2014-03-13 01:06:26 +00:00
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#include <stdio.h>
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#include <stdint.h>
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#include <string.h>
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2014-04-18 21:38:09 +00:00
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#include "stm32f4xx_hal.h"
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#include "nlr.h"
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2014-03-13 01:06:26 +00:00
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#include "misc.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "obj.h"
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2014-04-18 21:38:09 +00:00
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#include "runtime.h"
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2014-03-13 01:06:26 +00:00
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#include "pin.h"
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2014-04-29 21:55:34 +00:00
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/// \moduleref pyb
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/// \class Pin - control I/O pins
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///
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/// A pin is the basic object to control I/O pins. It has methods to set
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/// the mode of the pin (input, output, etc) and methods to get and set the
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/// digital logic level. For analog control of a pin, see the ADC class.
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///
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/// Usage Model:
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///
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/// All Board Pins are predefined as pyb.Pin.board.Name
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///
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/// x1_pin = pyb.Pin.board.X1
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///
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/// g = pyb.Pin(pyb.Pin.board.X1, pyb.Pin.IN)
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///
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/// CPU pins which correspond to the board pins are available
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/// as `pyb.cpu.Name`. For the CPU pins, the names are the port letter
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/// followed by the pin number. On the PYBv1.0, `pyb.Pin.board.X1` and
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/// `pyb.Pin.cpu.B6` are the same pin.
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///
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/// You can also use strings:
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///
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/// g = pyb.Pin('X1', pyb.Pin.OUT_PP)
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///
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/// Users can add their own names:
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///
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/// pyb.Pin.dict["LeftMotorDir"] = pyb.Pin.cpu.C12
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/// g = pyb.Pin("LeftMotorDir", pyb.Pin.OUT_OD)
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///
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/// and can query mappings
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///
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/// pin = pyb.Pin("LeftMotorDir")
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///
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/// Users can also add their own mapping function:
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///
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/// def MyMapper(pin_name):
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/// if pin_name == "LeftMotorDir":
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/// return pyb.Pin.cpu.A0
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///
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/// pyb.Pin.mapper(MyMapper)
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///
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/// So, if you were to call: `pyb.Pin("LeftMotorDir", pyb.Pin.OUT_PP)`
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/// then `"LeftMotorDir"` is passed directly to the mapper function.
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///
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/// To summarise, the following order determines how things get mapped into
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/// an ordinal pin number:
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///
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/// 1. Directly specify a pin object
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/// 2. User supplied mapping function
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/// 3. User supplied mapping (object must be usable as a dictionary key)
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/// 4. Supply a string which matches a board pin
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/// 5. Supply a string which matches a CPU port/pin
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///
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/// You can set `pyb.Pin.debug(True)` to get some debug information about
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/// how a particular object gets mapped to a pin.
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2014-04-18 21:38:09 +00:00
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// Pin class variables
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STATIC mp_obj_t pin_class_mapper;
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STATIC mp_obj_t pin_class_map_dict;
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STATIC bool pin_class_debug;
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void pin_init(void) {
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pin_class_mapper = MP_OBJ_NULL;
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pin_class_map_dict = MP_OBJ_NULL;
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pin_class_debug = false;
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}
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// C API used to convert a user-supplied pin name into an ordinal pin number.
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const pin_obj_t *pin_find(mp_obj_t user_obj) {
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const pin_obj_t *pin_obj;
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// If a pin was provided, then use it
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if (MP_OBJ_IS_TYPE(user_obj, &pin_type)) {
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pin_obj = user_obj;
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if (pin_class_debug) {
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printf("Pin map passed pin ");
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mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
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printf("\n");
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}
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return pin_obj;
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}
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if (pin_class_mapper != MP_OBJ_NULL) {
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pin_obj = mp_call_function_1(pin_class_mapper, user_obj);
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if (pin_obj != mp_const_none) {
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if (!MP_OBJ_IS_TYPE(pin_obj, &pin_type)) {
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nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "Pin.mapper didn't return a Pin object"));
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}
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if (pin_class_debug) {
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printf("Pin.mapper maps ");
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mp_obj_print(user_obj, PRINT_REPR);
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printf(" to ");
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mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
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printf("\n");
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}
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return pin_obj;
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}
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// The pin mapping function returned mp_const_none, fall through to
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// other lookup methods.
