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Description
I am trying to compile micropython for my Raspberry Pico with an "user defined module" based on pimoroni's implementation of an Encoder class that uses the Pico's PIOs to interface with motor encoders.
I have followed the tutorials explaining how to compile an user defined module for the Pico and everything seems to work just fine, I get the expected messages while compiling with make USER_C_MODULES=../../../modules/micropython.cmake all:
...
Including User C Module from ../../examples/usercmodule/cexample
Including User C Module from ../../examples/usercmodule/cppexample
...
My files to interface the Encoder class and MicroPython are (I am omitting the cpp to avoid flooding this issue even further):
#include "encoder-pio-wrapper.h"
/***** Methods *****/
MP_DEFINE_CONST_FUN_OBJ_0(Encoder___del___obj, Encoder___del__);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_state_a_obj, Encoder_get_state_a);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_state_b_obj, Encoder_get_state_b);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_count_obj, Encoder_get_count);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_revolutions_obj, Encoder_get_revolutions);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_angle_degrees_obj, Encoder_get_angle_degrees);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_angle_radians_obj, Encoder_get_angle_radians);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_frequency_obj, Encoder_get_frequency);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_revolutions_per_second_obj, Encoder_get_revolutions_per_second);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_revolutions_per_minute_obj, Encoder_get_revolutions_per_minute);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_degrees_per_second_obj, Encoder_get_degrees_per_second);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_get_radians_per_second_obj, Encoder_get_radians_per_second);
MP_DEFINE_CONST_FUN_OBJ_0(Encoder_zero_count_obj, Encoder_zero_count);
/***** Binding of Methods *****/
STATIC const mp_rom_map_elem_t Encoder_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&Encoder___del___obj) },
{ MP_ROM_QSTR(MP_QSTR_get_state_a), MP_ROM_PTR(&Encoder_get_state_a_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_state_b), MP_ROM_PTR(&Encoder_get_state_b_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_count), MP_ROM_PTR(&Encoder_get_count_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_revolutions), MP_ROM_PTR(&Encoder_get_revolutions_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_angle_degrees), MP_ROM_PTR(&Encoder_get_angle_degrees_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_angle_radians), MP_ROM_PTR(&Encoder_get_angle_radians_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_frequency), MP_ROM_PTR(&Encoder_get_frequency_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_revolutions_per_second), MP_ROM_PTR(&Encoder_get_revolutions_per_second_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_revolutions_per_minute), MP_ROM_PTR(&Encoder_get_revolutions_per_minute_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_degrees_per_second), MP_ROM_PTR(&Encoder_get_degrees_per_second_obj) },
{ MP_ROM_QSTR(MP_QSTR_get_radians_per_second), MP_ROM_PTR(&Encoder_get_radians_per_second_obj) },
};
STATIC MP_DEFINE_CONST_DICT(Encoder_locals_dict, Encoder_locals_dict_table);
/***** Class Definition *****/
const mp_obj_type_t Encoder_type = {
{ &mp_type_type },
.name = MP_QSTR_Encoder,
.print = Encoder_print,
.make_new = Encoder_make_new,
.locals_dict = (mp_obj_dict_t*)&Encoder_locals_dict,
};
/***** Globals Table *****/
STATIC const mp_map_elem_t Encoder_globals_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_Encoder) },
{ MP_OBJ_NEW_QSTR(MP_QSTR_Encoder), (mp_obj_t)&Encoder_type },
};
STATIC MP_DEFINE_CONST_DICT(mp_module_Encoder_globals, Encoder_globals_table);
/***** Module Definition *****/
const mp_obj_module_t Encoder_user_cmodule = {
.base = { &mp_type_module },
.globals = (mp_obj_dict_t*)&mp_module_Encoder_globals,
};
MP_REGISTER_MODULE(MP_QSTR_Encoder, Encoder_user_cmodule, MODULE_ENCODER_ENABLED);// Include MicroPython API.
#include "../../micropython/py/obj.h"
#include "../../micropython/py/runtime.h"
/***** Extern of Class Definition *****/
extern const mp_obj_type_t breakout_encoder_BreakoutEncoder_type;
extern const mp_obj_type_t encoder_pio_Encoder_type;
/***** Extern of Class Methods *****/
extern void Encoder_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind);
extern mp_obj_t Encoder_init(mp_obj_t self_in);
extern mp_obj_t Encoder_get_state_a(mp_obj_t self_in);
extern mp_obj_t Encoder_get_state_b(mp_obj_t self_in);
extern mp_obj_t Encoder_get_count(mp_obj_t self_in);
extern mp_obj_t Encoder_get_revolutions(mp_obj_t self_in);
extern mp_obj_t Encoder_get_angle_degrees(mp_obj_t self_in);
extern mp_obj_t Encoder_get_angle_radians(mp_obj_t self_in);
extern mp_obj_t Encoder_get_frequency(mp_obj_t self_in);
extern mp_obj_t Encoder_get_revolutions_per_second(mp_obj_t self_in);
extern mp_obj_t Encoder_get_revolutions_per_minute(mp_obj_t self_in);
extern mp_obj_t Encoder_get_degrees_per_second(mp_obj_t self_in);
extern mp_obj_t Encoder_get_radians_per_second(mp_obj_t self_in);
extern void mp_obj_t Encoder_zero_count(mp_obj_t self_in);
// extern mp_obj_t Encoder_perform_capture(mp_obj_t self_in);However, I cannot import my module by just using import Encoder.
I suspect my makefiles and cmakes are ok because I succeed to compile and link but I am not so sure about it.