505 lines
19 KiB
C
505 lines
19 KiB
C
/*
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* This file is part of the Micro Python project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdint.h>
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#include <stdio.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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#include "usbd_cdc_msc_hid.h"
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#include "usbd_cdc_interface.h"
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#include "nlr.h"
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#include "misc.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "gc.h"
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#include "obj.h"
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#include "runtime.h"
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#include "timer.h"
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#include "servo.h"
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/// \moduleref pyb
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/// \class Timer - periodically call a function
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///
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/// Timers can be used for a great variety of tasks. At the moment, only
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/// the simplest case is implemented: that of calling a function periodically.
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///
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/// Each timer consists of a counter that counts up at a certain rate. The rate
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/// at which it counts is the peripheral clock frequency (in Hz) divided by the
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/// timer prescaler. When the counter reaches the timer period it triggers an
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/// event, and the counter resets back to zero. By using the callback method,
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/// the timer event can call a Python function.
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///
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/// Example usage to toggle an LED at a fixed frequency:
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///
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/// tim = pyb.Timer(4) # create a timer object using timer 4
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/// tim.init(freq=2) # trigger at 2Hz
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/// tim.callback(lambda t:pyb.LED(1).toggle())
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///
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/// Further examples:
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///
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/// tim = pyb.Timer(4, freq=100) # freq in Hz
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/// tim = pyb.Timer(4, prescaler=1, period=100)
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/// tim.counter() # get counter (can also set)
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/// tim.prescaler(2) # set prescaler (can also get)
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/// tim.period(200) # set period (can also get)
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/// tim.callback(lambda t: ...) # set callback for update interrupt (t=tim instance)
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/// tim.callback(None) # clear callback
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///
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/// *Note:* Timer 3 is reserved for internal use. Timer 5 controls
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/// the servo driver, and Timer 6 is used for timed ADC/DAC reading/writing.
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/// It is recommended to use the other timers in your programs.
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// The timers can be used by multiple drivers, and need a common point for
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// the interrupts to be dispatched, so they are all collected here.
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//
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// TIM3:
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// - flash storage controller, to flush the cache
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// - USB CDC interface, interval, to check for new data
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// - LED 4, PWM to set the LED intensity
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//
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// TIM5:
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// - servo controller, PWM
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//
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// TIM6:
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// - ADC, DAC for read_timed and write_timed
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typedef struct _pyb_timer_obj_t {
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mp_obj_base_t base;
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machine_uint_t tim_id;
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mp_obj_t callback;
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TIM_HandleTypeDef tim;
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IRQn_Type irqn;
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} pyb_timer_obj_t;
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TIM_HandleTypeDef TIM3_Handle;
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TIM_HandleTypeDef TIM5_Handle;
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TIM_HandleTypeDef TIM6_Handle;
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// Used to divide down TIM3 and periodically call the flash storage IRQ
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static uint32_t tim3_counter = 0;
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// Used to do callbacks to Python code on interrupt
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STATIC pyb_timer_obj_t *pyb_timer_obj_all[14];
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#define PYB_TIMER_OBJ_ALL_NUM MP_ARRAY_SIZE(pyb_timer_obj_all)
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void timer_init0(void) {
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tim3_counter = 0;
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for (uint i = 0; i < PYB_TIMER_OBJ_ALL_NUM; i++) {
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pyb_timer_obj_all[i] = NULL;
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}
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}
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// TIM3 is set-up for the USB CDC interface
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void timer_tim3_init(void) {
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// set up the timer for USBD CDC
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__TIM3_CLK_ENABLE();
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TIM3_Handle.Instance = TIM3;
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TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1; // TIM3 fires every USBD_CDC_POLLING_INTERVAL ms
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TIM3_Handle.Init.Prescaler = 84-1; // for System clock at 168MHz, TIM3 runs at 1MHz
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TIM3_Handle.Init.ClockDivision = 0;
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TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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HAL_TIM_Base_Init(&TIM3_Handle);
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HAL_NVIC_SetPriority(TIM3_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(TIM3_IRQn);
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if (HAL_TIM_Base_Start(&TIM3_Handle) != HAL_OK) {
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/* Starting Error */
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}
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}
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/* unused
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void timer_tim3_deinit(void) {
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// reset TIM3 timer
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__TIM3_FORCE_RESET();
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__TIM3_RELEASE_RESET();
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}
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*/
