kopia lustrzana https://github.com/micropython/micropython
383 wiersze
15 KiB
C
383 wiersze
15 KiB
C
/*
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* This file is part of the Micro Python project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <stddef.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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#include "mpconfig.h"
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#include "nlr.h"
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#include "misc.h"
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#include "qstr.h"
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#include "gc.h"
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#include "obj.h"
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#include "runtime.h"
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#include "pin.h"
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#include "extint.h"
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/// \moduleref pyb
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/// \class ExtInt - configure I/O pins to interrupt on external events
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///
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/// There are a total of 22 interrupt lines. 16 of these can come from GPIO pins
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/// and the remaining 6 are from internal sources.
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///
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/// For lines 0 thru 15, a given line can map to the corresponding line from an
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/// arbitrary port. So line 0 can map to Px0 where x is A, B, C, ... and
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/// line 1 can map to Px1 where x is A, B, C, ...
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///
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/// def callback(line):
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/// print("line =", line)
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///
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/// Note: ExtInt will automatically configure the gpio line as an input.
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///
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/// extint = pyb.ExtInt(pin, pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, callback)
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///
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/// Now every time a falling edge is seen on the X1 pin, the callback will be
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/// called. Caution: mechanical pushbuttons have "bounce" and pushing or
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/// releasing a switch will often generate multiple edges.
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/// See: http://www.eng.utah.edu/~cs5780/debouncing.pdf for a detailed
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/// explanation, along with various techniques for debouncing.
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///
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/// Trying to register 2 callbacks onto the same pin will throw an exception.
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///
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/// If pin is passed as an integer, then it is assumed to map to one of the
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/// internal interrupt sources, and must be in the range 16 thru 22.
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///
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/// All other pin objects go through the pin mapper to come up with one of the
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/// gpio pins.
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///
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/// extint = pyb.ExtInt(pin, mode, pull, callback)
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///
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/// Valid modes are pyb.ExtInt.IRQ_RISING, pyb.ExtInt.IRQ_FALLING,
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/// pyb.ExtInt.IRQ_RISING_FALLING, pyb.ExtInt.EVT_RISING,
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/// pyb.ExtInt.EVT_FALLING, and pyb.ExtInt.EVT_RISING_FALLING.
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///
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/// Only the IRQ_xxx modes have been tested. The EVT_xxx modes have
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/// something to do with sleep mode and the WFE instruction.
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///
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/// Valid pull values are pyb.Pin.PULL_UP, pyb.Pin.PULL_DOWN, pyb.Pin.PULL_NONE.
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///
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/// There is also a C API, so that drivers which require EXTI interrupt lines
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/// can also use this code. See extint.h for the available functions and
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/// usrsw.h for an example of using this.
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// TODO Add python method to change callback object.
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#define EXTI_OFFSET (EXTI_BASE - PERIPH_BASE)
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// Macro used to set/clear the bit corresponding to the line in the IMR/EMR
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// register in an atomic fashion by using bitband addressing.
