kopia lustrzana https://github.com/micropython/micropython
stm: add basic Servo class, and stop and standby functions.
Damien
rodzic
ec643130d0
commit
5285155ef7
115
stm/main.c
115
stm/main.c
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@ -1,7 +1,9 @@
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#include <stdio.h>
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#include <stm32f4xx.h>
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#include <stm32f4xx_rcc.h>
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#include <stm32f4xx_syscfg.h>
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#include <stm32f4xx_gpio.h>
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#include <stm32f4xx_exti.h>
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#include <stm32f4xx_tim.h>
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#include <stm32f4xx_pwr.h>
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#include <stm32f4xx_rtc.h>
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@ -68,6 +70,30 @@ void sw_init(void) {
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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GPIO_Init(PYB_USRSW_PORT, &GPIO_InitStructure);
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// the rest does the EXTI interrupt
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/* Enable SYSCFG clock */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
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/* Connect EXTI Line13 to PA13 pin */
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SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource13);
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/* Configure EXTI Line13, rising edge */
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EXTI_InitTypeDef EXTI_InitStructure;
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EXTI_InitStructure.EXTI_Line = EXTI_Line13;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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/* Enable and set EXTI15_10 Interrupt to the lowest priority */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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}
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int sw_get(void) {
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@ -173,6 +199,34 @@ py_obj_t pyb_sw(void) {
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}
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}
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py_obj_t servo_obj_angle(py_obj_t self, py_obj_t angle) {
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machine_uint_t servo_id;
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py_user_get_data(self, &servo_id, NULL);
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machine_int_t v = 152 + 85.0 * py_obj_get_float(angle) / 90.0;
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if (v < 65) { v = 65; }
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if (v > 210) { v = 210; }
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switch (servo_id) {
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case 1: TIM2->CCR1 = v; break;
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case 2: TIM2->CCR2 = v; break;
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case 3: TIM2->CCR3 = v; break;
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case 4: TIM2->CCR4 = v; break;
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}
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return py_const_none;
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}
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const py_user_info_t servo_obj_info = {
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"Servo",
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NULL, // print
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{
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{"angle", 1, servo_obj_angle},
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{NULL, 0, NULL},
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}
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};
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py_obj_t pyb_Servo(py_obj_t servo_id) {
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return py_obj_new_user(&servo_obj_info, (machine_uint_t)py_obj_get_int(servo_id), 0);
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}
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/*
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void g(uint i) {
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printf("g:%d\n", i);
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@ -272,6 +326,51 @@ static py_obj_t pyb_info(void) {
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return py_const_none;
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}
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static void SYSCLKConfig_STOP(void) {
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/* After wake-up from STOP reconfigure the system clock */
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/* Enable HSE */
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RCC_HSEConfig(RCC_HSE_ON);
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/* Wait till HSE is ready */
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while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET) {
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}
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/* Enable PLL */
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RCC_PLLCmd(ENABLE);
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/* Wait till PLL is ready */
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while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) {
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}
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/* Select PLL as system clock source */
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RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
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/* Wait till PLL is used as system clock source */
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while (RCC_GetSYSCLKSource() != 0x08) {
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}
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}
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static py_obj_t pyb_stop(void) {
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PWR_EnterSTANDBYMode();
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//PWR_FlashPowerDownCmd(ENABLE); don't know what the logic is with this
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/* Enter Stop Mode */
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PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
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/* Configures system clock after wake-up from STOP: enable HSE, PLL and select
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* PLL as system clock source (HSE and PLL are disabled in STOP mode) */
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SYSCLKConfig_STOP();
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//PWR_FlashPowerDownCmd(DISABLE);
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return py_const_none;
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}
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static py_obj_t pyb_standby(void) {
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PWR_EnterSTANDBYMode();
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return py_const_none;
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}
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py_obj_t pyb_usart_send(py_obj_t data) {
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usart_tx_char(py_obj_get_int(data));
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return py_const_none;
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@ -322,6 +421,9 @@ int readline(vstr_t *line, const char *prompt) {
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break;
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}
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sys_tick_delay_ms(1);
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if (storage_needs_flush()) {
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storage_flush();
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}
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}
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if (escape == 0) {
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if (c == 4 && vstr_len(line) == len) {
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@ -422,7 +524,7 @@ void do_repl(void) {
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rt_call_function_0(module_fun);
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nlr_pop();
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uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
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printf("(took %lu ms)\n", ticks);
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//printf("(took %lu ms)\n", ticks);
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} else {
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// uncaught exception
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py_obj_print((py_obj_t)nlr.ret_val);
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@ -583,8 +685,8 @@ void servo_init(void) {
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py_obj_t pyb_servo_set(py_obj_t port, py_obj_t value) {
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int p = py_obj_get_int(port);
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int v = py_obj_get_int(value);
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if (v < 100) { v = 100; }
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if (v > 200) { v = 200; }
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if (v < 50) { v = 50; }
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if (v > 250) { v = 250; }
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switch (p) {
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case 1: TIM2->CCR1 = v; break;
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case 2: TIM2->CCR2 = v; break;
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@ -843,13 +945,13 @@ soft_reset:
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servo_init();
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// audio
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audio_init();
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//audio_init();
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// timer
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timer_init();
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// RNG
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{
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if (0) {
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RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
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RNG_Cmd(ENABLE);
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}
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@ -858,6 +960,8 @@ soft_reset:
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{
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py_obj_t m = py_module_new();
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rt_store_attr(m, qstr_from_str_static("info"), rt_make_function_0(pyb_info));
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rt_store_attr(m, qstr_from_str_static("stop"), rt_make_function_0(pyb_stop));
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rt_store_attr(m, qstr_from_str_static("standby"), rt_make_function_0(pyb_standby));
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rt_store_attr(m, qstr_from_str_static("source_dir"), rt_make_function_1(pyb_source_dir));
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rt_store_attr(m, qstr_from_str_static("main"), rt_make_function_1(pyb_main));
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rt_store_attr(m, qstr_from_str_static("sync"), rt_make_function_0(pyb_sync));
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@ -875,6 +979,7 @@ soft_reset:
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rt_store_attr(m, qstr_from_str_static("ustat"), rt_make_function_0(pyb_usart_status));
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rt_store_attr(m, qstr_from_str_static("rng"), rt_make_function_0(pyb_rng_get));
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rt_store_attr(m, qstr_from_str_static("Led"), rt_make_function_1(pyb_Led));
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rt_store_attr(m, qstr_from_str_static("Servo"), rt_make_function_1(pyb_Servo));
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rt_store_name(qstr_from_str_static("pyb"), m);
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rt_store_name(qstr_from_str_static("open"), rt_make_function_2(pyb_io_open));
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@ -268,8 +268,15 @@ void TIM6_DAC_IRQHandler(void) {
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#include "std.h"
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#include "led.h"
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// EXTI, for cc3000 on A14
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// EXTI
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// for USRSW on A13
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// for cc3000 on A14
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void EXTI15_10_IRQHandler(void) {
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// work out if it's A13 that had the interrupt
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if (EXTI_GetITStatus(EXTI_Line13) != RESET) {
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// this is used just to wake the device
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EXTI_ClearITPendingBit(EXTI_Line13);
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}
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// work out if it's A14 that had the interrupt
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if (EXTI_GetITStatus(EXTI_Line14) != RESET) {
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led_toggle(PYB_LED_G2);
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