From 0e9d96f18f10c3ac81f2d8c55ce6ea8b061e0f12 Mon Sep 17 00:00:00 2001 From: Damien George Date: Mon, 24 Mar 2014 11:48:39 +0000 Subject: [PATCH] stmhal: Make Led, Servo and Accel their class, not a function. --- stmhal/accel.c | 29 ++++++++++++++---------- stmhal/accel.h | 2 +- stmhal/led.c | 46 ++++++++++++++++++++++++++++---------- stmhal/led.h | 2 +- stmhal/pybmodule.c | 6 ++--- stmhal/servo.c | 55 +++++++++++++++++++++++++++------------------- stmhal/servo.h | 3 ++- 7 files changed, 92 insertions(+), 51 deletions(-) diff --git a/stmhal/accel.c b/stmhal/accel.c index cd513b3fe8..b58b7c4db4 100644 --- a/stmhal/accel.c +++ b/stmhal/accel.c @@ -3,6 +3,7 @@ #include +#include "nlr.h" #include "misc.h" #include "mpconfig.h" #include "qstr.h" @@ -99,6 +100,19 @@ typedef struct _pyb_accel_obj_t { STATIC pyb_accel_obj_t pyb_accel_obj; +STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { + // check arguments + if (!(n_args == 0 && n_kw == 0)) { + nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Accel accepts no arguments")); + } + + // init accel object + pyb_accel_obj.base.type = &pyb_accel_type; + accel_init_device(); + + return &pyb_accel_obj; +} + STATIC mp_obj_t read_axis(int axis) { uint8_t data[1]; HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200); @@ -171,7 +185,7 @@ STATIC mp_obj_t pyb_accel_write_reg(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_reg_obj, pyb_accel_write_reg); -STATIC const mp_method_t accel_methods[] = { +STATIC const mp_method_t pyb_accel_methods[] = { { "x", &pyb_accel_x_obj }, { "y", &pyb_accel_y_obj }, { "z", &pyb_accel_z_obj }, @@ -182,16 +196,9 @@ STATIC const mp_method_t accel_methods[] = { { NULL, NULL }, }; -STATIC const mp_obj_type_t accel_obj_type = { +const mp_obj_type_t pyb_accel_type = { { &mp_type_type }, .name = MP_QSTR_Accel, - .methods = accel_methods, + .make_new = pyb_accel_make_new, + .methods = pyb_accel_methods, }; - -STATIC mp_obj_t pyb_Accel(void) { - pyb_accel_obj.base.type = &accel_obj_type; - accel_init_device(); - return &pyb_accel_obj; -} - -MP_DEFINE_CONST_FUN_OBJ_0(pyb_Accel_obj, pyb_Accel); diff --git a/stmhal/accel.h b/stmhal/accel.h index b2c0fd6b19..88fabfd543 100644 --- a/stmhal/accel.h +++ b/stmhal/accel.h @@ -1,3 +1,3 @@ void accel_init(void); -MP_DECLARE_CONST_FUN_OBJ(pyb_Accel_obj); +extern const mp_obj_type_t pyb_accel_type; diff --git a/stmhal/led.c b/stmhal/led.c index 102cbac5a7..688daefc81 100644 --- a/stmhal/led.c +++ b/stmhal/led.c @@ -3,6 +3,7 @@ #include "usbd_cdc_msc.h" #include "usbd_cdc_interface.h" +#include "nlr.h" #include "misc.h" #include "mpconfig.h" #include "qstr.h" @@ -183,14 +184,45 @@ void led_debug(int n, int delay) { typedef struct _pyb_led_obj_t { mp_obj_base_t base; - uint led_id; + machine_uint_t led_id; } pyb_led_obj_t; +STATIC const pyb_led_obj_t pyb_led_obj[NUM_LEDS] = { + {{&pyb_led_type}, 1}, +#if defined(PYB_LED2) + {{&pyb_led_type}, 2}, +#if defined(PYB_LED3) + {{&pyb_led_type}, 3}, +#if defined(PYB_LED4) + {{&pyb_led_type}, 4}, +#endif +#endif +#endif +}; + void led_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { pyb_led_obj_t *self = self_in; print(env, "", self->led_id); } +STATIC mp_obj_t led_obj_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { + // check arguments + if (!(n_args == 1 && n_kw == 0)) { + nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Led accepts 1 argument")); + } + + // get led number + machine_int_t led_id = mp_obj_get_int(args[0]) - 1; + + // check led number + if (!(0 <= led_id && led_id < NUM_LEDS)) { + nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Led %d does not exist", led_id)); + } + + // return static led object + return (mp_obj_t)&pyb_led_obj[led_id]; +} + mp_obj_t led_obj_on(mp_obj_t self_in) { pyb_led_obj_t *self = self_in; led_state(self->led_id, 1); @@ -232,18 +264,10 @@ STATIC const mp_method_t led_methods[] = { { NULL, NULL }, }; -STATIC const mp_obj_type_t led_obj_type = { +const mp_obj_type_t pyb_led_type = { { &mp_type_type }, .name = MP_QSTR_Led, .print = led_obj_print, + .make_new = led_obj_make_new, .methods = led_methods, }; - -STATIC mp_obj_t pyb_Led(mp_obj_t led_id) { - pyb_led_obj_t *o = m_new_obj(pyb_led_obj_t); - o->base.type = &led_obj_type; - o->led_id = mp_obj_get_int(led_id); - return o; -} - -MP_DEFINE_CONST_FUN_OBJ_1(pyb_Led_obj, pyb_Led); diff --git a/stmhal/led.h b/stmhal/led.h index b3762271c1..ab2b2ea14e 100644 --- a/stmhal/led.h +++ b/stmhal/led.h @@ -21,4 +21,4 @@ void led_state(pyb_led_t led, int state); void led_toggle(pyb_led_t led); void led_debug(int value, int delay); -MP_DECLARE_CONST_FUN_OBJ(pyb_Led_obj); +extern const mp_obj_type_t pyb_led_type; diff --git a/stmhal/pybmodule.c b/stmhal/pybmodule.c index 00a8c321db..fda6b3d0b3 100644 --- a/stmhal/pybmodule.c +++ b/stmhal/pybmodule.c @@ -242,7 +242,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = { #if MICROPY_HW_ENABLE_SERVO { MP_OBJ_NEW_QSTR(MP_QSTR_pwm), (mp_obj_t)&pyb_pwm_set_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_servo), (mp_obj_t)&pyb_servo_set_obj }, - { MP_OBJ_NEW_QSTR(MP_QSTR_Servo), (mp_obj_t)&pyb_Servo_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_Servo), (mp_obj_t)&pyb_servo_type }, #endif #if MICROPY_HW_HAS_SWITCH @@ -254,13 +254,13 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = { #endif #if MICROPY_HW_HAS_MMA7660 - { MP_OBJ_NEW_QSTR(MP_QSTR_Accel), (mp_obj_t)&pyb_Accel_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_Accel), (mp_obj_t)&pyb_accel_type }, #endif #if 0 { MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj }, #endif - { MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_Led_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_led_type }, #if 0 { MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_I2C_obj }, #endif diff --git a/stmhal/servo.c b/stmhal/servo.c index b0e0e8695d..81b290bf52 100644 --- a/stmhal/servo.c +++ b/stmhal/servo.c @@ -148,12 +148,35 @@ STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) { MP_DEFINE_CONST_FUN_OBJ_2(pyb_pwm_set_obj, pyb_pwm_set); -STATIC void servo_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { +STATIC void pyb_servo_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { pyb_servo_obj_t *self = self_in; print(env, "", self->servo_id, self->pulse_cur); } -STATIC mp_obj_t servo_obj_angle(uint n_args, const mp_obj_t *args) { +STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { + // check arguments + if (!(n_args == 1 && n_kw == 0)) { + nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Servo accepts 1 argument")); + } + + // get servo number + machine_int_t servo_id = mp_obj_get_int(args[0]) - 1; + + // check servo number + if (!(0 <= servo_id && servo_id < PYB_SERVO_NUM)) { + nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id)); + } + + // get and init servo object + pyb_servo_obj_t *s = &pyb_servo_obj[servo_id]; + s->pulse_dest = s->pulse_cur; + s->time_left = 0; + servo_init_channel(s); + + return s; +} + +STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) { pyb_servo_obj_t *self = args[0]; if (n_args == 1) { // get angle @@ -180,31 +203,17 @@ STATIC mp_obj_t servo_obj_angle(uint n_args, const mp_obj_t *args) { } } -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_angle_obj, 1, 3, servo_obj_angle); +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_angle_obj, 1, 3, pyb_servo_angle); -STATIC const mp_method_t servo_methods[] = { - { "angle", &servo_obj_angle_obj }, +STATIC const mp_method_t pyb_servo_methods[] = { + { "angle", &pyb_servo_angle_obj }, { NULL, NULL }, }; -STATIC const mp_obj_type_t servo_obj_type = { +const mp_obj_type_t pyb_servo_type = { { &mp_type_type }, .name = MP_QSTR_Servo, - .print = servo_obj_print, - .methods = servo_methods, + .print = pyb_servo_print, + .make_new = pyb_servo_make_new, + .methods = pyb_servo_methods, }; - -STATIC mp_obj_t pyb_Servo(mp_obj_t servo_id_o) { - machine_int_t servo_id = mp_obj_get_int(servo_id_o) - 1; - if (0 <= servo_id && servo_id < PYB_SERVO_NUM) { - pyb_servo_obj_t *s = &pyb_servo_obj[servo_id]; - s->pulse_dest = s->pulse_cur; - s->time_left = 0; - servo_init_channel(s); - return s; - } else { - nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id)); - } -} - -MP_DEFINE_CONST_FUN_OBJ_1(pyb_Servo_obj, pyb_Servo); diff --git a/stmhal/servo.h b/stmhal/servo.h index 753ca49598..d5fb6a8505 100644 --- a/stmhal/servo.h +++ b/stmhal/servo.h @@ -3,6 +3,7 @@ extern TIM_HandleTypeDef TIM2_Handle; void servo_init(void); void servo_timer_irq_callback(void); +extern const mp_obj_type_t pyb_servo_type; + MP_DECLARE_CONST_FUN_OBJ(pyb_servo_set_obj); MP_DECLARE_CONST_FUN_OBJ(pyb_pwm_set_obj); -MP_DECLARE_CONST_FUN_OBJ(pyb_Servo_obj);