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stm: add basic Servo class, and stop and standby functions.

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This commit is contained in:
Damien 2013-12-11 00:40:15 +00:00
parent ec643130d0
commit 5285155ef7
2 changed files with 408 additions and 296 deletions
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115
stm/main.c
View File

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

589
stm/stm32fxxx_it.c
View File

@ -1,291 +1,298 @@
/**
******************************************************************************
* @file stm32fxxx_it.c
* @author MCD Application Team
* @version V1.1.0
* @date 19-March-2012
* @brief Main Interrupt Service Routines.
* This file provides all exceptions handler and peripherals interrupt
* service routine.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32fxxx_it.h"
#include "stm32f4xx_exti.h"
#include "usb_core.h"
//#include "usbd_core.h"
//#include "usbd_cdc_core.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
extern USB_OTG_CORE_HANDLE USB_OTG_dev;
/* Private function prototypes -----------------------------------------------*/
extern uint32_t USBD_OTG_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
#ifdef USB_OTG_HS_DEDICATED_EP1_ENABLED
extern uint32_t USBD_OTG_EP1IN_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
extern uint32_t USBD_OTG_EP1OUT_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
#endif
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/* Cortex-M Processor Exceptions Handlers */
/******************************************************************************/
extern void fatality();
/**
* @brief This function handles NMI exception.
* @param None
* @retval None
*/
void NMI_Handler(void)
{
}
/**
* @brief This function handles Hard Fault exception.
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
/**
* @brief This function handles Debug Monitor exception.
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
}
/**
* @brief This function handles PendSVC exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
/**
* @brief This function handles EXTI15_10_IRQ Handler.
* @param None
* @retval None
*/
#ifdef USE_USB_OTG_FS
void OTG_FS_WKUP_IRQHandler(void)
{
if(USB_OTG_dev.cfg.low_power)
{
*(uint32_t *)(0xE000ED10) &= 0xFFFFFFF9 ;
SystemInit();
USB_OTG_UngateClock(&USB_OTG_dev);
}
EXTI_ClearITPendingBit(EXTI_Line18);
}
#endif
/**
* @brief This function handles EXTI15_10_IRQ Handler.
* @param None
* @retval None
*/
#ifdef USE_USB_OTG_HS
void OTG_HS_WKUP_IRQHandler(void)
{
if(USB_OTG_dev.cfg.low_power)
{
*(uint32_t *)(0xE000ED10) &= 0xFFFFFFF9 ;
SystemInit();
USB_OTG_UngateClock(&USB_OTG_dev);
}
EXTI_ClearITPendingBit(EXTI_Line20);
}
#endif
/**
* @brief This function handles OTG_HS Handler.
* @param None
* @retval None
*/
#ifdef USE_USB_OTG_HS
void OTG_HS_IRQHandler(void)
#else
void OTG_FS_IRQHandler(void)
#endif
{
USBD_OTG_ISR_Handler (&USB_OTG_dev);
}
#ifdef USB_OTG_HS_DEDICATED_EP1_ENABLED
/**
* @brief This function handles EP1_IN Handler.
* @param None
* @retval None
*/
void OTG_HS_EP1_IN_IRQHandler(void)
{
USBD_OTG_EP1IN_ISR_Handler (&USB_OTG_dev);
}
/**
* @brief This function handles EP1_OUT Handler.
* @param None
* @retval None
*/
void OTG_HS_EP1_OUT_IRQHandler(void)
{
USBD_OTG_EP1OUT_ISR_Handler (&USB_OTG_dev);
}
#endif
/**
* @brief This function handles SDIO global interrupt request.
* @param None
* @retval None
*/
void SDIO_IRQHandler(void)
{
/* Process All SDIO Interrupt Sources */
// dpgeorge: i don't think this is used at the moment...
extern void SD_ProcessIRQSrc(void);
SD_ProcessIRQSrc();
}
/******************************************************************************/
/* STM32Fxxx Peripherals Interrupt Handlers */
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
/* available peripheral interrupt handler's name please refer to the startup */
/* file (startup_stm32fxxx.s). */
/******************************************************************************/
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
/*void PPP_IRQHandler(void)
{
}*/
// TIM6 Update event
#include "stm32f4xx_tim.h"
void TIM6_DAC_IRQHandler(void) {
// work out if it's TIM6 that had the interrupt
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
extern void timer_interrupt(void);
timer_interrupt();
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
} else {
// it seems we get 2 calls to this interrupt handler, and only 1 is the TIM_IT_Update...
// TODO work out what the other one is, and if we can disable it
//printf("unhandled TIM6_DAC\n");
}
}
#include "std.h"
#include "led.h"
// EXTI, for cc3000 on A14
void EXTI15_10_IRQHandler(void) {
// work out if it's A14 that had the interrupt
if (EXTI_GetITStatus(EXTI_Line14) != RESET) {
led_toggle(PYB_LED_G2);
extern void SpiIntGPIOHandler(void);
extern uint32_t exti14_enabled;
extern uint32_t exti14_missed;
//printf("-> EXTI14 en=%lu miss=%lu\n", exti14_enabled, exti14_missed);
if (exti14_enabled) {
exti14_missed = 0;
SpiIntGPIOHandler(); // CC3000 interrupt
} else {
exti14_missed = 1;
}
