/* * This file is part of the Micro Python project, http://micropython.org/ * * The MIT License (MIT) * * Copyright (c) 2013, 2014 Damien P. George * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include #include #include #include #include "usbd_cdc_msc_hid.h" #include "usbd_cdc_interface.h" #include "nlr.h" #include "misc.h" #include "mpconfig.h" #include "qstr.h" #include "gc.h" #include "obj.h" #include "runtime.h" #include "timer.h" #include "servo.h" #include "pin.h" /// \moduleref pyb /// \class Timer - periodically call a function /// /// Timers can be used for a great variety of tasks. At the moment, only /// the simplest case is implemented: that of calling a function periodically. /// /// Each timer consists of a counter that counts up at a certain rate. The rate /// at which it counts is the peripheral clock frequency (in Hz) divided by the /// timer prescaler. When the counter reaches the timer period it triggers an /// event, and the counter resets back to zero. By using the callback method, /// the timer event can call a Python function. /// /// Example usage to toggle an LED at a fixed frequency: /// /// tim = pyb.Timer(4) # create a timer object using timer 4 /// tim.init(freq=2) # trigger at 2Hz /// tim.callback(lambda t:pyb.LED(1).toggle()) /// /// Further examples: /// /// tim = pyb.Timer(4, freq=100) # freq in Hz /// tim = pyb.Timer(4, prescaler=0, period=99) /// tim.counter() # get counter (can also set) /// tim.prescaler(2) # set prescaler (can also get) /// tim.period(199) # set period (can also get) /// tim.callback(lambda t: ...) # set callback for update interrupt (t=tim instance) /// tim.callback(None) # clear callback /// /// *Note:* Timer 3 is reserved for internal use. Timer 5 controls /// the servo driver, and Timer 6 is used for timed ADC/DAC reading/writing. /// It is recommended to use the other timers in your programs. // The timers can be used by multiple drivers, and need a common point for // the interrupts to be dispatched, so they are all collected here. // // TIM3: // - flash storage controller, to flush the cache // - USB CDC interface, interval, to check for new data // - LED 4, PWM to set the LED intensity // // TIM5: // - servo controller, PWM // // TIM6: // - ADC, DAC for read_timed and write_timed typedef enum { CHANNEL_MODE_PWM_NORMAL, CHANNEL_MODE_PWM_INVERTED, CHANNEL_MODE_OC_TIMING, CHANNEL_MODE_OC_ACTIVE, CHANNEL_MODE_OC_INACTIVE, CHANNEL_MODE_OC_TOGGLE, CHANNEL_MODE_OC_FORCED_ACTIVE, CHANNEL_MODE_OC_FORCED_INACTIVE, CHANNEL_MODE_IC, } pyb_channel_mode; STATIC const struct { qstr name; uint32_t oc_mode; } channel_mode_info[] = { { MP_QSTR_PWM, TIM_OCMODE_PWM1 }, { MP_QSTR_PWM_INVERTED, TIM_OCMODE_PWM2 }, { MP_QSTR_OC_TIMING, TIM_OCMODE_TIMING }, { MP_QSTR_OC_ACTIVE, TIM_OCMODE_ACTIVE }, { MP_QSTR_OC_INACTIVE, TIM_OCMODE_INACTIVE }, { MP_QSTR_OC_TOGGLE, TIM_OCMODE_TOGGLE }, { MP_QSTR_OC_FORCED_ACTIVE, TIM_OCMODE_FORCED_ACTIVE }, { MP_QSTR_OC_FORCED_INACTIVE, TIM_OCMODE_FORCED_INACTIVE }, { MP_QSTR_IC, 0 }, }; typedef struct _pyb_timer_channel_obj_t { mp_obj_base_t base; struct _pyb_timer_obj_t *timer; uint8_t channel; uint8_t mode; mp_obj_t callback; struct _pyb_timer_channel_obj_t *next; } pyb_timer_channel_obj_t; typedef struct _pyb_timer_obj_t { mp_obj_base_t base; uint8_t tim_id; uint8_t is_32bit; mp_obj_t callback; TIM_HandleTypeDef tim; IRQn_Type irqn; pyb_timer_channel_obj_t *channel; } pyb_timer_obj_t; // The following yields TIM_IT_UPDATE when channel is zero and // TIM_IT_CC1..TIM_IT_CC4 when channel is 1..4 #define TIMER_IRQ_MASK(channel) (1 << (channel)) #define TIMER_CNT_MASK(self) ((self)->is_32bit ? 0xffffffff : 0xffff) #define TIMER_CHANNEL(self) ((((self)->channel) - 1) << 2) TIM_HandleTypeDef TIM3_Handle; TIM_HandleTypeDef TIM5_Handle; TIM_HandleTypeDef TIM6_Handle; // Used to divide down TIM3 and periodically call the flash storage IRQ STATIC uint32_t tim3_counter = 0; // Used to do callbacks to Python code on interrupt STATIC pyb_timer_obj_t *pyb_timer_obj_all[14]; #define PYB_TIMER_OBJ_ALL_NUM MP_ARRAY_SIZE(pyb_timer_obj_all) STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in); STATIC mp_obj_t pyb_timer_callback(mp_obj_t self_in, mp_obj_t callback); STATIC mp_obj_t pyb_timer_channel_callback(mp_obj_t self_in, mp_obj_t callback); void timer_init0(void) { tim3_counter = 0; for (uint i = 0; i < PYB_TIMER_OBJ_ALL_NUM; i++) { pyb_timer_obj_all[i] = NULL; } } // unregister all interrupt sources void timer_deinit(void) { for (uint i = 0; i < PYB_TIMER_OBJ_ALL_NUM; i++) { pyb_timer_obj_t *tim = pyb_timer_obj_all[i]; if (tim != NULL) { pyb_timer_deinit(tim); } } } // TIM3 is set-up for the USB CDC interface void timer_tim3_init(void) { // set up the timer for USBD CDC __TIM3_CLK_ENABLE(); TIM3_Handle.Instance = TIM3; TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1; // TIM3 fires every USBD_CDC_POLLING_INTERVAL ms TIM3_Handle.Init.Prescaler = 84-1; // for System clock at 168MHz, TIM3 runs at 1MHz TIM3_Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; HAL_TIM_Base_Init(&TIM3_Handle); HAL_NVIC_SetPriority(TIM3_IRQn, 6, 0); HAL_NVIC_EnableIRQ(TIM3_IRQn); if (HAL_TIM_Base_Start(&TIM3_Handle) != HAL_OK) { /* Starting Error */ } } /* unused void timer_tim3_deinit(void) { // reset TIM3 timer __TIM3_FORCE_RESET(); __TIM3_RELEASE_RESET(); } */ // TIM5 is set-up for the servo controller // This function inits but does not start the timer void timer_tim5_init(void) { // TIM5 clock enable __TIM5_CLK_ENABLE(); // set up and enable interrupt HAL_NVIC_SetPriority(TIM5_IRQn, 6, 0); HAL_NVIC_EnableIRQ(TIM5_IRQn); // PWM clock configuration TIM5_Handle.Instance = TIM5; TIM5_Handle.Init.Period = 2000 - 1; // timer cycles at 50Hz TIM5_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz TIM5_Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; TIM5_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; HAL_TIM_PWM_Init(&TIM5_Handle); } // Init TIM6 with a counter-overflow at the given frequency (given in Hz) // TIM6 is used by the DAC and ADC for auto sampling at a given frequency // This function inits but does not start the timer void timer_tim6_init(uint freq) { // TIM6 clock enable __TIM6_CLK_ENABLE(); // Timer runs at SystemCoreClock / 2 // Compute the prescaler value so TIM6 triggers at freq-Hz uint32_t period = MAX(1, (SystemCoreClock / 2) / freq); uint32_t prescaler = 1; while (period > 0xffff) { period >>= 1; prescaler <<= 1; } // Time base clock configuration TIM6_Handle.Instance = TIM6; TIM6_Handle.Init.Period = period - 1; TIM6_Handle.Init.Prescaler = prescaler - 1; TIM6_Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; // unused for TIM6 TIM6_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; // unused for TIM6 HAL_TIM_Base_Init(&TIM6_Handle); } // Interrupt dispatch void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim == &TIM3_Handle) { USBD_CDC_HAL_TIM_PeriodElapsedCallback(); // Periodically raise a flash IRQ for the flash storage controller if (tim3_counter++ >= 500 / USBD_CDC_POLLING_INTERVAL) { tim3_counter = 0; NVIC->STIR = FLASH_IRQn; } } else if (htim == &TIM5_Handle) { servo_timer_irq_callback(); } } /******************************************************************************/ /* Micro Python bindings */ STATIC const mp_obj_type_t pyb_timer_channel_type; // Helper function to compute PWM value from timer period and percent value. // 'val' can be an int or a float between 0 and 100 (out of range values are // clamped). STATIC uint32_t compute_pwm_value_from_percent(uint32_t period, mp_obj_t val) { uint32_t cmp; if (0) { #if MICROPY_PY_BUILTINS_FLOAT } else if (MP_OBJ_IS_TYPE(val, &mp_type_float)) { cmp = mp_obj_get_float(val) / 100.0 * period; #endif } else { // For integer arithmetic, if period is large and 100*period will // overflow, then divide period before multiplying by cmp. Otherwise // do it the other way round to retain precision. // TODO we really need an mp_obj_get_uint_clamped function here so // that we can get long-int values as large as 0xffffffff. cmp = mp_obj_get_int(val); if (period > (1 << 31) / 100) { cmp = cmp * (period / 100); } else { cmp = (cmp * period) / 100; } } if (cmp < 0) { cmp = 0; } else if (cmp > period) { cmp = period; } return cmp; } 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; if (self->tim.State == HAL_TIM_STATE_RESET) { print(env, "Timer(%u)", self->tim_id); } else { print(env, "Timer(%u, prescaler=%u, period=%u, mode=%s, div=%u)", self->tim_id, self->tim.Instance->PSC & 0xffff, __HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self), self->tim.Init.CounterMode == TIM_COUNTERMODE_UP ? "UP" : self->tim.Init.CounterMode == TIM_COUNTERMODE_DOWN ? "DOWN" : "CENTER", self->tim.Init.ClockDivision == TIM_CLOCKDIVISION_DIV4 ? 4 : self->tim.Init.ClockDivision == TIM_CLOCKDIVISION_DIV2 ? 