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// TIM5 is set-up for the servo controller
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// This function inits but does not start the timer
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void timer_tim5_init(void) {
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// TIM5 clock enable
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__TIM5_CLK_ENABLE();
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// set up and enable interrupt
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HAL_NVIC_SetPriority(TIM5_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(TIM5_IRQn);
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// PWM clock configuration
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TIM5_Handle.Instance = TIM5;
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TIM5_Handle.Init.Period = 2000; // timer cycles at 50Hz
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TIM5_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
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TIM5_Handle.Init.ClockDivision = 0;
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TIM5_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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HAL_TIM_PWM_Init(&TIM5_Handle);
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}
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// Init TIM6 with a counter-overflow at the given frequency (given in Hz)
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// TIM6 is used by the DAC and ADC for auto sampling at a given frequency
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// This function inits but does not start the timer
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void timer_tim6_init(uint freq) {
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// TIM6 clock enable
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__TIM6_CLK_ENABLE();
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// Timer runs at SystemCoreClock / 2
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// Compute the prescaler value so TIM6 triggers at freq-Hz
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uint32_t period = MAX(1, (SystemCoreClock / 2) / freq);
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uint32_t prescaler = 1;
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while (period > 0xffff) {
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period >>= 1;
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prescaler <<= 1;
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}
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// Time base clock configuration
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TIM6_Handle.Instance = TIM6;
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TIM6_Handle.Init.Period = period - 1;
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TIM6_Handle.Init.Prescaler = prescaler - 1;
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TIM6_Handle.Init.ClockDivision = 0; // unused for TIM6
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TIM6_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; // unused for TIM6
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HAL_TIM_Base_Init(&TIM6_Handle);
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}
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// Interrupt dispatch
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
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if (htim == &TIM3_Handle) {
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USBD_CDC_HAL_TIM_PeriodElapsedCallback();
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// Periodically raise a flash IRQ for the flash storage controller
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if (tim3_counter++ >= 500 / USBD_CDC_POLLING_INTERVAL) {
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tim3_counter = 0;
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NVIC->STIR = FLASH_IRQn;
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}
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} else if (htim == &TIM5_Handle) {
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servo_timer_irq_callback();
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}
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}
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/******************************************************************************/
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/* Micro Python bindings */
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STATIC void pyb_timer_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
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pyb_timer_obj_t *self = self_in;
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if (self->tim.State == HAL_TIM_STATE_RESET) {
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print(env, "Timer(%u)", self->tim_id);
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} else {
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print(env, "Timer(%u, prescaler=%u, period=%u, mode=%u, div=%u)",
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self->tim_id,
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self->tim.Init.Prescaler,
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self->tim.Init.Period,
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self->tim.Init.CounterMode,
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self->tim.Init.ClockDivision
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);
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}
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}
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/// \method init(*, freq, prescaler, period)
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/// Initialise the timer. Initialisation must be either by frequency (in Hz)
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/// or by prescaler and period:
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///
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/// tim.init(freq=100) # set the timer to trigger at 100Hz
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/// tim.init(prescaler=100, period=300) # set the prescaler and period directly
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STATIC const mp_arg_t pyb_timer_init_args[] = {
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{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
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{ MP_QSTR_prescaler, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
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{ MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
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{ MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = TIM_COUNTERMODE_UP} },
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{ MP_QSTR_div, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = TIM_CLOCKDIVISION_DIV1} },
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};
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#define PYB_TIMER_INIT_NUM_ARGS MP_ARRAY_SIZE(pyb_timer_init_args)
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STATIC mp_obj_t pyb_timer_init_helper(pyb_timer_obj_t *self, uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
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// parse args
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mp_arg_val_t vals[PYB_TIMER_INIT_NUM_ARGS];
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mp_arg_parse_all(n_args, args, kw_args, PYB_TIMER_INIT_NUM_ARGS, pyb_timer_init_args, vals);
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// set the TIM configuration values
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TIM_Base_InitTypeDef *init = &self->tim.Init;
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if (vals[0].u_int != 0xffffffff) {
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// set prescaler and period from frequency
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if (vals[0].u_int == 0) {
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nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "can't have 0 frequency"));
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}
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// work out TIM's clock source
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uint tim_clock;
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if (self->tim_id == 1 || (8 <= self->tim_id && self->tim_id <= 11)) {
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// TIM{1,8,9,10,11} are on APB2
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tim_clock = HAL_RCC_GetPCLK2Freq();
