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Merge pull request #868 from dhylands/fix-teensy-float

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Add pulse_width_percent to teensy.
This commit is contained in:
Damien George 2014-09-25 14:51:44 +01:00
commit 3fafe730d3
6 changed files with 176 additions and 69 deletions
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2
stmhal/qstrdefsport.h
View File

@ -175,7 +175,7 @@ Q(BOTH)
// for TimerChannel class // for TimerChannel class
Q(TimerChannel) Q(TimerChannel)
Q(pulse_width) Q(pulse_width)
Q(pulse_width_ratio) Q(pulse_width_percent)
Q(compare) Q(compare)
Q(capture) Q(capture)
Q(polarity) Q(polarity)

58
stmhal/timer.c
View File

@ -276,8 +276,8 @@ STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void
} else { } else {
print(env, "Timer(%u, prescaler=%u, period=%u, mode=%s, div=%u)", print(env, "Timer(%u, prescaler=%u, period=%u, mode=%s, div=%u)",
self->tim_id, self->tim_id,
self->tim.Init.Prescaler, self->tim.Instance->PSC & 0xffff,
self->tim.Init.Period, __HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self),
self->tim.Init.CounterMode == TIM_COUNTERMODE_UP ? "UP" : self->tim.Init.CounterMode == TIM_COUNTERMODE_UP ? "UP" :
self->tim.Init.CounterMode == TIM_COUNTERMODE_DOWN ? "DOWN" : "CENTER", self->tim.Init.CounterMode == TIM_COUNTERMODE_DOWN ? "DOWN" : "CENTER",
self->tim.Init.ClockDivision == TIM_CLOCKDIVISION_DIV4 ? 4 : self->tim.Init.ClockDivision == TIM_CLOCKDIVISION_DIV4 ? 4 :
@ -543,7 +543,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
/// Keyword arguments for Timer.PWM modes: /// Keyword arguments for Timer.PWM modes:
/// ///
/// - `pulse_width` - determines the initial pulse width value to use. /// - `pulse_width` - determines the initial pulse width value to use.
/// - `pulse_width_ratio` - determines the initial pulse width ratio to use. /// - `pulse_width_percent` - determines the initial pulse width percentage to use.
/// ///
/// Keyword arguments for Timer.OC modes: /// Keyword arguments for Timer.OC modes:
/// ///
@ -566,12 +566,12 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
/// ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=210000) /// ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=210000)
/// ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=420000) /// ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=420000)
STATIC const mp_arg_t pyb_timer_channel_args[] = { STATIC const mp_arg_t pyb_timer_channel_args[] = {
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_pulse_width_ratio, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
}; };
#define PYB_TIMER_CHANNEL_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_channel_args) #define PYB_TIMER_CHANNEL_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_channel_args)
@ -667,9 +667,17 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
// absolute pulse width value given // absolute pulse width value given
oc_config.Pulse = vals[2].u_int; oc_config.Pulse = vals[2].u_int;
} else if (vals[3].u_obj != mp_const_none) { } else if (vals[3].u_obj != mp_const_none) {
// pulse width ratio given // pulse width percent given
uint32_t period = (__HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self)) + 1; uint32_t period = (__HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self)) + 1;
uint32_t cmp = mp_obj_get_float(vals[3].u_obj) * period; uint32_t cmp;
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(vals[3].u_obj, &mp_type_float)) {
cmp = mp_obj_get_float(vals[3].u_obj) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(vals[3].u_obj) * period / 100;
}
if (cmp < 0) { if (cmp < 0) {
cmp = 0; cmp = 0;
} else if (cmp > period) { } else if (cmp > period) {
@ -891,9 +899,6 @@ STATIC void pyb_timer_channel_print(void (*print)(void *env, const char *fmt, ..
/// pulse_width is the logical name to use when the channel is in PWM mode. /// pulse_width is the logical name to use when the channel is in PWM mode.