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#define EXTI_MODE_BB(mode, line) (*(__IO uint32_t *)(PERIPH_BB_BASE + ((EXTI_OFFSET + (mode)) * 32) + ((line) * 4)))
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#define EXTI_Mode_Interrupt offsetof(EXTI_TypeDef, IMR)
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#define EXTI_Mode_Event offsetof(EXTI_TypeDef, EMR)
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#define EXTI_SWIER_BB(line) (*(__IO uint32_t *)(PERIPH_BB_BASE + ((EXTI_OFFSET + offsetof(EXTI_TypeDef, SWIER)) * 32) + ((line) * 4)))
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typedef struct {
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mp_obj_base_t base;
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mp_small_int_t line;
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} extint_obj_t;
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typedef struct {
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mp_obj_t callback_obj;
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void *param;
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uint32_t mode;
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} extint_vector_t;
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STATIC extint_vector_t extint_vector[EXTI_NUM_VECTORS];
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#if !defined(ETH)
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#define ETH_WKUP_IRQn 62 // The 405 doesn't have ETH, but we want a value to put in our table
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#endif
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STATIC const uint8_t nvic_irq_channel[EXTI_NUM_VECTORS] = {
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EXTI0_IRQn, EXTI1_IRQn, EXTI2_IRQn, EXTI3_IRQn, EXTI4_IRQn,
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EXTI9_5_IRQn, EXTI9_5_IRQn, EXTI9_5_IRQn, EXTI9_5_IRQn, EXTI9_5_IRQn,
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EXTI15_10_IRQn, EXTI15_10_IRQn, EXTI15_10_IRQn, EXTI15_10_IRQn, EXTI15_10_IRQn,
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EXTI15_10_IRQn, PVD_IRQn, RTC_Alarm_IRQn, OTG_FS_WKUP_IRQn, ETH_WKUP_IRQn,
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OTG_HS_WKUP_IRQn, TAMP_STAMP_IRQn, RTC_WKUP_IRQn
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};
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// Set override_callback_obj to true if you want to unconditionally set the
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// callback function.
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//
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// NOTE: param is for C callers. Python can use closure to get an object bound
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// with the function.
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uint extint_register(mp_obj_t pin_obj, uint32_t mode, uint32_t pull, mp_obj_t callback_obj, bool override_callback_obj, void *param) {
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const pin_obj_t *pin = NULL;
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uint v_line;
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if (MP_OBJ_IS_INT(pin_obj)) {
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// If an integer is passed in, then use it to identify lines 16 thru 22
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// We expect lines 0 thru 15 to be passed in as a pin, so that we can
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// get both the port number and line number.
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v_line = mp_obj_get_int(pin_obj);
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if (v_line < 16) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "ExtInt vector %d < 16, use a Pin object", v_line));
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}
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if (v_line >= EXTI_NUM_VECTORS) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "ExtInt vector %d >= max of %d", v_line, EXTI_NUM_VECTORS));
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}
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} else {
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pin = pin_find(pin_obj);
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v_line = pin->pin;
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}
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if (mode != GPIO_MODE_IT_RISING &&
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mode != GPIO_MODE_IT_FALLING &&
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mode != GPIO_MODE_IT_RISING_FALLING &&
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mode != GPIO_MODE_EVT_RISING &&
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mode != GPIO_MODE_EVT_FALLING &&
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mode != GPIO_MODE_EVT_RISING_FALLING) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid ExtInt Mode: %d", mode));
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}
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if (pull != GPIO_NOPULL &&
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pull != GPIO_PULLUP &&
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pull != GPIO_PULLDOWN) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid ExtInt Pull: %d", pull));
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}
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extint_vector_t *v = &extint_vector[v_line];
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if (!override_callback_obj && v->callback_obj != mp_const_none && callback_obj != mp_const_none) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "ExtInt vector %d is already in use", v_line));
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}
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// We need to update callback and param atomically, so we disable the line
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// before we update anything.
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extint_disable(v_line);
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v->callback_obj = callback_obj;
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v->param = param;
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v->mode = (mode & 0x00010000) ? // GPIO_MODE_IT == 0x00010000
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EXTI_Mode_Interrupt : EXTI_Mode_Event;
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if (v->callback_obj != mp_const_none) {
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GPIO_InitTypeDef exti;
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exti.Pin = pin->pin_mask;
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exti.Mode = mode;
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exti.Pull = pull;
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exti.Speed = GPIO_SPEED_FAST;
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HAL_GPIO_Init(pin->gpio, &exti);
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// Calling HAL_GPIO_Init does an implicit extint_enable
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/* Enable and set NVIC Interrupt to the lowest priority */
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HAL_NVIC_SetPriority(nvic_irq_channel[v_line], 0x0F, 0x0F);
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HAL_NVIC_EnableIRQ(nvic_irq_channel[v_line]);
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}
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return v_line;
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}
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void extint_enable(uint line) {
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if (line >= EXTI_NUM_VECTORS) {
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return;
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}
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// Since manipulating IMR/EMR is a read-modify-write, and we want this to
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// be atomic, we use the bit-band area to just affect the bit we're
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// interested in.