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}
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if (pin_class_map_dict != MP_OBJ_NULL) {
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mp_map_t *pin_map_map = mp_obj_dict_get_map(pin_class_map_dict);
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mp_map_elem_t *elem = mp_map_lookup(pin_map_map, user_obj, MP_MAP_LOOKUP);
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if (elem != NULL && elem->value != NULL) {
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pin_obj = elem->value;
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if (pin_class_debug) {
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printf("Pin.map_dict maps ");
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mp_obj_print(user_obj, PRINT_REPR);
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printf(" to ");
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mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
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printf("\n");
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}
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return pin_obj;
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}
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}
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// See if the pin name matches a board pin
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const char *pin_name = mp_obj_str_get_str(user_obj);
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pin_obj = pin_find_named_pin(pin_board_pins, pin_name);
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if (pin_obj) {
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if (pin_class_debug) {
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printf("Pin.board maps ");
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mp_obj_print(user_obj, PRINT_REPR);
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printf(" to ");
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mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
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printf("\n");
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}
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return pin_obj;
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}
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// See if the pin name matches a cpu pin
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pin_obj = pin_find_named_pin(pin_cpu_pins, pin_name);
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if (pin_obj) {
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if (pin_class_debug) {
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printf("Pin.cpu maps ");
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mp_obj_print(user_obj, PRINT_REPR);
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printf(" to ");
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mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
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printf("\n");
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}
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return pin_obj;
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}
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "pin '%s' not a valid pin identifier", pin_name));
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}
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2014-04-29 21:55:34 +00:00
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/// \method __str__()
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/// Return a string describing the pin object.
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2014-04-18 21:38:09 +00:00
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STATIC void pin_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
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2014-03-13 01:06:26 +00:00
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pin_obj_t *self = self_in;
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print(env, "<Pin %s>", self->name);
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}
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2014-04-19 01:17:57 +00:00
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STATIC mp_obj_t pin_obj_init(uint n_args, mp_obj_t *args);
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2014-04-29 21:55:34 +00:00
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/// \classmethod \constructor(id, ...)
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/// Create a new Pin object associated with the id. If additional arguments are given,
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/// they are used to initialise the pin. See `init`.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_make_new(mp_obj_t self_in, uint n_args, uint n_kw, const mp_obj_t *args) {
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2014-04-19 23:16:30 +00:00
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mp_arg_check_num(n_args, n_kw, 1, 3, false);
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2014-04-18 21:38:09 +00:00
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// Run an argument through the mapper and return the result.
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const pin_obj_t *pin = pin_find(args[0]);
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if (n_args >= 2) {
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// pin mode given, so configure this GPIO
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2014-04-19 01:17:57 +00:00
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mp_obj_t args2[3] = {(mp_obj_t)pin, args2[1], MP_OBJ_NULL};
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if (n_args == 3) {
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args2[2] = args[2];
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2014-04-18 21:38:09 +00:00
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}
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2014-04-19 01:17:57 +00:00
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pin_obj_init(n_args, args2);
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2014-04-18 21:38:09 +00:00
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}
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return (mp_obj_t)pin;
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}
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2014-04-29 21:55:34 +00:00
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/// \classmethod mapper([fun])
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/// Get or set the pin mapper function.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_mapper(uint n_args, mp_obj_t *args) {
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if (n_args > 1) {
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pin_class_mapper = args[1];
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return mp_const_none;
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}
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return pin_class_mapper;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_mapper_fun_obj, 1, 2, pin_mapper);
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STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pin_mapper_obj, (mp_obj_t)&pin_mapper_fun_obj);
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2014-04-29 21:55:34 +00:00
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/// \classmethod dict([dict])
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/// Get or set the pin mapper dictionary.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_map_dict(uint n_args, mp_obj_t *args) {
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if (n_args > 1) {
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pin_class_map_dict = args[1];
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return mp_const_none;
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}
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return pin_class_map_dict;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_map_dict_fun_obj, 1, 2, pin_map_dict);
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STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pin_map_dict_obj, (mp_obj_t)&pin_map_dict_fun_obj);
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2014-04-29 21:55:34 +00:00
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/// \classmethod debug([state])
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/// Get or set the debugging state (`True` or `False` for on or off).