STATIC mp_obj_t pyb_timer_channel_capture_compare(mp_uint_t n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_channel_capture_compare(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0]; pyb_timer_channel_obj_t *self = args[0];
if (self->channel == 0) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d no channel specified", self->timer->tim_id));
}
if (n_args == 1) { if (n_args == 1) {
// get // get
return mp_obj_new_int(__HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer)); return mp_obj_new_int(__HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer));
@ -910,19 +915,28 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj
/// a floating-point number between 0.0 and 1.0, and is relative to the period /// a floating-point number between 0.0 and 1.0, and is relative to the period
/// of the timer associated with this channel. For example, a ratio of 0.5 /// of the timer associated with this channel. For example, a ratio of 0.5
/// would be a 50% duty cycle. /// would be a 50% duty cycle.
STATIC mp_obj_t pyb_timer_channel_pulse_width_ratio(mp_uint_t n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0]; pyb_timer_channel_obj_t *self = args[0];
if (self->channel == 0) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d no channel specified", self->timer->tim_id));
}
uint32_t period = (__HAL_TIM_GetAutoreload(&self->timer->tim) & TIMER_CNT_MASK(self->timer)) + 1; uint32_t period = (__HAL_TIM_GetAutoreload(&self->timer->tim) & TIMER_CNT_MASK(self->timer)) + 1;
if (n_args == 1) { if (n_args == 1) {
// get // get
uint32_t cmp = __HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer); uint32_t cmp = __HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer);
return mp_obj_new_float((float)cmp / (float)period); #if MICROPY_PY_BUILTINS_FLOAT
return mp_obj_new_float((float)cmp * 100.0 / (float)period);
#else
return mp_obj_new_int(cmp * 100 / period);
#endif
} else { } else {
// set // set
uint32_t cmp = mp_obj_get_float(args[1]) * period; uint32_t cmp;
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(args[1], &mp_type_float)) {
cmp = mp_obj_get_float(args[1]) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(args[1]) * period / 100;
}
if (cmp < 0) { if (cmp < 0) {
cmp = 0; cmp = 0;
} else if (cmp > period) { } else if (cmp > period) {
@ -932,7 +946,7 @@ STATIC mp_obj_t pyb_timer_channel_pulse_width_ratio(mp_uint_t n_args, const mp_o
return mp_const_none; return mp_const_none;
} }
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_pulse_width_ratio_obj, 1, 2, pyb_timer_channel_pulse_width_ratio); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_pulse_width_percent_obj, 1, 2, pyb_timer_channel_pulse_width_percent);
/// \method callback(fun) /// \method callback(fun)
/// Set the function to be called when the timer channel triggers. /// Set the function to be called when the timer channel triggers.
@ -976,7 +990,7 @@ STATIC const mp_map_elem_t pyb_timer_channel_locals_dict_table[] = {
// instance methods // instance methods
{ MP_OBJ_NEW_QSTR(MP_QSTR_callback), (mp_obj_t)&pyb_timer_channel_callback_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_callback), (mp_obj_t)&pyb_timer_channel_callback_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width), (mp_obj_t)&pyb_timer_channel_capture_compare_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width_ratio), (mp_obj_t)&pyb_timer_channel_pulse_width_ratio_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width_percent), (mp_obj_t)&pyb_timer_channel_pulse_width_percent_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_capture), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_capture), (mp_obj_t)&pyb_timer_channel_capture_compare_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_compare), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_compare), (mp_obj_t)&pyb_timer_channel_capture_compare_obj },
}; };

38
teensy/Makefile
View File

@ -6,10 +6,28 @@ QSTR_DEFS = qstrdefsport.h $(BUILD)/pins_qstr.h
# include py core make definitions # include py core make definitions
include ../py/py.mk include ../py/py.mk
# If you set USE_ARDUINO_TOOLCHAIN=1 then this makefile will attempt to use
# the toolchain that comes with Teensyduino
ifeq ($(USE_ARDUINO_TOOLCHAIN),)
USE_ARDUINO_TOOLCHAIN = 0
endif
ifeq ($(USE_ARDUINO_TOOLCHAIN),1)
ifeq ($(ARDUINO),)
$(error USE_ARDUINO_TOOLCHAIN requires that ARDUINO be set)
endif
endif
ifeq ($(USE_ARDUINO_TOOLCHAIN),1)
$(info Using ARDUINO toolchain)
CROSS_COMPILE = $(ARDUINO)/hardware/tools/arm-none-eabi/bin/arm-none-eabi-
else
$(info Using toolchain from PATH)
CROSS_COMPILE = arm-none-eabi- CROSS_COMPILE = arm-none-eabi-
endif
CFLAGS_TEENSY = -DF_CPU=96000000 -DUSB_SERIAL -D__MK20DX256__ CFLAGS_TEENSY = -DF_CPU=96000000 -DUSB_SERIAL -D__MK20DX256__
CFLAGS_CORTEX_M4 = -mthumb -mtune=cortex-m4 -mcpu=cortex-m4 -fsingle-precision-constant -Wdouble-promotion $(CFLAGS_TEENSY) CFLAGS_CORTEX_M4 = -mthumb -mtune=cortex-m4 -mcpu=cortex-m4 -msoft-float -mfloat-abi=soft -fsingle-precision-constant -Wdouble-promotion $(CFLAGS_TEENSY)
INC = -I. INC = -I.