2 : 1); } } /// \method init(*, freq, prescaler, period) /// Initialise the timer. Initialisation must be either by frequency (in Hz) /// or by prescaler and period: /// /// tim.init(freq=100) # set the timer to trigger at 100Hz /// tim.init(prescaler=83, period=999) # set the prescaler and period directly /// /// Keyword arguments: /// /// - `freq` - specifies the periodic frequency of the timer. You migh also /// view this as the frequency with which the timer goes through /// one complete cycle. /// /// - `prescaler` [0-0xffff] - specifies the value to be loaded into the /// timer's Prescaler Register (PSC). The timer clock source is divided by /// (`prescaler + 1`) to arrive at the timer clock. Timers 2-7 and 12-14 /// have a clock source of 84 MHz (pyb.freq()[2] * 2), and Timers 1, and 8-11 /// have a clock source of 168 MHz (pyb.freq()[3] * 2). /// /// - `period` [0-0xffff] for timers 1, 3, 4, and 6-15. [0-0x3fffffff] for timers 2 & 5. /// Specifies the value to be loaded into the timer's AutoReload /// Register (ARR). This determines the period of the timer (i.e. when the /// counter cycles). The timer counter will roll-over after `period + 1` /// timer clock cycles. /// /// - `mode` can be one of: /// - `Timer.UP` - configures the timer to count from 0 to ARR (default) /// - `Timer.DOWN` - configures the timer to count from ARR down to 0. /// - `Timer.CENTER` - confgures the timer to count from 0 to ARR and /// then back down to 0. /// /// - `div` can be one of 1, 2, or 4. Divides the timer clock to determine /// the sampling clock used by the digital filters. /// /// - `callback` - as per Timer.callback() /// /// You must either specify freq or both of period and prescaler. STATIC const mp_arg_t pyb_timer_init_args[] = { { MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_prescaler, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, { MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = TIM_COUNTERMODE_UP} }, { MP_QSTR_div, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, }; #define PYB_TIMER_INIT_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_init_args) STATIC mp_obj_t pyb_timer_init_helper(pyb_timer_obj_t *self, mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { // parse args mp_arg_val_t vals[PYB_TIMER_INIT_NUM_ARGS]; mp_arg_parse_all(n_args, args, kw_args, PYB_TIMER_INIT_NUM_ARGS, pyb_timer_init_args, vals); // set the TIM configuration values TIM_Base_InitTypeDef *init = &self->tim.Init; if (vals[0].u_int != 0xffffffff) { // set prescaler and period from frequency if (vals[0].u_int == 0) { nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "can't have 0 frequency")); } // work out TIM's clock source uint tim_clock; if (self->tim_id == 1 || (8 <= self->tim_id && self->tim_id <= 11)) { // TIM{1,8,9,10,11} are on APB2 tim_clock = HAL_RCC_GetPCLK2Freq(); } else { // TIM{2,3,4,5,6,7,12,13,14} are on APB1 tim_clock = HAL_RCC_GetPCLK1Freq(); } // Compute the prescaler value so TIM triggers at freq-Hz // On STM32F405/407/415/417 there are 2 cases for how the clock freq is set. // If the APB prescaler is 1, then the timer clock is equal to its respective // APB clock. Otherwise (APB prescaler > 1) the timer clock is twice its // respective APB clock. See DM00031020 Rev 4, page 115. uint32_t period = MAX(1, 2 * tim_clock / vals[0].u_int); uint32_t prescaler = 1; while (period > TIMER_CNT_MASK(self)) { period >>= 1; prescaler <<= 1; } init->Prescaler = prescaler - 1; init->Period = period - 1; } else if (vals[1].u_int != 0xffffffff && vals[2].u_int != 0xffffffff) { // set prescaler and period directly init->Prescaler = vals[1].u_int; init->Period = vals[2].u_int; } else { nlr_raise(mp_obj_new_exception_msg(&mp_type_TypeError, "must specify either freq, or prescaler and period")); } init->CounterMode = vals[3].u_int; init->ClockDivision = vals[4].u_int == 2 ? TIM_CLOCKDIVISION_DIV2 : vals[4].u_int == 4 ? TIM_CLOCKDIVISION_DIV4 : TIM_CLOCKDIVISION_DIV1; init->RepetitionCounter = 0; if (!IS_TIM_COUNTER_MODE(init->CounterMode)) { nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid counter_mode (%d)", init->CounterMode)); } // init the TIM peripheral switch (self->tim_id) { case 1: __TIM1_CLK_ENABLE(); break; case 2: __TIM2_CLK_ENABLE(); break; case 3: __TIM3_CLK_ENABLE(); break; case 4: __TIM4_CLK_ENABLE(); break; case 5: __TIM5_CLK_ENABLE(); break; case 6: __TIM6_CLK_ENABLE(); break; case 7: __TIM7_CLK_ENABLE(); break; case 8: __TIM8_CLK_ENABLE(); break; case 9: __TIM9_CLK_ENABLE(); break; case 10: __TIM10_CLK_ENABLE(); break; case 11: __TIM11_CLK_ENABLE(); break; case 12: __TIM12_CLK_ENABLE(); break; case 13: __TIM13_CLK_ENABLE(); break; case 14: __TIM14_CLK_ENABLE(); break; } // set the priority (if not a special timer) if (self->tim_id != 3 && self->tim_id != 5) { HAL_NVIC_SetPriority(self->irqn, 0xe, 0xe); // next-to lowest priority } HAL_TIM_Base_Init(&self->tim); if (vals[5].u_obj == mp_const_none) { HAL_TIM_Base_Start(&self->tim); } else { pyb_timer_callback(self, vals[5].u_obj); } return mp_const_none; } /// \classmethod \constructor(id, ...) /// Construct a new timer object of the given id. If additional /// arguments are given, then the timer is initialised by `init(...)