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_debug(uint n_args, mp_obj_t *args) {
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if (n_args > 1) {
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pin_class_debug = mp_obj_is_true(args[1]);
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return mp_const_none;
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}
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return MP_BOOL(pin_class_debug);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_debug_fun_obj, 1, 2, pin_debug);
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STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pin_debug_obj, (mp_obj_t)&pin_debug_fun_obj);
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2014-04-29 21:55:34 +00:00
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/// \method init(mode, pull=Pin.PULL_NONE)
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/// Initialise the pin:
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///
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/// - `mode` can be one of:
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/// - `Pin.IN` - configure the pin for input;
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/// - `Pin.OUT_PP` - configure the pin for output, with push-pull control;
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/// - `Pin.OUT_OD` - configure the pin for output, with open-drain control;
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/// - `Pin.AF_PP` - configure the pin for alternate function, pull-pull;
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/// - `Pin.AF_OD` - configure the pin for alternate function, open-drain;
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/// - `Pin.ANALOG` - configure the pin for analog.
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/// - `pull` can be one of:
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/// - `Pin.PULL_NONE` - no pull up or down resistors;
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/// - `Pin.PULL_UP` - enable the pull-up resistor;
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/// - `Pin.PULL_DOWN` - enable the pull-down resistor.
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///
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/// Returns: `None`.
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2014-04-19 01:17:57 +00:00
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STATIC mp_obj_t pin_obj_init(uint n_args, mp_obj_t *args) {
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pin_obj_t *self = args[0];
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// get io mode
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uint mode = mp_obj_get_int(args[1]);
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if (!IS_GPIO_MODE(mode)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid pin mode: %d", mode));
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}
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// get pull mode
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uint pull = GPIO_NOPULL;
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if (n_args >= 3) {
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pull = mp_obj_get_int(args[2]);
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if (!IS_GPIO_PULL(pull)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid pin pull: %d", pull));
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}
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}
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// configure the GPIO as requested
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.Pin = self->pin_mask;
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GPIO_InitStructure.Mode = mode;
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GPIO_InitStructure.Pull = pull;
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GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
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GPIO_InitStructure.Alternate = 0;
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HAL_GPIO_Init(self->gpio, &GPIO_InitStructure);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_init_obj, 2, 3, pin_obj_init);
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2014-04-29 21:55:34 +00:00
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/// \method value([value])
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/// Get or set the digital logic level of the pin:
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///
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/// - With no argument, return 0 or 1 depending on the logic level of the pin.
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/// - With `value` given, set the logic level of the pin. `value` can be
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/// anything that converts to a boolean. If it converts to `True`, the pin
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/// is set high, otherwise it is set low.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_value(uint n_args, mp_obj_t *args) {
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pin_obj_t *self = args[0];
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if (n_args == 1) {
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// get pin
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2014-04-21 19:18:06 +00:00
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return MP_OBJ_NEW_SMALL_INT((self->gpio->IDR >> self->pin) & 1);
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2014-04-18 21:38:09 +00:00
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} else {
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// set pin
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if (mp_obj_is_true(args[1])) {
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self->gpio->BSRRL = self->pin_mask;
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} else {
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self->gpio->BSRRH = self->pin_mask;
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}
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_value_obj, 1, 2, pin_value);
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2014-04-29 21:55:34 +00:00
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/// \method low()
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/// Set the pin to a low logic level.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_low(mp_obj_t self_in) {
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pin_obj_t *self = self_in;
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self->gpio->BSRRH = self->pin_mask;
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_low_obj, pin_low);
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2014-04-29 21:55:34 +00:00
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/// \method high()
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/// Set the pin to a high logic level.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_high(mp_obj_t self_in) {
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pin_obj_t *self = self_in;
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self->gpio->BSRRL = self->pin_mask;
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_high_obj, pin_high);
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2014-04-29 21:55:34 +00:00
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/// \method name()
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/// Get the pin name.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_name(mp_obj_t self_in) {
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2014-03-13 01:06:26 +00:00
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pin_obj_t *self = self_in;
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return MP_OBJ_NEW_QSTR(qstr_from_str(self->name));
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}
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2014-04-18 21:38:09 +00:00
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_name_obj, pin_name);
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2014-03-13 01:06:26 +00:00
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2014-04-29 21:55:34 +00:00
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/// \method port()
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/// Get the pin port.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_port(mp_obj_t self_in) {
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2014-03-13 01:06:26 +00:00
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pin_obj_t *self = self_in;
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return MP_OBJ_NEW_SMALL_INT((mp_small_int_t)self->port);
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}
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2014-04-18 21:38:09 +00:00
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_port_obj, pin_port);
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2014-03-13 01:06:26 +00:00
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2014-04-29 21:55:34 +00:00
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/// \method pin()
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/// Get the pin number.