INC += -I$(PY_SRC) INC += -I$(PY_SRC)
@ -18,11 +36,21 @@ INC += -I$(BUILD)
INC += -Icore INC += -Icore
CFLAGS = $(INC) -Wall -ansi -std=gnu99 -nostdlib $(CFLAGS_CORTEX_M4) CFLAGS = $(INC) -Wall -ansi -std=gnu99 -nostdlib $(CFLAGS_CORTEX_M4)
LDFLAGS = -nostdlib -T mk20dx256.ld LDFLAGS = -nostdlib -T mk20dx256.ld -msoft-float -mfloat-abi=soft
LIBGCC_FILE_NAME = $(shell $(CC) -print-libgcc-file-name) ifeq ($(USE_ARDUINO_TOOLCHAIN),1)
LIBM_FILE_NAME = $(shell $(CC) -print-file-name=libm.a)
LIBC_FILE_NAME = $(shell $(CC) -print-file-name=libc.a) LIBGCC_FILE_NAME = $(ARDUINO)/hardware/tools/arm-none-eabi/lib/gcc/arm-none-eabi/4.7.2/thumb2/libgcc.a
LIBM_FILE_NAME = $(ARDUINO)/hardware/tools/arm-none-eabi/arm-none-eabi/lib/thumb2/libm.a
LIBC_FILE_NAME = $(ARDUINO)/hardware/tools/arm-none-eabi/arm-none-eabi/lib/thumb2/libc.a
else
LIBGCC_FILE_NAME = $(shell $(CC) $(CFLAGS) -print-libgcc-file-name)
LIBM_FILE_NAME = $(shell $(CC) $(CFLAGS) -print-file-name=libm.a)
LIBC_FILE_NAME = $(shell $(CC) $(CFLAGS) -print-file-name=libc.a)
endif
#$(info %%%%% LIBGCC_FILE_NAME = $(LIBGCC_FILE_NAME)) #$(info %%%%% LIBGCC_FILE_NAME = $(LIBGCC_FILE_NAME))
#$(info %%%%% LIBM_FILE_NAME = $(LIBM_FILE_NAME)) #$(info %%%%% LIBM_FILE_NAME = $(LIBM_FILE_NAME))

1
teensy/qstrdefsport.h
View File

@ -119,6 +119,7 @@ Q(BOTH)
// for TimerChannel class // for TimerChannel class
Q(TimerChannel) Q(TimerChannel)
Q(pulse_width) Q(pulse_width)
Q(pulse_width_percent)
Q(compare) Q(compare)
Q(capture) Q(capture)
Q(polarity) Q(polarity)

145
teensy/timer.c
View File

@ -42,7 +42,6 @@
#include "timer.h" #include "timer.h"
typedef enum { typedef enum {
CHANNEL_MODE_PWM_NORMAL, CHANNEL_MODE_PWM_NORMAL,
CHANNEL_MODE_PWM_INVERTED, CHANNEL_MODE_PWM_INVERTED,
@ -58,7 +57,7 @@ typedef enum {
STATIC const struct { STATIC const struct {
qstr name; qstr name;
uint32_t oc_mode; uint32_t oc_mode;
} gChannelMode[] = { } channel_mode_info[] = {
{ MP_QSTR_PWM, FTM_OCMODE_PWM1 }, { MP_QSTR_PWM, FTM_OCMODE_PWM1 },
{ MP_QSTR_PWM_INVERTED, FTM_OCMODE_PWM2 }, { MP_QSTR_PWM_INVERTED, FTM_OCMODE_PWM2 },
{ MP_QSTR_OC_TIMING, FTM_OCMODE_TIMING }, { MP_QSTR_OC_TIMING, FTM_OCMODE_TIMING },
@ -127,6 +126,8 @@ mp_uint_t get_prescaler_shift(mp_int_t prescaler) {
/******************************************************************************/ /******************************************************************************/
/* Micro Python bindings */ /* Micro Python bindings */
STATIC const mp_obj_type_t pyb_timer_channel_type;
STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_timer_obj_t *self = self_in; pyb_timer_obj_t *self = self_in;
@ -135,8 +136,8 @@ STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void
} else { } else {
print(env, "Timer(%u, prescaler=%u, period=%u, mode=%s)", print(env, "Timer(%u, prescaler=%u, period=%u, mode=%s)",
self->tim_id, self->tim_id,
1 << self->ftm.Init.PrescalerShift, 1 << (self->ftm.Instance->SC & 7),
self->ftm.Init.Period, self->ftm.Instance->MOD & 0xffff,
self->ftm.Init.CounterMode == FTM_COUNTERMODE_UP ? "tUP" : "CENTER"); self->ftm.Init.CounterMode == FTM_COUNTERMODE_UP ? "tUP" : "CENTER");
} }
} }
@ -243,7 +244,7 @@ STATIC mp_obj_t pyb_timer_init_helper(pyb_timer_obj_t *self, uint n_args, const