EXTI_ClearITPendingBit(EXTI_Line14);
//printf("<- EXTI14 done\n");
}
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/**
******************************************************************************
* @file stm32fxxx_it.c
* @author MCD Application Team
* @version V1.1.0
* @date 19-March-2012
* @brief Main Interrupt Service Routines.
* This file provides all exceptions handler and peripherals interrupt
* service routine.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32fxxx_it.h"
#include "stm32f4xx_exti.h"
#include "usb_core.h"
//#include "usbd_core.h"
//#include "usbd_cdc_core.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
extern USB_OTG_CORE_HANDLE USB_OTG_dev;
/* Private function prototypes -----------------------------------------------*/
extern uint32_t USBD_OTG_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
#ifdef USB_OTG_HS_DEDICATED_EP1_ENABLED
extern uint32_t USBD_OTG_EP1IN_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
extern uint32_t USBD_OTG_EP1OUT_ISR_Handler (USB_OTG_CORE_HANDLE *pdev);
#endif
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/* Cortex-M Processor Exceptions Handlers */
/******************************************************************************/
extern void fatality();
/**
* @brief This function handles NMI exception.
* @param None
* @retval None
*/
void NMI_Handler(void)
{
}
/**
* @brief This function handles Hard Fault exception.
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
fatality();
while (1)
{
}
}
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
/**
* @brief This function handles Debug Monitor exception.
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
}
/**
* @brief This function handles PendSVC exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
/**
* @brief This function handles EXTI15_10_IRQ Handler.
* @param None
* @retval None
*/
#ifdef USE_USB_OTG_FS
void OTG_FS_WKUP_IRQHandler(void)
{
if(USB_OTG_dev.cfg.low_power)
{
*(uint32_t *)(0xE000ED10) &= 0xFFFFFFF9 ;
SystemInit();
USB_OTG_UngateClock(&USB_OTG_dev);
}
EXTI_ClearITPendingBit(EXTI_Line18);
}
#endif
/**
* @brief This function handles EXTI15_10_IRQ Handler.
* @param None
* @retval None
*/
#ifdef USE_USB_OTG_HS
void OTG_HS_WKUP_IRQHandler(void)
{
if(USB_OTG_dev.cfg.low_power)
{
*(uint32_t *)(0xE000ED10) &= 0xFFFFFFF9 ;
SystemInit();
USB_OTG_UngateClock(&USB_OTG_dev);
}
EXTI_ClearITPendingBit(EXTI_Line20);
}
#endif
/**
* @brief This function handles OTG_HS Handler.
* @param None
* @retval None
*/
#ifdef USE_USB_OTG_HS
void OTG_HS_IRQHandler(void)
#else
void OTG_FS_IRQHandler(void)
#endif
{
USBD_OTG_ISR_Handler (&USB_OTG_dev);
}
#ifdef USB_OTG_HS_DEDICATED_EP1_ENABLED
/**
* @brief This function handles EP1_IN Handler.
* @param None
* @retval None
*/
void OTG_HS_EP1_IN_IRQHandler(void)
{
USBD_OTG_EP1IN_ISR_Handler (&USB_OTG_dev);
}
/**
* @brief This function handles EP1_OUT Handler.
* @param None
* @retval None
*/
void OTG_HS_EP1_OUT_IRQHandler(void)
{
USBD_OTG_EP1OUT_ISR_Handler (&USB_OTG_dev);
}
#endif
/**
* @brief This function handles SDIO global interrupt request.
* @param None
* @retval None
*/
void SDIO_IRQHandler(void)
{
/* Process All SDIO Interrupt Sources */
// dpgeorge: i don't think this is used at the moment...
extern void SD_ProcessIRQSrc(void);
SD_ProcessIRQSrc();
}
/******************************************************************************/
/* STM32Fxxx Peripherals Interrupt Handlers */
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
/* available peripheral interrupt handler's name please refer to the startup */
/* file (startup_stm32fxxx.s). */
/******************************************************************************/
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
/*void PPP_IRQHandler(void)
{
}*/
// TIM6 Update event
#include "stm32f4xx_tim.h"
void TIM6_DAC_IRQHandler(void) {
// work out if it's TIM6 that had the interrupt
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
extern void timer_interrupt(void);
timer_interrupt();
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
} else {
// it seems we get 2 calls to this interrupt handler, and only 1 is the TIM_IT_Update...
// TODO work out what the other one is, and if we can disable it
//printf("unhandled TIM6_DAC\n");
}
}
#include "std.h"
#include "led.h"
// EXTI
// for USRSW on A13
// for cc3000 on A14
void EXTI15_10_IRQHandler(void) {
// work out if it's A13 that had the interrupt
if (EXTI_GetITStatus(EXTI_Line13) != RESET) {
// this is used just to wake the device
EXTI_ClearITPendingBit(EXTI_Line13);
}
// work out if it's A14 that had the interrupt
if (EXTI_GetITStatus(EXTI_Line14) != RESET) {
led_toggle(PYB_LED_G2);
extern void SpiIntGPIOHandler(void);
extern uint32_t exti14_enabled;
extern uint32_t exti14_missed;
//printf("-> EXTI14 en=%lu miss=%lu\n", exti14_enabled, exti14_missed);
if (exti14_enabled) {
exti14_missed = 0;
SpiIntGPIOHandler(); // CC3000 interrupt
} else {
exti14_missed = 1;
}
EXTI_ClearITPendingBit(EXTI_Line14);
//printf("<- EXTI14 done\n");
}
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/