`. /// `id` can be 1 to 14, excluding 3. 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 mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true); // create new Timer object pyb_timer_obj_t *tim = m_new_obj(pyb_timer_obj_t); memset(tim, 0, sizeof(*tim)); tim->base.type = &pyb_timer_type; tim->callback = mp_const_none; tim->channel = NULL; // get TIM number tim->tim_id = mp_obj_get_int(args[0]); tim->is_32bit = false; switch (tim->tim_id) { case 1: tim->tim.Instance = TIM1; tim->irqn = TIM1_UP_TIM10_IRQn; break; case 2: tim->tim.Instance = TIM2; tim->irqn = TIM2_IRQn; tim->is_32bit = true; break; case 3: nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "Timer 3 is for internal use only")); // TIM3 used for low-level stuff; go via regs if necessary case 4: tim->tim.Instance = TIM4; tim->irqn = TIM4_IRQn; break; case 5: tim->tim.Instance = TIM5; tim->irqn = TIM5_IRQn; tim->is_32bit = true; break; case 6: tim->tim.Instance = TIM6; tim->irqn = TIM6_DAC_IRQn; break; case 7: tim->tim.Instance = TIM7; tim->irqn = TIM7_IRQn; break; case 8: tim->tim.Instance = TIM8; tim->irqn = TIM8_UP_TIM13_IRQn; break; case 9: tim->tim.Instance = TIM9; tim->irqn = TIM1_BRK_TIM9_IRQn; break; case 10: tim->tim.Instance = TIM10; tim->irqn = TIM1_UP_TIM10_IRQn; break; case 11: tim->tim.Instance = TIM11; tim->irqn = TIM1_TRG_COM_TIM11_IRQn; break; case 12: tim->tim.Instance = TIM12; tim->irqn = TIM8_BRK_TIM12_IRQn; break; case 13: tim->tim.Instance = TIM13; tim->irqn = TIM8_UP_TIM13_IRQn; break; case 14: tim->tim.Instance = TIM14; tim->irqn = TIM8_TRG_COM_TIM14_IRQn; break; default: nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d does not exist", tim->tim_id)); } if (n_args > 1 || n_kw > 0) { // start the peripheral mp_map_t kw_args; mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); pyb_timer_init_helper(tim, n_args - 1, args + 1, &kw_args); } // set the global variable for interrupt callbacks if (tim->tim_id - 1 < PYB_TIMER_OBJ_ALL_NUM) { pyb_timer_obj_all[tim->tim_id - 1] = tim; } return (mp_obj_t)tim; } 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); } STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init); /// \method deinit() /// Deinitialises the timer. /// /// Disables the callback (and the associated irq). /// Disables any channel callbacks (and the associated irq). /// Stops the timer, and disables the timer peripheral. STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) { pyb_timer_obj_t *self = self_in; // Disable the base interrupt pyb_timer_callback(self_in, mp_const_none); pyb_timer_channel_obj_t *chan = self->channel; self->channel = NULL; // Disable the channel interrupts while (chan != NULL) { pyb_timer_channel_callback(chan, mp_const_none); pyb_timer_channel_obj_t *prev_chan = chan; chan = chan->next; prev_chan->next = NULL; } HAL_TIM_Base_DeInit(&self->tim); return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit); /// \method channel(channel, mode, ...) /// /// If only a channel number is passed, then a previously initialized channel /// object is returned (or `None` if there is no previous channel). /// /// Othwerwise, a TimerChannel object is initialized and returned. /// /// Each channel can be configured to perform pwm, output compare, or /// input capture. All channels share the same underlying timer, which means /// that they share the same timer clock. /// /// Keyword arguments: /// /// - `mode` can be one of: /// - `Timer.PWM` - configure the timer in PWM mode (active high). /// - `Timer.PWM_INVERTED` - configure the timer in PWM mode (active low). /// - `Timer.OC_TIMING` - indicates that no pin is driven. /// - `Timer.OC_ACTIVE` - the pin will be made active when a compare /// match occurs (active is determined by polarity) /// - `Timer.OC_INACTIVE` - the pin will be made inactive when a compare /// match occurs. /// - `Timer.OC_TOGGLE` - the pin will be toggled when an compare match occurs. /// - `Timer.OC_FORCED_ACTIVE` - the pin is forced active (compare match is ignored). /// - `Timer.OC_FORCED_INACTIVE` - the pin is forced inactive (compare match is ignored). /// - `Timer.IC` - configure the timer in Input Capture mode. /// /// - `callback` - as per TimerChannel.callback() /// /// - `pin` None (the default) or a Pin object. If specified (and not None) /// this will cause the alternate function of the the indicated pin /// to be configured for this