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99 lines
3.3 KiB
Python
Executable File
99 lines
3.3 KiB
Python
Executable File
##
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## This file is part of the libsigrokdecode project.
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##
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## Copyright (C) 2015 Petteri Aimonen <jpa@sigrok.mail.kapsi.fi>
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##
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## This program is free software; you can redistribute it and/or modify
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## it under the terms of the GNU General Public License as published by
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## the Free Software Foundation; either version 2 of the License, or
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## (at your option) any later version.
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##
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## This program is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU General Public License for more details.
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##
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## You should have received a copy of the GNU General Public License
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## along with this program; if not, write to the Free Software
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## Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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##
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import sigrokdecode as srd
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class SamplerateError(Exception):
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pass
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class Decoder(srd.Decoder):
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api_version = 2
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id = 'stepper_motor'
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name = 'Stepper motor'
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longname = 'Stepper motor position / speed'
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desc = 'Absolute position and movement speed from step/dir.'
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license = 'gplv2+'
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inputs = ['logic']
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outputs = ['stepper_motor']
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channels = (
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{'id': 'step', 'name': 'Step', 'desc': 'Step pulse'},
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{'id': 'dir', 'name': 'Direction', 'desc': 'Direction select'},
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)
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options = (
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{'id': 'unit', 'desc': 'Unit', 'default': 'steps',
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'values': ('steps', 'mm')},
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{'id': 'steps_per_mm', 'desc': 'Steps per mm', 'default': 100.0},
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)
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annotations = (
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('speed', 'Speed'),
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('position', 'Position')
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)
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annotation_rows = (
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('speed', 'Speed', (0,)),
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('position', 'Position', (1,)),
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)
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def __init__(self):
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self.oldstep = None
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self.prev_step_ss = None
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self.pos = 0
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self.prev_speed = None
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self.prev_pos = None
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def start(self):
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self.out_ann = self.register(srd.OUTPUT_ANN)
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if self.options['unit'] == 'steps':
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self.scale = 1
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self.format = '%0.0f'
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self.unit = 'steps'
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else:
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self.scale = self.options['steps_per_mm']
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self.format = '%0.2f'
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self.unit = 'mm'
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def step(self, ss, direction):
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if self.prev_step_ss is not None:
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delta = ss - self.prev_step_ss
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speed = self.samplerate / delta / self.scale
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speed_txt = self.format % speed
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pos_txt = self.format % (self.pos / self.scale)
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self.put(self.prev_step_ss, ss, self.out_ann,
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[0, [speed_txt + ' ' + self.unit + '/s', speed_txt]])
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self.put(self.prev_step_ss, ss, self.out_ann,
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[1, [pos_txt + ' ' + self.unit, pos_txt]])
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self.pos += (1 if direction else -1)
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self.prev_step_ss = ss
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def metadata(self, key, value):
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if key == srd.SRD_CONF_SAMPLERATE:
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self.samplerate = value
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def decode(self, ss, es, data):
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if not self.samplerate:
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raise SamplerateError('Cannot decode without samplerate.')
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for (self.samplenum, (step, direction)) in data:
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data.itercnt += 1
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if step == 1 and self.oldstep == 0:
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self.step(self.samplenum, direction)
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self.oldstep = step
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