/// Construct a new timer object of the given id. If additional /// Construct a new timer object of the given id. If additional
/// arguments are given, then the timer is initialised by `init(...)`. /// arguments are given, then the timer is initialised by `init(...)`.
/// `id` can be 1 to 14, excluding 3. /// `id` can be 1 to 14, excluding 3.
STATIC mp_obj_t pyb_timer_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_make_new(mp_obj_t type_in, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args) {
// check arguments // check arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true); mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
@ -280,7 +281,7 @@ STATIC mp_obj_t pyb_timer_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con
return (mp_obj_t)tim; return (mp_obj_t)tim;
} }
STATIC mp_obj_t pyb_timer_init(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) { STATIC mp_obj_t pyb_timer_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return pyb_timer_init_helper(args[0], n_args - 1, args + 1, kw_args); return pyb_timer_init_helper(args[0], n_args - 1, args + 1, kw_args);
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init); STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init);
@ -289,11 +290,12 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init);
/// Deinitialises the timer. /// Deinitialises the timer.
/// ///
/// Disables the callback (and the associated irq). /// Disables the callback (and the associated irq).
/// Disables any channel callbacks (and the associated irq).
/// Stops the timer, and disables the timer peripheral. /// Stops the timer, and disables the timer peripheral.
STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) { STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) {
pyb_timer_obj_t *self = self_in; pyb_timer_obj_t *self = self_in;
// Disable the interrupt // Disable the base interrupt
pyb_timer_callback(self_in, mp_const_none); pyb_timer_callback(self_in, mp_const_none);
pyb_timer_channel_obj_t *chan = self->channel; pyb_timer_channel_obj_t *chan = self->channel;
@ -312,10 +314,10 @@ STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) {
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit); STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
/// \method channel(channel, ...) /// \method channel(channel, mode, ...)
/// ///
/// If only a channel nunber is passed, then a previously initialized channel /// If only a channel number is passed, then a previously initialized channel
/// object is returned. /// object is returned (or `None` if there is no previous channel).
/// ///
/// Othwerwise, a TimerChannel object is initialized and returned. /// Othwerwise, a TimerChannel object is initialized and returned.
/// ///
@ -345,7 +347,8 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
/// ///
/// Keyword arguments for Timer.PWM modes: /// Keyword arguments for Timer.PWM modes:
/// ///
/// - 'pulse_width' - determines the initial pulse width to use. /// - `pulse_width` - determines the initial pulse width value to use.
/// - `pulse_width_percent` - determines the initial pulse width percentage to use.