timer channel. An error will be raised if /// the pin doesn't support any alternate functions for this timer channel. /// /// Keyword arguments for Timer.PWM modes: /// /// - `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: /// /// - `compare` - determines the initial value of the compare register. /// /// - `polarity` can be one of: /// - `Timer.HIGH` - output is active high /// - `Timer.LOW` - output is acive low /// /// Optional keyword arguments for Timer.IC modes: /// /// - `polarity` can be one of: /// - `Timer.RISING` - captures on rising edge. /// - `Timer.FALLING` - captures on falling edge. /// - `Timer.BOTH` - captures on both edges. /// /// PWM Example: /// /// timer = pyb.Timer(2, freq=1000) /// 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) 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_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_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_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, }; #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) { pyb_timer_obj_t *self = args[0]; mp_int_t channel = mp_obj_get_int(args[1]); if (channel < 1 || channel > 4) { nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid channel (%d)", channel)); } pyb_timer_channel_obj_t *chan = self->channel; pyb_timer_channel_obj_t *prev_chan = NULL; while (chan != NULL) { if (chan->channel == channel) { break; } prev_chan = chan; chan = chan->next; } // If only the channel number is given return the previously allocated // channel (or None if no previous channel). if (n_args == 2) { if (chan) { return chan; } return mp_const_none; } // If there was already a channel, then remove it from the list. Note that // the order we do things here is important so as to appear atomic to // the IRQ handler. if (chan) { // Turn off any IRQ associated with the channel. pyb_timer_channel_callback(chan, mp_const_none); // Unlink the channel from the list. if (prev_chan) { prev_chan->next = chan->next; } self->channel = chan->next; chan->next = NULL; } // Allocate and initialize a new channel mp_arg_val_t vals[PYB_TIMER_CHANNEL_NUM_ARGS]; mp_arg_parse_all(n_args - 3, args + 3, kw_args, PYB_TIMER_CHANNEL_NUM_ARGS, pyb_timer_channel_args, vals); chan = m_new_obj(pyb_timer_channel_obj_t); memset(chan, 0, sizeof(*chan)); chan->base.type = &pyb_timer_channel_type; chan->timer = self; chan->channel = channel; chan->mode = mp_obj_get_int(args[2]); chan->callback = vals[0].u_obj; mp_obj_t pin_obj = vals[1].u_obj; if (pin_obj != mp_const_none) { if (!MP_OBJ_IS_TYPE(pin_obj, &pin_type)) { nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "pin argument needs to be be a Pin type")); } const pin_obj_t *pin = pin_obj; const pin_af_obj_t *af = pin_find_af(pin, AF_FN_TIM, self->tim_id); if (af == NULL) { nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "pin %s doesn't have an af for TIM%d", qstr_str(pin->name), self->tim_id)); } // pin.init(mode=AF_PP, af=idx) const mp_obj_t args[6] = { (mp_obj_t)&pin_init_obj, pin_obj, MP_OBJ_NEW_QSTR(MP_QSTR_mode), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_AF_PP), MP_OBJ_NEW_QSTR(MP_QSTR_af), MP_OBJ_NEW_SMALL_INT(af->idx) }; mp_call_method_n_kw(0, 2, args); } // Link the channel to the timer before we turn the channel on. // Note that this needs to appear atomic to the IRQ handler (the write // to self->channel is atomic, so we're good, but I thought I'd mention // in case this was ever changed in the future). chan->next = self->channel; self->channel = chan; switch (chan->mode) { case CHANNEL_MODE_PWM_NORMAL: case CHANNEL_MODE_PWM_INVERTED: { TIM_OC_InitTypeDef oc_config; oc_config.OCMode = channel_mode_info[chan->mode].oc_mode; if (vals[3].u_obj != mp_const_none) { // pulse width percent given uint32_t period = (__HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self)) + 1; // For 32-bit timer, maximum period + 1 will overflow. In that // case we set the period back to 0xffffffff which will give very // close to the correct result for the percentage calculation. if (period == 0) { period = 0xffffffff; } oc_config.Pulse = compute_pwm_value_from_percent(period, vals[3].u_obj); } else { // use absolute pulse width value (defaults to 0 if nothing given) oc_config.Pulse = vals[2].u_int; } oc_config.OCPolarity = TIM_OCPOLARITY_HIGH; oc_config.OCNPolarity = TIM_OCNPOLARITY_HIGH; oc_config.OCFastMode = TIM_OCFAST_DISABLE; oc_config.OCIdleState = TIM_OCIDLESTATE_SET; oc_config.OCNIdleState = TIM_OCNIDLESTATE_SET; HAL_TIM_PWM_ConfigChannel(&self->tim, &oc_config, TIMER_CHANNEL(chan)); if (chan->callback == mp_const_none) { HAL_TIM_PWM_Start(&self->tim, TIMER_CHANNEL(chan)); } else { HAL_TIM_PWM_Start_IT(&self->tim, TIMER_CHANNEL(chan)); } break; } case CHANNEL_MODE_OC_TIMING: case CHANNEL_MODE_OC_ACTIVE: case CHANNEL_MODE_OC_INACTIVE: case CHANNEL_MODE_OC_TOGGLE: case CHANNEL_MODE_OC_FORCED_ACTIVE: case CHANNEL_MODE_OC_FORCED_INACTIVE: { TIM_OC_InitTypeDef oc_config; oc_config.OCMode = channel_mode_info[chan->mode].oc_mode; oc_config.Pulse = vals[4].u_int; oc_config.OCPolarity = vals[5].u_int; if (oc_config.OCPolarity == 0xffffffff) { oc_config.OCPolarity = TIM_OCPOLARITY_HIGH; } oc_config.OCNPolarity = TIM_OCNPOLARITY_HIGH; oc_config.OCFastMode = TIM_OCFAST_DISABLE; oc_config.OCIdleState = TIM_OCIDLESTATE_SET; oc_config.OCNIdleState = TIM_OCNIDLESTATE_SET; if (!IS_TIM_OC_POLARITY(oc_config.OCPolarity)) { nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid polarity (%d)", oc_config.OCPolarity)); } HAL_TIM_OC_ConfigChannel(&self->tim, &oc_config, TIMER_CHANNEL(chan)); if (chan->callback == mp_const_none) { HAL_TIM_OC_Start(&self->tim, TIMER_CHANNEL(chan)); } else { HAL_TIM_OC_Start_IT(&self->tim, TIMER_CHANNEL(chan)); } break; } case CHANNEL_MODE_IC: { TIM_IC_InitTypeDef ic_config; ic_config.ICPolarity = vals[5].u_int; if (ic_config.ICPolarity == 0xffffffff) { ic_config.ICPolarity = TIM_ICPOLARITY_RISING; } ic_config.ICSelection = TIM_ICSELECTION_DIRECTTI; ic_config.ICPrescaler = TIM_ICPSC_DIV1; ic_config.ICFilter = 0; if (!IS_TIM_IC_POLARITY(ic_config.ICPolarity)) { nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid polarity (%d)", ic_config.ICPolarity)); } HAL_TIM_IC_ConfigChannel(&self->tim, &ic_config, TIMER_CHANNEL(chan)); if (chan->callback == mp_const_none) { HAL_TIM_IC_Start(&self->tim, TIMER_CHANNEL(chan)); } else { HAL_TIM_IC_Start_IT(&self->tim, TIMER_CHANNEL(chan)); } break; } default: nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid mode (%d)", chan->mode)); } return chan; } STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_channel_obj, 2, pyb_timer_channel); /// \method counter([value]) /// Get or set the timer counter. STATIC mp_obj_t pyb_timer_counter(mp_uint_t n_args, const mp_obj_t *args) { pyb_timer_obj_t *self = args[0]; if (n_args == 1) { // get return mp_obj_new_int(self->tim.Instance->CNT); } else { // set __HAL_TIM_SetCounter(&self->tim, mp_obj_get_int(args[1])); return mp_const_none; } } STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_counter_obj, 1, 2, pyb_timer_counter); /// \method prescaler([value]) /// Get or set the prescaler for the timer. STATIC mp_obj_t pyb_timer_prescaler(mp_uint_t n_args, const mp_obj_t *args) { pyb_timer_obj_t *self = args[0]; if (n_args == 1) { // get return mp_obj_new_int(self->tim.Instance->PSC & 0xffff); } else { // set self->tim.Init.Prescaler = self->tim.Instance->PSC = mp_obj_get_int(args[1]) & 0xffff; return mp_const_none; } } STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_prescaler_obj, 1, 2, pyb_timer_prescaler); /// \method period([value]) /// Get or set the period of the timer. STATIC mp_obj_t pyb_timer_period(mp_uint_t n_args, const mp_obj_t *args) { pyb_timer_obj_t *self = args[0]; if (n_args == 1) { // get return mp_obj_new_int(__HAL_TIM_GetAutoreload(&self->tim) & TIMER_CNT_MASK(self)); } else { // set __HAL_TIM_SetAutoreload(&self->tim, mp_obj_get_int(args[1]) & TIMER_CNT_MASK(self)); return mp_const_none; } } STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_period_obj, 1, 2, pyb_timer_period); /// \method callback(fun) /// Set the function to be called when the timer triggers. /// `fun` is passed 1 argument, the timer object. /// If `fun` is `None` then the callback will be disabled. STATIC mp_obj_t pyb_timer_callback(mp_obj_t self_in, mp_obj_t callback) { pyb_timer_obj_t *self = self_in; if (callback == mp_const_none) { // stop interrupt (but not timer) __HAL_TIM_DISABLE_IT(&self->tim, TIM_IT_UPDATE); self->callback = mp_const_none; } else if (mp_obj_is_callable(callback)) { self->callback = callback; HAL_NVIC_EnableIRQ(self->irqn); // start timer, so that it interrupts on overflow HAL_TIM_Base_Start_IT(&self->tim); } else { nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "callback must be None or a callable object")); } return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_timer_callback_obj, pyb_timer_callback); STATIC const mp_map_elem_t pyb_timer_locals_dict_table[] = { // instance methods { MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_timer_init_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_timer_deinit_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_channel), (mp_obj_t)&pyb_timer_channel_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_counter), (mp_obj_t)&pyb_timer_counter_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_prescaler), (mp_obj_t)&pyb_timer_prescaler_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_period), (mp_obj_t)&pyb_timer_period_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_callback), (mp_obj_t)&pyb_timer_callback_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_UP), MP_OBJ_NEW_SMALL_INT(TIM_COUNTERMODE_UP) }, { MP_OBJ_NEW_QSTR(MP_QSTR_DOWN), MP_OBJ_NEW_SMALL_INT(TIM_COUNTERMODE_DOWN) }, { MP_OBJ_NEW_QSTR(MP_QSTR_CENTER), MP_OBJ_NEW_SMALL_INT(TIM_COUNTERMODE_CENTERALIGNED1) }, { MP_OBJ_NEW_QSTR(MP_QSTR_PWM), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_PWM_NORMAL) }, { MP_OBJ_NEW_QSTR(MP_QSTR_PWM_INVERTED), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_PWM_INVERTED) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_TIMING), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_TIMING) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_ACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_ACTIVE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_INACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_INACTIVE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_TOGGLE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_TOGGLE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_FORCED_ACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_FORCED_ACTIVE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_FORCED_INACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_FORCED_INACTIVE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_IC), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_IC) }, { MP_OBJ_NEW_QSTR(MP_QSTR_HIGH), MP_OBJ_NEW_SMALL_INT(TIM_OCPOLARITY_HIGH) }, { MP_OBJ_NEW_QSTR(MP_QSTR_LOW), MP_OBJ_NEW_SMALL_INT(TIM_OCPOLARITY_LOW) }, { MP_OBJ_NEW_QSTR(MP_QSTR_RISING), MP_OBJ_NEW_SMALL_INT(TIM_ICPOLARITY_RISING) }, { MP_OBJ_NEW_QSTR(MP_QSTR_FALLING), MP_OBJ_NEW_SMALL_INT(TIM_ICPOLARITY_FALLING) }, { MP_OBJ_NEW_QSTR(MP_QSTR_BOTH), MP_OBJ_NEW_SMALL_INT(TIM_ICPOLARITY_BOTHEDGE) }, }; STATIC MP_DEFINE_CONST_DICT(pyb_timer_locals_dict, pyb_timer_locals_dict_table); const mp_obj_type_t pyb_timer_type = { { &mp_type_type }, .name = MP_QSTR_Timer, .print = pyb_timer_print, .make_new = pyb_timer_make_new, .locals_dict = (mp_obj_t)&pyb_timer_locals_dict, }; /// \moduleref pyb /// \class TimerChannel - setup a channel for a timer. /// /// Timer channels are used to generate/capture a signal using a timer. /// /// TimerChannel objects are created using the Timer.channel() method. 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; print(env, "TimerChannel(timer=%u, channel=%u, mode=%s)", self->timer->tim_id, self->channel, qstr_str(channel_mode_info[self->mode].name)); } /// \method capture([value]) /// Get or set the capture value associated with a channel. /// capture, compare, and pulse_width are all aliases for the same function. /// capture is the logical name to use when the channel is in input capture mode. /// \method compare([value]) /// Get or set the compare value associated with a channel. /// capture, compare, and pulse_width are all aliases for the same function. /// compare is the logical name to use when the channel is in output compare mode. /// \method pulse_width([value]) /// Get or set the pulse width value associated with a channel. /// 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. 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]; if (n_args == 1) { // get return mp_obj_new_int(__HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer)); } else { // set __HAL_TIM_SetCompare(&self->timer->tim, TIMER_CHANNEL(self), mp_obj_get_int(args[1]) & TIMER_CNT_MASK(self->timer)); 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); /// \method pulse_width_percent([value]) /// Get or set the pulse width percentage associated with a channel. The value /// is a number between 0 and 100 and sets the percentage of the timer period /// for which the pulse is active. The value can be an integer or /// floating-point number for more accuracy. For example, a value of 25 gives /// a duty cycle of 25%. 