X-Git-Url: https://sigrok.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=decoders%2Fstepper_motor%2Fpd.py;h=4f245ec18c6f825e7c1a9fe82d95138c5eb8bc15;hb=e144452bcdd5f2abbe6b6f3da41ad64f67e39def;hp=52e3e635a4bea1185e8e2282bad2d8c901a3d9e1;hpb=4539e9ca58966ce3c9cad4801b16c315e86ace01;p=libsigrokdecode.git

diff --git a/decoders/stepper_motor/pd.py b/decoders/stepper_motor/pd.py
index 52e3e63..4f245ec 100644
--- a/decoders/stepper_motor/pd.py
+++ b/decoders/stepper_motor/pd.py
@@ -19,9 +19,6 @@
 
 import sigrokdecode as srd
 
-class SamplerateError(Exception):
-    pass
-
 class Decoder(srd.Decoder):
     api_version = 3
     id = 'stepper_motor'
@@ -30,7 +27,8 @@ class Decoder(srd.Decoder):
     desc = 'Absolute position and movement speed from step/dir.'
     license = 'gplv2+'
     inputs = ['logic']
-    outputs = ['stepper_motor']
+    outputs = []
+    tags = ['Embedded/industrial']
     channels = (
         {'id': 'step', 'name': 'Step', 'desc': 'Step pulse'},
         {'id': 'dir', 'name': 'Direction', 'desc': 'Direction select'},
@@ -45,11 +43,15 @@ class Decoder(srd.Decoder):
         ('position', 'Position')
     )
     annotation_rows = (
-        ('speed', 'Speed', (0,)),
-        ('position', 'Position', (1,)),
+        ('speeds', 'Speeds', (0,)),
+        ('positions', 'Positions', (1,)),
     )
 
     def __init__(self):
+        self.reset()
+
+    def reset(self):
+        self.samplerate = None
         self.oldstep = None
         self.ss_prev_step = None
         self.pos = 0
@@ -70,12 +72,13 @@ class Decoder(srd.Decoder):
 
     def step(self, ss, direction):
         if self.ss_prev_step is not None:
-            delta = ss - self.ss_prev_step
-            speed = self.samplerate / delta / self.scale
-            speed_txt = self.format % speed
+            if self.samplerate:
+                delta = ss - self.ss_prev_step
+                speed = self.samplerate / delta / self.scale
+                speed_txt = self.format % speed
+                self.put(self.ss_prev_step, ss, self.out_ann,
+                    [0, [speed_txt + ' ' + self.unit + '/s', speed_txt]])
             pos_txt = self.format % (self.pos / self.scale)
-            self.put(self.ss_prev_step, ss, self.out_ann,
-                [0, [speed_txt + ' ' + self.unit + '/s', speed_txt]])
             self.put(self.ss_prev_step, ss, self.out_ann,
                 [1, [pos_txt + ' ' + self.unit, pos_txt]])
 
@@ -87,8 +90,6 @@ class Decoder(srd.Decoder):
             self.samplerate = value
 
     def decode(self):
-        if not self.samplerate:
-            raise SamplerateError('Cannot decode without samplerate.')
         while True:
             step, direction = self.wait({0: 'r'})
             self.step(self.samplenum, direction)