pimoroni-pico/micropython/modules/breakout_encoder/breakout_encoder.cpp

#include "libraries/breakout_encoder/breakout_encoder.hpp"
#include <cstdio>

#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))

// SDA/SCL on even/odd pins, I2C0/I2C1 on even/odd pairs of pins.
#define IS_VALID_SCL(i2c, pin) (((pin) & 1) == 1 && (((pin) & 2) >> 1) == (i2c))
#define IS_VALID_SDA(i2c, pin) (((pin) & 1) == 0 && (((pin) & 2) >> 1) == (i2c))


using namespace pimoroni;

extern "C" {
#include "breakout_encoder.h"
#include "pimoroni_i2c.h"

/***** Variables Struct *****/
typedef struct _breakout_encoder_BreakoutEncoder_obj_t {
    mp_obj_base_t base;
    BreakoutEncoder *breakout;
    _PimoroniI2C_obj_t *i2c;
} breakout_encoder_BreakoutEncoder_obj_t;

/***** Print *****/
void BreakoutEncoder_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
    (void)kind; //Unused input parameter
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    BreakoutEncoder* breakout = self->breakout;
    mp_print_str(print, "BreakoutEncoder(");

    mp_print_str(print, "i2c = ");
    mp_obj_print_helper(print, mp_obj_new_int((breakout->get_i2c() == i2c0) ? 0 : 1), PRINT_REPR);

    mp_print_str(print, ", address = 0x");
    char buf[3];
    sprintf(buf, "%02X", breakout->get_address());
    mp_print_str(print, buf);

    mp_print_str(print, ", sda = ");
    mp_obj_print_helper(print, mp_obj_new_int(breakout->get_sda()), PRINT_REPR);

    mp_print_str(print, ", scl = ");
    mp_obj_print_helper(print, mp_obj_new_int(breakout->get_scl()), PRINT_REPR);

    mp_print_str(print, ", int = ");
    mp_obj_print_helper(print, mp_obj_new_int(breakout->get_int()), PRINT_REPR);

    mp_print_str(print, ")");
}

/***** Constructor *****/
mp_obj_t BreakoutEncoder_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
    breakout_encoder_BreakoutEncoder_obj_t *self = nullptr;

    enum { ARG_i2c, ARG_address, ARG_interrupt };
    static const mp_arg_t allowed_args[] = {
        { MP_QSTR_i2c, MP_ARG_OBJ, {.u_obj = nullptr} },
        { MP_QSTR_address, MP_ARG_INT, {.u_int = BreakoutEncoder::DEFAULT_I2C_ADDRESS} },
        { MP_QSTR_interrupt, MP_ARG_INT, {.u_int = PIN_UNUSED} },
    };

    // Parse args.
    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);

    self = m_new_obj(breakout_encoder_BreakoutEncoder_obj_t);
    self->base.type = &breakout_encoder_BreakoutEncoder_type;

    self->i2c = PimoroniI2C_from_machine_i2c_or_native(args[ARG_i2c].u_obj);

    self->breakout = new BreakoutEncoder((pimoroni::I2C *)(self->i2c->i2c), args[ARG_address].u_int, args[ARG_interrupt].u_int);

    if(!self->breakout->init()) {
        mp_raise_msg(&mp_type_RuntimeError, "BreakoutEncoder: breakout not found when initialising");
    }

    return MP_OBJ_FROM_PTR(self);
}

/***** Methods *****/
mp_obj_t BreakoutEncoder_set_address(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
    enum { ARG_self, ARG_address };
    static const mp_arg_t allowed_args[] = {
        { MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
        { MP_QSTR_address, MP_ARG_REQUIRED | MP_ARG_INT },
    };

    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_encoder_BreakoutEncoder_obj_t);

    self->breakout->set_address(args[ARG_address].u_int);

    return mp_const_none;
}

mp_obj_t BreakoutEncoder_get_interrupt_flag(mp_obj_t self_in) {
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    return mp_obj_new_bool(self->breakout->get_interrupt_flag());
}

mp_obj_t BreakoutEncoder_clear_interrupt_flag(mp_obj_t self_in) {
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    self->breakout->clear_interrupt_flag();

    return mp_const_none;
}

mp_obj_t BreakoutEncoder_get_direction(mp_obj_t self_in) {
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    return mp_obj_new_bool(self->breakout->get_direction());
}

mp_obj_t BreakoutEncoder_set_direction(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
    enum { ARG_self, ARG_clockwise };
    static const mp_arg_t allowed_args[] = {
        { MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
        { MP_QSTR_clockwise, MP_ARG_REQUIRED | MP_ARG_BOOL },
    };

    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_encoder_BreakoutEncoder_obj_t);

    self->breakout->set_direction(args[ARG_clockwise].u_bool ? BreakoutEncoder::DIRECTION_CW : BreakoutEncoder::DIRECTION_CCW);

    return mp_const_none;
}

mp_obj_t BreakoutEncoder_set_brightness(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
    enum { ARG_self, ARG_brightness };
    static const mp_arg_t allowed_args[] = {
        { MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
        { MP_QSTR_brightness, MP_ARG_REQUIRED | MP_ARG_OBJ },
    };

    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
    
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_encoder_BreakoutEncoder_obj_t);

    float brightness = mp_obj_get_float(args[ARG_brightness].u_obj);
    if(brightness < 0 || brightness > 1.0f)
        mp_raise_ValueError("brightness out of range. Expected 0.0 to 1.0");
    else
        self->breakout->set_brightness(brightness);

    return mp_const_none;
}

mp_obj_t BreakoutEncoder_set_led(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
    enum { ARG_self, ARG_r, ARG_g, ARG_b, ARG_w };
    static const mp_arg_t allowed_args[] = {
        { MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
        { MP_QSTR_r, MP_ARG_REQUIRED | MP_ARG_INT },
        { MP_QSTR_g, MP_ARG_REQUIRED | MP_ARG_INT },
        { MP_QSTR_b, MP_ARG_REQUIRED | MP_ARG_INT },
    };

    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
    mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);

    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, breakout_encoder_BreakoutEncoder_obj_t);

    int r = args[ARG_r].u_int;
    int g = args[ARG_g].u_int;
    int b = args[ARG_b].u_int;

    if(r < 0 || r > 255)
        mp_raise_ValueError("r out of range. Expected 0 to 255");
    else if(g < 0 || g > 255)
        mp_raise_ValueError("g out of range. Expected 0 to 255");
    else if(b < 0 || b > 255)
        mp_raise_ValueError("b out of range. Expected 0 to 255");
    else
        self->breakout->set_led(r, g, b);

    return mp_const_none;
}

mp_obj_t BreakoutEncoder_available(mp_obj_t self_in) {
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    return mp_obj_new_bool(self->breakout->available());
}

mp_obj_t BreakoutEncoder_read(mp_obj_t self_in) {
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    return mp_obj_new_int(self->breakout->read());
}

mp_obj_t BreakoutEncoder_clear(mp_obj_t self_in) {
    breakout_encoder_BreakoutEncoder_obj_t *self = MP_OBJ_TO_PTR2(self_in, breakout_encoder_BreakoutEncoder_obj_t);
    self->breakout->clear();

    return mp_const_none;
}
}