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2014-04-18 21:38:09 +00:00
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STATIC mp_obj_t pin_pin(mp_obj_t self_in) {
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2014-03-13 01:06:26 +00:00
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pin_obj_t *self = self_in;
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return MP_OBJ_NEW_SMALL_INT((mp_small_int_t)self->pin);
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}
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2014-04-18 21:38:09 +00:00
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_pin_obj, pin_pin);
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STATIC const mp_map_elem_t pin_locals_dict_table[] = {
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// instance methods
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2014-04-19 01:17:57 +00:00
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{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pin_init_obj },
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2014-04-18 21:38:09 +00:00
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{ MP_OBJ_NEW_QSTR(MP_QSTR_value), (mp_obj_t)&pin_value_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_low), (mp_obj_t)&pin_low_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_high), (mp_obj_t)&pin_high_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_name), (mp_obj_t)&pin_name_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_port), (mp_obj_t)&pin_port_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_pin), (mp_obj_t)&pin_pin_obj },
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// class methods
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{ MP_OBJ_NEW_QSTR(MP_QSTR_mapper), (mp_obj_t)&pin_mapper_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_dict), (mp_obj_t)&pin_map_dict_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_debug), (mp_obj_t)&pin_debug_obj },
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2014-03-13 01:06:26 +00:00
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2014-04-18 21:38:09 +00:00
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// class attributes
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{ MP_OBJ_NEW_QSTR(MP_QSTR_board), (mp_obj_t)&pin_board_pins_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_cpu), (mp_obj_t)&pin_cpu_pins_obj },
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2014-03-13 01:06:26 +00:00
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2014-04-18 21:38:09 +00:00
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// class constants
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2014-04-29 21:55:34 +00:00
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/// \constant IN - initialise the pin to input mode
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/// \constant OUT_PP - initialise the pin to output mode with a push-pull drive
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/// \constant OUT_OD - initialise the pin to output mode with an open-drain drive
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/// \constant PULL_NONE - don't enable any pull up or down resistors on the pin
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/// \constant PULL_UP - enable the pull-up resistor on the pin
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/// \constant PULL_DOWN - enable the pull-down resistor on the pin
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2014-04-18 21:38:09 +00:00
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{ MP_OBJ_NEW_QSTR(MP_QSTR_IN), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_INPUT) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_OUT_PP), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_OUTPUT_PP) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_OUT_OD), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_OUTPUT_OD) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_AF_PP), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_AF_PP) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_AF_OD), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_AF_OD) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_ANALOG), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_ANALOG) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_PULL_NONE), MP_OBJ_NEW_SMALL_INT(GPIO_NOPULL) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_PULL_UP), MP_OBJ_NEW_SMALL_INT(GPIO_PULLUP) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_PULL_DOWN), MP_OBJ_NEW_SMALL_INT(GPIO_PULLDOWN) },
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2014-03-13 01:06:26 +00:00
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};
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2014-04-18 21:38:09 +00:00
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STATIC MP_DEFINE_CONST_DICT(pin_locals_dict, pin_locals_dict_table);
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const mp_obj_type_t pin_type = {
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2014-03-13 01:06:26 +00:00
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{ &mp_type_type },
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.name = MP_QSTR_Pin,
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2014-04-18 21:38:09 +00:00
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.print = pin_print,
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.make_new = pin_make_new,
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.locals_dict = (mp_obj_t)&pin_locals_dict,
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2014-03-13 01:06:26 +00:00
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};
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2014-04-18 21:38:09 +00:00
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STATIC void pin_af_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
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2014-03-13 01:06:26 +00:00
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pin_af_obj_t *self = self_in;
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print(env, "<Pin AF %d fn:%d unit:%d typ:%d>", self->idx, self->fn,
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self->unit, self->type);
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}
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2014-04-18 21:38:09 +00:00
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const mp_obj_type_t pin_af_type = {
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2014-03-13 01:06:26 +00:00
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{ &mp_type_type },
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.name = MP_QSTR_PinAF,
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.print = pin_af_obj_print,
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};
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