/// ///
/// Keyword arguments for Timer.OC modes: /// Keyword arguments for Timer.OC modes:
/// ///
@ -368,17 +371,16 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
/// ch0 = t0.channel(0, pyb.Timer.PWM, pin=pyb.Pin.board.D22, pulse_width=(t0.period() + 1) // 4) /// ch0 = t0.channel(0, pyb.Timer.PWM, pin=pyb.Pin.board.D22, pulse_width=(t0.period() + 1) // 4)
/// ch1 = t0.channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.D23, pulse_width=(t0.period() + 1) // 2) /// ch1 = t0.channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.D23, pulse_width=(t0.period() + 1) // 2)
STATIC const mp_arg_t pyb_timer_channel_args[] = { STATIC const mp_arg_t pyb_timer_channel_args[] = {
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, { MP_QSTR_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_pulse_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_pulse_width_percent, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
}; };
#define PYB_TIMER_CHANNEL_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_channel_args) #define PYB_TIMER_CHANNEL_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_channel_args)
STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
mp_arg_check_num(n_args, n_args - 2, 2, MP_OBJ_FUN_ARGS_MAX, true);
pyb_timer_obj_t *self = args[0]; pyb_timer_obj_t *self = args[0];
mp_int_t channel = mp_obj_get_int(args[1]); mp_int_t channel = mp_obj_get_int(args[1]);
@ -396,8 +398,10 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
prev_chan = chan; prev_chan = chan;
chan = chan->next; chan = chan->next;
} }
if (kw_args->used == 0) {
// Return the previously allocated channel // If only the channel number is given return the previously allocated
// channel (or None if no previous channel).
if (n_args == 2) {
if (chan) { if (chan) {
return chan; return chan;
} }
@ -463,8 +467,32 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
case CHANNEL_MODE_PWM_NORMAL: case CHANNEL_MODE_PWM_NORMAL:
case CHANNEL_MODE_PWM_INVERTED: { case CHANNEL_MODE_PWM_INVERTED: {
FTM_OC_InitTypeDef oc_config; FTM_OC_InitTypeDef oc_config;
oc_config.OCMode = gChannelMode[chan->mode].oc_mode; oc_config.OCMode = channel_mode_info[chan->mode].oc_mode;
oc_config.Pulse = vals[2].u_int; if (vals[2].u_int != 0xffffffff) {
// absolute pulse width value given
oc_config.Pulse = vals[2].u_int;
} else if (vals[3].u_obj != mp_const_none) {
// pulse width ratio given
uint32_t period = (self->ftm.Instance->MOD & 0xffff) + 1;
uint32_t cmp;
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(vals[3].u_obj, &mp_type_float)) {
cmp = mp_obj_get_float(vals[3].u_obj) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(vals[3].u_obj) * period / 100;
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
oc_config.Pulse = cmp;
} else {
// nothing given, default to pulse width of 0
oc_config.Pulse = 0;
}
oc_config.OCPolarity = FTM_OCPOLARITY_HIGH; oc_config.OCPolarity = FTM_OCPOLARITY_HIGH;
HAL_FTM_PWM_ConfigChannel(&self->ftm, &oc_config, channel); HAL_FTM_PWM_ConfigChannel(&self->ftm, &oc_config, channel);
@ -481,9 +509,9 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
case CHANNEL_MODE_OC_INACTIVE: case CHANNEL_MODE_OC_INACTIVE:
case CHANNEL_MODE_OC_TOGGLE: { case CHANNEL_MODE_OC_TOGGLE: {
FTM_OC_InitTypeDef oc_config; FTM_OC_InitTypeDef oc_config;
oc_config.OCMode = gChannelMode[chan->mode].oc_mode; oc_config.OCMode = channel_mode_info[chan->mode].oc_mode;
oc_config.Pulse = vals[3].u_int; oc_config.Pulse = vals[4].u_int;
oc_config.OCPolarity = vals[4].u_int; oc_config.OCPolarity = vals[5].u_int;
if (oc_config.OCPolarity == 0xffffffff) { if (oc_config.OCPolarity == 0xffffffff) {
oc_config.OCPolarity = FTM_OCPOLARITY_HIGH; oc_config.OCPolarity = FTM_OCPOLARITY_HIGH;
} }
@ -503,7 +531,7 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
case CHANNEL_MODE_IC: { case CHANNEL_MODE_IC: {
FTM_IC_InitTypeDef ic_config; FTM_IC_InitTypeDef ic_config;
ic_config.ICPolarity = vals[4].u_int; ic_config.ICPolarity = vals[5].u_int;
if (ic_config.ICPolarity == 0xffffffff) { if (ic_config.ICPolarity == 0xffffffff) {
ic_config.ICPolarity = FTM_ICPOLARITY_RISING; ic_config.ICPolarity = FTM_ICPOLARITY_RISING;
} }
@ -523,13 +551,14 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *args, mp_map
default: default:
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid mode (%d)", chan->mode)); nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid mode (%d)", chan->mode));
} }
return chan; return chan;
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_channel_obj, 3, pyb_timer_channel); STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_channel_obj, 2, pyb_timer_channel);
/// \method counter([value]) /// \method counter([value])
/// Get or set the timer counter. /// Get or set the timer counter.