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]; uint32_t period = (__HAL_TIM_GetAutoreload(&self->timer->tim) & TIMER_CNT_MASK(self->timer)) + 1; // For 32-bit timer, maximum period + 1 will overflow. In that case we set // the period back to 0xffffffff which will give very close to the correct // result for the percentage calculation. if (period == 0) { period = 0xffffffff; } if (n_args == 1) { // get uint32_t cmp = __HAL_TIM_GetCompare(&self->timer->tim, TIMER_CHANNEL(self)) & TIMER_CNT_MASK(self->timer); #if MICROPY_PY_BUILTINS_FLOAT return mp_obj_new_float((float)cmp / (float)period * 100.0); #else // TODO handle overflow of multiplication for 32-bit timer return mp_obj_new_int(cmp * 100 / period); #endif } else { // set uint32_t cmp = compute_pwm_value_from_percent(period, args[1]); __HAL_TIM_SetCompare(&self->timer->tim, TIMER_CHANNEL(self), cmp & TIMER_CNT_MASK(self->timer)); 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) /// Set the function to be called when the timer channel triggers. /// `fun` is passed 1 argument, the timer object. /// If `fun` is `None` then the callback will be disabled. STATIC mp_obj_t pyb_timer_channel_callback(mp_obj_t self_in, mp_obj_t callback) { pyb_timer_channel_obj_t *self = self_in; if (callback == mp_const_none) { // stop interrupt (but not timer) __HAL_TIM_DISABLE_IT(&self->timer->tim, TIMER_IRQ_MASK(self->channel)); self->callback = mp_const_none; } else if (mp_obj_is_callable(callback)) { self->callback = callback; HAL_NVIC_EnableIRQ(self->timer->irqn); // start timer, so that it interrupts on overflow switch (self->mode) { case CHANNEL_MODE_PWM_NORMAL: case CHANNEL_MODE_PWM_INVERTED: HAL_TIM_PWM_Start_IT(&self->timer->tim, TIMER_CHANNEL(self)); break; case CHANNEL_MODE_OC_TIMING: case CHANNEL_MODE_OC_ACTIVE: case CHANNEL_MODE_OC_INACTIVE: case CHANNEL_MODE_OC_TOGGLE: case CHANNEL_MODE_OC_FORCED_ACTIVE: case CHANNEL_MODE_OC_FORCED_INACTIVE: HAL_TIM_OC_Start_IT(&self->timer->tim, TIMER_CHANNEL(self)); break; case CHANNEL_MODE_IC: HAL_TIM_IC_Start_IT(&self->timer->tim, TIMER_CHANNEL(self)); break; } } else { nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "callback must be None or a callable object")); } return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_timer_channel_callback_obj, pyb_timer_channel_callback); STATIC const mp_map_elem_t pyb_timer_channel_locals_dict_table[] = { // instance methods { 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_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_compare), (mp_obj_t)&pyb_timer_channel_capture_compare_obj }, }; STATIC MP_DEFINE_CONST_DICT(pyb_timer_channel_locals_dict, pyb_timer_channel_locals_dict_table); STATIC const mp_obj_type_t pyb_timer_channel_type = { { &mp_type_type }, .name = MP_QSTR_TimerChannel, .print = pyb_timer_channel_print, .locals_dict = (mp_obj_t)&pyb_timer_channel_locals_dict, }; STATIC void timer_handle_irq_channel(pyb_timer_obj_t *tim, uint8_t channel, mp_obj_t callback) { uint32_t irq_mask = TIMER_IRQ_MASK(channel); if (__HAL_TIM_GET_FLAG(&tim->tim, irq_mask) != RESET) { if (__HAL_TIM_GET_ITSTATUS(&tim->tim, irq_mask) != RESET) { // clear the interrupt __HAL_TIM_CLEAR_IT(&tim->tim, irq_mask); // execute callback if it's set if (callback != mp_const_none) { // When executing code within a handler we must lock the GC to prevent // any memory allocations. We must also catch any exceptions. gc_lock(); nlr_buf_t nlr; if (nlr_push(&nlr) == 0) { mp_call_function_1(callback, tim); nlr_pop(); } else { // Uncaught exception; disable the callback so it doesn't run again. tim->callback = mp_const_none; __HAL_TIM_DISABLE_IT(&tim->tim, irq_mask); if (channel == 0) { printf("Uncaught exception in Timer(" UINT_FMT ") interrupt handler\n", tim->tim_id); } else { printf("Uncaught exception in Timer(" UINT_FMT ") channel " UINT_FMT " interrupt handler\n", tim->tim_id, channel); } mp_obj_print_exception((mp_obj_t)nlr.ret_val); } gc_unlock(); } } } } void timer_irq_handler(uint tim_id) { if (tim_id - 1 < PYB_TIMER_OBJ_ALL_NUM) { // get the timer object pyb_timer_obj_t *tim = pyb_timer_obj_all[tim_id - 1]; if (tim == NULL) { // Timer object has not been set, so we can't do anything. // This can happen under normal circumstances for timers like // 1 & 10 which use the same IRQ. return; } // Check for timer (versus timer channel) interrupt. timer_handle_irq_channel(tim, 0, tim->callback); uint32_t handled = TIMER_IRQ_MASK(0); // Check to see if a timer channel interrupt was pending pyb_timer_channel_obj_t *chan = tim->channel; while (chan != NULL) { timer_handle_irq_channel(tim, chan->channel, chan->callback); handled |= TIMER_IRQ_MASK(chan->channel); chan = chan->next; } // Finally, clear any remaining interrupt sources. Otherwise we'll // just get called continuously. uint32_t unhandled = __HAL_TIM_GET_ITSTATUS(&tim->tim, 0xff & ~handled); if (unhandled != 0) { __HAL_TIM_CLEAR_IT(&tim->tim, unhandled); printf("Unhandled interrupt SR=0x%02lx (now disabled)\n", unhandled); } } }