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d2bcb32b PA |
1 | ## |
2 | ## This file is part of the libsigrokdecode project. | |
3 | ## | |
4 | ## Copyright (C) 2015 Petteri Aimonen <jpa@sigrok.mail.kapsi.fi> | |
5 | ## | |
6 | ## This program is free software; you can redistribute it and/or modify | |
7 | ## it under the terms of the GNU General Public License as published by | |
8 | ## the Free Software Foundation; either version 2 of the License, or | |
9 | ## (at your option) any later version. | |
10 | ## | |
11 | ## This program is distributed in the hope that it will be useful, | |
12 | ## but WITHOUT ANY WARRANTY; without even the implied warranty of | |
13 | ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
14 | ## GNU General Public License for more details. | |
15 | ## | |
16 | ## You should have received a copy of the GNU General Public License | |
17 | ## along with this program; if not, write to the Free Software | |
18 | ## Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA | |
19 | ## | |
20 | ||
21 | import sigrokdecode as srd | |
22 | ||
23 | class SamplerateError(Exception): | |
24 | pass | |
25 | ||
26 | class Decoder(srd.Decoder): | |
27 | api_version = 2 | |
28 | id = 'stepper_motor' | |
29 | name = 'Stepper motor' | |
30 | longname = 'Stepper motor position / speed' | |
a7c8dc5e | 31 | desc = 'Absolute position and movement speed from step/dir.' |
d2bcb32b PA |
32 | license = 'gplv2+' |
33 | inputs = ['logic'] | |
34 | outputs = ['stepper_motor'] | |
35 | channels = ( | |
36 | {'id': 'step', 'name': 'Step', 'desc': 'Step pulse'}, | |
37 | {'id': 'dir', 'name': 'Direction', 'desc': 'Direction select'}, | |
38 | ) | |
39 | options = ( | |
40 | {'id': 'unit', 'desc': 'Unit', 'default': 'steps', | |
41 | 'values': ('steps', 'mm')}, | |
42 | {'id': 'steps_per_mm', 'desc': 'Steps per mm', 'default': 100.0}, | |
43 | ) | |
44 | annotations = ( | |
45 | ('speed', 'Speed'), | |
46 | ('position', 'Position') | |
47 | ) | |
48 | annotation_rows = ( | |
49 | ('speed', 'Speed', (0,)), | |
50 | ('position', 'Position', (1,)), | |
51 | ) | |
52 | ||
92b7b49f | 53 | def __init__(self): |
d2bcb32b | 54 | self.oldstep = None |
5b0b88ce | 55 | self.ss_prev_step = None |
d2bcb32b PA |
56 | self.pos = 0 |
57 | self.prev_speed = None | |
58 | self.prev_pos = None | |
59 | ||
60 | def start(self): | |
61 | self.out_ann = self.register(srd.OUTPUT_ANN) | |
62 | ||
63 | if self.options['unit'] == 'steps': | |
64 | self.scale = 1 | |
65 | self.format = '%0.0f' | |
66 | self.unit = 'steps' | |
67 | else: | |
68 | self.scale = self.options['steps_per_mm'] | |
69 | self.format = '%0.2f' | |
70 | self.unit = 'mm' | |
71 | ||
72 | def step(self, ss, direction): | |
5b0b88ce UH |
73 | if self.ss_prev_step is not None: |
74 | delta = ss - self.ss_prev_step | |
d2bcb32b PA |
75 | speed = self.samplerate / delta / self.scale |
76 | speed_txt = self.format % speed | |
77 | pos_txt = self.format % (self.pos / self.scale) | |
5b0b88ce | 78 | self.put(self.ss_prev_step, ss, self.out_ann, |
d2bcb32b | 79 | [0, [speed_txt + ' ' + self.unit + '/s', speed_txt]]) |
5b0b88ce | 80 | self.put(self.ss_prev_step, ss, self.out_ann, |
d2bcb32b PA |
81 | [1, [pos_txt + ' ' + self.unit, pos_txt]]) |
82 | ||
83 | self.pos += (1 if direction else -1) | |
5b0b88ce | 84 | self.ss_prev_step = ss |
d2bcb32b PA |
85 | |
86 | def metadata(self, key, value): | |
87 | if key == srd.SRD_CONF_SAMPLERATE: | |
88 | self.samplerate = value | |
89 | ||
90 | def decode(self, ss, es, data): | |
91 | if not self.samplerate: | |
92 | raise SamplerateError('Cannot decode without samplerate.') | |
93 | ||
94 | for (self.samplenum, (step, direction)) in data: | |
95 | if step == 1 and self.oldstep == 0: | |
96 | self.step(self.samplenum, direction) | |
97 | self.oldstep = step |