mp_obj_t pyb_timer_counter(uint n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_counter(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0]; pyb_timer_obj_t *self = args[0];
if (n_args == 1) { if (n_args == 1) {
// get // get
@ -544,7 +573,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_counter_obj, 1, 2, pyb_time
/// \method prescaler([value]) /// \method prescaler([value])
/// Get or set the prescaler for the timer. /// Get or set the prescaler for the timer.
mp_obj_t pyb_timer_prescaler(uint n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_prescaler(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0]; pyb_timer_obj_t *self = args[0];
if (n_args == 1) { if (n_args == 1) {
// get // get
@ -565,7 +594,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_prescaler_obj, 1, 2, pyb_ti
/// \method period([value]) /// \method period([value])
/// Get or set the period of the timer. /// Get or set the period of the timer.
mp_obj_t pyb_timer_period(uint n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_period(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_obj_t *self = args[0]; pyb_timer_obj_t *self = args[0];
if (n_args == 1) { if (n_args == 1) {
// get // get
@ -663,7 +692,6 @@ STATIC const mp_map_elem_t pyb_timer_locals_dict_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR_FALLING), MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_FALLING) }, { MP_OBJ_NEW_QSTR(MP_QSTR_FALLING), MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_FALLING) },
{ MP_OBJ_NEW_QSTR(MP_QSTR_BOTH), MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_BOTH) }, { MP_OBJ_NEW_QSTR(MP_QSTR_BOTH), MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_BOTH) },
}; };
STATIC MP_DEFINE_CONST_DICT(pyb_timer_locals_dict, pyb_timer_locals_dict_table); STATIC MP_DEFINE_CONST_DICT(pyb_timer_locals_dict, pyb_timer_locals_dict_table);
const mp_obj_type_t pyb_timer_type = { const mp_obj_type_t pyb_timer_type = {
@ -683,10 +711,10 @@ const mp_obj_type_t pyb_timer_type = {
STATIC void pyb_timer_channel_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { STATIC void pyb_timer_channel_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_timer_channel_obj_t *self = self_in; pyb_timer_channel_obj_t *self = self_in;
print(env, "TimerChannel(timer=%u, channel=%u mode=%s)", print(env, "TimerChannel(timer=%u, channel=%u, mode=%s)",
self->timer->tim_id, self->timer->tim_id,
self->channel, self->channel,
qstr_str(gChannelMode[self->mode].name)); qstr_str(channel_mode_info[self->mode].name));
} }
/// \method capture([value]) /// \method capture([value])
@ -703,25 +731,61 @@ STATIC void pyb_timer_channel_print(void (*print)(void *env, const char *fmt, ..
/// Get or set the pulse width value associated with a channel. /// Get or set the pulse width value associated with a channel.
/// capture, compare, and pulse_width are all aliases for the same function. /// capture, compare, and pulse_width are all aliases for the same function.
/// pulse_width is the logical name to use when the channel is in PWM mode. /// pulse_width is the logical name to use when the channel is in PWM mode.