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EXTI_MODE_BB(extint_vector[line].mode, line) = 1;
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}
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void extint_disable(uint line) {
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if (line >= EXTI_NUM_VECTORS) {
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return;
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}
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// Since manipulating IMR/EMR is a read-modify-write, and we want this to
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// be atomic, we use the bit-band area to just affect the bit we're
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// interested in.
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EXTI_MODE_BB(EXTI_Mode_Interrupt, line) = 0;
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EXTI_MODE_BB(EXTI_Mode_Event, line) = 0;
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}
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void extint_swint(uint line) {
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if (line >= EXTI_NUM_VECTORS) {
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return;
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}
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EXTI->SWIER = (1 << line);
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}
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/// \method line()
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/// Return the line number that the pin is mapped to.
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STATIC mp_obj_t extint_obj_line(mp_obj_t self_in) {
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extint_obj_t *self = self_in;
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return MP_OBJ_NEW_SMALL_INT(self->line);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(extint_obj_line_obj, extint_obj_line);
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/// \method enable()
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/// Enable a disabled interrupt.
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STATIC mp_obj_t extint_obj_enable(mp_obj_t self_in) {
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extint_obj_t *self = self_in;
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extint_enable(self->line);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(extint_obj_enable_obj, extint_obj_enable);
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/// \method disable()
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/// Disable the interrupt associated with the ExtInt object.
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/// This could be useful for debouncing.
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STATIC mp_obj_t extint_obj_disable(mp_obj_t self_in) {
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extint_obj_t *self = self_in;
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extint_disable(self->line);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(extint_obj_disable_obj, extint_obj_disable);
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/// \method swint()
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/// Trigger the callback from software.
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STATIC mp_obj_t extint_obj_swint(mp_obj_t self_in) {
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extint_obj_t *self = self_in;
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extint_swint(self->line);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(extint_obj_swint_obj, extint_obj_swint);
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// TODO document as a staticmethod
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/// \classmethod regs()
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/// Dump the values of the EXTI registers.
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STATIC mp_obj_t extint_regs(void) {
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printf("EXTI_IMR %08lx\n", EXTI->IMR);
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printf("EXTI_EMR %08lx\n", EXTI->EMR);
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printf("EXTI_RTSR %08lx\n", EXTI->RTSR);
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printf("EXTI_FTSR %08lx\n", EXTI->FTSR);
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printf("EXTI_SWIER %08lx\n", EXTI->SWIER);
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printf("EXTI_PR %08lx\n", EXTI->PR);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_0(extint_regs_fun_obj, extint_regs);
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STATIC MP_DEFINE_CONST_STATICMETHOD_OBJ(extint_regs_obj, (mp_obj_t)&extint_regs_fun_obj);
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/// \classmethod \constructor(pin, mode, pull, callback)
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/// Create an ExtInt object:
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///
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/// - `pin` is the pin on which to enable the interrupt (can be a pin object or any valid pin name).
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/// - `mode` can be one of:
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/// - `ExtInt.IRQ_RISING` - trigger on a rising edge;
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/// - `ExtInt.IRQ_FALLING` - trigger on a falling edge;
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/// - `ExtInt.IRQ_RISING_FALLING` - trigger on a rising or falling edge.
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/// - `pull` can be one of:
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/// - `pyb.Pin.PULL_NONE` - no pull up or down resistors;
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/// - `pyb.Pin.PULL_UP` - enable the pull-up resistor;
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/// - `pyb.Pin.PULL_DOWN` - enable the pull-down resistor.
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/// - `callback` is the function to call when the interrupt triggers. The
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/// callback function must accept exactly 1 argument, which is the line that
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/// triggered the interrupt.
