 +78,12 @@ mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementa
 void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t *self, mp_int_t position) {
     self->position = position;
 }
+
+mp_int_t common_hal_rotaryio_incrementalencoder_get_divisor(rotaryio_incrementalencoder_obj_t *self) {
+    return self->divisor;
+}
+
+void common_hal_rotaryio_incrementalencoder_set_divisor(rotaryio_incrementalencoder_obj_t *self, mp_int_t divisor) {
+    self->divisor = divisor;
+}
 #endif