STATIC mp_obj_t pyb_timer_channel_capture_compare(uint n_args, const mp_obj_t *args) { STATIC mp_obj_t pyb_timer_channel_capture_compare(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0]; pyb_timer_channel_obj_t *self = args[0];
if (self->channel == 0xffffffff) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d no channel specified", self->timer->tim_id));
}
FTM_TypeDef *FTMx = self->timer->ftm.Instance; FTM_TypeDef *FTMx = self->timer->ftm.Instance;
if (n_args == 1) { if (n_args == 1) {
// get // get
return mp_obj_new_int(FTMx->channel[self->channel].CV); return mp_obj_new_int(FTMx->channel[self->channel].CV & 0xffff);
} }
mp_int_t pw = mp_obj_get_int(args[1]); mp_int_t pw = mp_obj_get_int(args[1]);
// set // set
FTMx->channel[self->channel].CV = pw; FTMx->channel[self->channel].CV = pw & 0xffff;
return mp_const_none; return mp_const_none;
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_capture_compare_obj, 1, 2, pyb_timer_channel_capture_compare);
/// \method pulse_width_percent([value])
/// Get or set the pulse width ratio associated with a channel. The value is
/// a floating-point number between 0.0 and 1.0, and is relative to the period
/// of the timer associated with this channel. For example, a ratio of 0.5
/// would be a 50% duty cycle.
STATIC mp_obj_t pyb_timer_channel_pulse_width_percent(mp_uint_t n_args, const mp_obj_t *args) {
pyb_timer_channel_obj_t *self = args[0];
FTM_TypeDef *FTMx = self->timer->ftm.Instance;
uint32_t period = (FTMx->MOD & 0xffff) + 1;
if (n_args == 1) {
// get
uint32_t cmp = FTMx->channel[self->channel].CV & 0xffff;
#if MICROPY_PY_BUILTINS_FLOAT
return mp_obj_new_float((float)cmp * 100.0 / (float)period);
#else
return mp_obj_new_int(cmp * 100 / period);
#endif
} else {
// set
uint32_t cmp;
#if MICROPY_PY_BUILTINS_FLOAT
if (MP_OBJ_IS_TYPE(args[1], &mp_type_float)) {
cmp = mp_obj_get_float(args[1]) * period / 100.0;
} else
#endif
{
cmp = mp_obj_get_int(args[1]) * period / 100;
}
if (cmp < 0) {
cmp = 0;
} else if (cmp > period) {
cmp = period;
}
FTMx->channel[self->channel].CV = cmp & 0xffff;
return mp_const_none;
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_pulse_width_percent_obj, 1, 2, pyb_timer_channel_pulse_width_percent);
/// \method callback(fun) /// \method callback(fun)
/// Set the function to be called when the timer channel triggers. /// Set the function to be called when the timer channel triggers.
/// `fun` is passed 1 argument, the timer object. /// `fun` is passed 1 argument, the timer object.
@ -777,6 +841,7 @@ STATIC const mp_map_elem_t pyb_timer_channel_locals_dict_table[] = {
// instance methods // instance methods
{ MP_OBJ_NEW_QSTR(MP_QSTR_callback), (mp_obj_t)&pyb_timer_channel_callback_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_callback), (mp_obj_t)&pyb_timer_channel_callback_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width), (mp_obj_t)&pyb_timer_channel_capture_compare_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width_percent), (mp_obj_t)&pyb_timer_channel_pulse_width_percent_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_capture), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_capture), (mp_obj_t)&pyb_timer_channel_capture_compare_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_compare), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_compare), (mp_obj_t)&pyb_timer_channel_capture_compare_obj },
#if MICROPY_TIMER_REG #if MICROPY_TIMER_REG
@ -785,7 +850,7 @@ STATIC const mp_map_elem_t pyb_timer_channel_locals_dict_table[] = {
}; };
STATIC MP_DEFINE_CONST_DICT(pyb_timer_channel_locals_dict, pyb_timer_channel_locals_dict_table); STATIC MP_DEFINE_CONST_DICT(pyb_timer_channel_locals_dict, pyb_timer_channel_locals_dict_table);
const mp_obj_type_t pyb_timer_channel_type = { STATIC const mp_obj_type_t pyb_timer_channel_type = {
{ &mp_type_type }, { &mp_type_type },
.name = MP_QSTR_TimerChannel, .name = MP_QSTR_TimerChannel,
.print = pyb_timer_channel_print, .print = pyb_timer_channel_print,

1
teensy/timer.h
View File

@ -25,7 +25,6 @@
*/ */
extern const mp_obj_type_t pyb_timer_type; extern const mp_obj_type_t pyb_timer_type;
extern const mp_obj_type_t pyb_timer_channel_type;
void timer_init0(void); void timer_init0(void);
void timer_deinit(void); void timer_deinit(void);