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STATIC const mp_arg_t pyb_extint_make_new_args[] = {
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{ MP_QSTR_pin, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
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{ MP_QSTR_pull, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
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{ MP_QSTR_callback, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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};
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#define PYB_EXTINT_MAKE_NEW_NUM_ARGS MP_ARRAY_SIZE(pyb_extint_make_new_args)
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STATIC mp_obj_t extint_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
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// type_in == extint_obj_type
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// parse args
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mp_arg_val_t vals[PYB_EXTINT_MAKE_NEW_NUM_ARGS];
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mp_arg_parse_all_kw_array(n_args, n_kw, args, PYB_EXTINT_MAKE_NEW_NUM_ARGS, pyb_extint_make_new_args, vals);
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extint_obj_t *self = m_new_obj(extint_obj_t);
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self->base.type = type_in;
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self->line = extint_register(vals[0].u_obj, vals[1].u_int, vals[2].u_int, vals[3].u_obj, false, NULL);
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return self;
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}
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STATIC void extint_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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extint_obj_t *self = self_in;
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print(env, "<ExtInt line=%u>", self->line);
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}
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STATIC const mp_map_elem_t extint_locals_dict_table[] = {
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{ MP_OBJ_NEW_QSTR(MP_QSTR_line), (mp_obj_t)&extint_obj_line_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_enable), (mp_obj_t)&extint_obj_enable_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_disable), (mp_obj_t)&extint_obj_disable_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_swint), (mp_obj_t)&extint_obj_swint_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_regs), (mp_obj_t)&extint_regs_obj },
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// class constants
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/// \constant IRQ_RISING - interrupt on a rising edge
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/// \constant IRQ_FALLING - interrupt on a falling edge
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/// \constant IRQ_RISING_FALLING - interrupt on a rising or falling edge
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{ MP_OBJ_NEW_QSTR(MP_QSTR_IRQ_RISING), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_IT_RISING) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_IRQ_FALLING), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_IT_FALLING) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_IRQ_RISING_FALLING), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_IT_RISING_FALLING) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_EVT_RISING), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_EVT_RISING) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_EVT_FALLING), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_EVT_FALLING) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_EVT_RISING_FALLING), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_EVT_RISING_FALLING) },
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};
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STATIC MP_DEFINE_CONST_DICT(extint_locals_dict, extint_locals_dict_table);
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const mp_obj_type_t extint_type = {
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{ &mp_type_type },
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.name = MP_QSTR_ExtInt,
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.print = extint_obj_print,
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.make_new = extint_make_new,
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.locals_dict = (mp_obj_t)&extint_locals_dict,
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};
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void extint_init(void) {
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for (extint_vector_t *v = extint_vector; v < &extint_vector[EXTI_NUM_VECTORS]; v++) {
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v->callback_obj = mp_const_none;
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v->param = NULL;
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v->mode = EXTI_Mode_Interrupt;
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}
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}
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// Interrupt handler
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void Handle_EXTI_Irq(uint32_t line) {
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if (__HAL_GPIO_EXTI_GET_FLAG(1 << line)) {
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__HAL_GPIO_EXTI_CLEAR_FLAG(1 << line);
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if (line < EXTI_NUM_VECTORS) {
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extint_vector_t *v = &extint_vector[line];
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if (v->callback_obj != mp_const_none) {
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// When executing code within a handler we must lock the GC to prevent
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// any memory allocations. We must also catch any exceptions.
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gc_lock();
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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mp_call_function_1(v->callback_obj, MP_OBJ_NEW_SMALL_INT(line));
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nlr_pop();
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} else {
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// Uncaught exception; disable the callback so it doesn't run again.
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v->callback_obj = mp_const_none;
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extint_disable(line);
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printf("Uncaught exception in ExtInt interrupt handler line %lu\n", line);
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mp_obj_print_exception((mp_obj_t)nlr.ret_val);
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}
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gc_unlock();
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}
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}
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}
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}
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