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} else {
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// TIM{2,3,4,5,6,7,12,13,14} are on APB1
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tim_clock = HAL_RCC_GetPCLK1Freq();
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}
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// compute the prescaler value so TIM triggers at freq-Hz
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// dpgeorge: I don't understand why we need to multiply tim_clock by 2
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uint32_t period = MAX(1, 2 * tim_clock / vals[0].u_int);
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uint32_t prescaler = 1;
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while (period > 0xffff) {
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period >>= 1;
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prescaler <<= 1;
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}
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init->Prescaler = prescaler - 1;
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init->Period = period - 1;
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} else if (vals[1].u_int != 0xffffffff && vals[2].u_int != 0xffffffff) {
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// set prescaler and period directly
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init->Prescaler = vals[1].u_int;
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init->Period = vals[2].u_int;
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} else {
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nlr_raise(mp_obj_new_exception_msg(&mp_type_TypeError, "must specify either freq, or prescaler and period"));
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}
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init->CounterMode = vals[3].u_int;
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init->ClockDivision = vals[4].u_int;
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init->RepetitionCounter = 0;
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// init the TIM peripheral
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switch (self->tim_id) {
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case 1: __TIM1_CLK_ENABLE(); break;
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case 2: __TIM2_CLK_ENABLE(); break;
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case 3: __TIM3_CLK_ENABLE(); break;
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case 4: __TIM4_CLK_ENABLE(); break;
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case 5: __TIM5_CLK_ENABLE(); break;
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case 6: __TIM6_CLK_ENABLE(); break;
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case 7: __TIM7_CLK_ENABLE(); break;
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case 8: __TIM8_CLK_ENABLE(); break;
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case 9: __TIM9_CLK_ENABLE(); break;
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case 10: __TIM10_CLK_ENABLE(); break;
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case 11: __TIM11_CLK_ENABLE(); break;
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case 12: __TIM12_CLK_ENABLE(); break;
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case 13: __TIM13_CLK_ENABLE(); break;
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case 14: __TIM14_CLK_ENABLE(); break;
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}
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HAL_TIM_Base_Init(&self->tim);
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HAL_TIM_Base_Start(&self->tim);
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// set the priority (if not a special timer)
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if (self->tim_id != 3 && self->tim_id != 5) {
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HAL_NVIC_SetPriority(self->irqn, 0xe, 0xe); // next-to lowest priority
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}
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return mp_const_none;
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}
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/// \classmethod \constructor(id, ...)
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/// Construct a new timer object of the given id. If additional
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/// arguments are given, then the timer is initialised by `init(...)`.
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/// `id` can be 1 to 14, excluding 3.
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STATIC mp_obj_t pyb_timer_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
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// check arguments
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
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// create new Timer object
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pyb_timer_obj_t *tim = m_new_obj(pyb_timer_obj_t);
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tim->base.type = &pyb_timer_type;
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tim->callback = mp_const_none;
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memset(&tim->tim, 0, sizeof(tim->tim));
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// get TIM number
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tim->tim_id = mp_obj_get_int(args[0]);
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switch (tim->tim_id) {
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case 1: tim->tim.Instance = TIM1; tim->irqn = TIM1_UP_TIM10_IRQn; break;
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case 2: tim->tim.Instance = TIM2; tim->irqn = TIM2_IRQn; break;
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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
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case 4: tim->tim.Instance = TIM4; tim->irqn = TIM4_IRQn; break;
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case 5: tim->tim.Instance = TIM5; tim->irqn = TIM5_IRQn; break;
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case 6: tim->tim.Instance = TIM6; tim->irqn = TIM6_DAC_IRQn; break;
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case 7: tim->tim.Instance = TIM7; tim->irqn = TIM7_IRQn; break;
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case 8: tim->tim.Instance = TIM8; tim->irqn = TIM8_UP_TIM13_IRQn; break;
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case 9: tim->tim.Instance = TIM9; tim->irqn = TIM1_BRK_TIM9_IRQn; break;
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case 10: tim->tim.Instance = TIM10; tim->irqn = TIM1_UP_TIM10_IRQn; break;
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case 11: tim->tim.Instance = TIM11; tim->irqn = TIM1_TRG_COM_TIM11_IRQn; break;
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case 12: tim->tim.Instance = TIM12; tim->irqn = TIM8_BRK_TIM12_IRQn; break;
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case 13: tim->tim.Instance = TIM13; tim->irqn = TIM8_UP_TIM13_IRQn; break;
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case 14: tim->tim.Instance = TIM14; tim->irqn = TIM8_TRG_COM_TIM14_IRQn; break;
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default: nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d does not exist", tim->tim_id));
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}
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if (n_args > 1 || n_kw > 0) {
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// start the peripheral
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mp_map_t kw_args;
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
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pyb_timer_init_helper(tim, n_args - 1, args + 1, &kw_args);
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}
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// set the global variable for interrupt callbacks
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if (tim->tim_id - 1 < PYB_TIMER_OBJ_ALL_NUM) {
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pyb_timer_obj_all[tim->tim_id - 1] = tim;
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}
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return (mp_obj_t)tim;
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}
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STATIC mp_obj_t pyb_timer_init(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
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return pyb_timer_init_helper(args[0], n_args - 1, args + 1, kw_args);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init);
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/// \method deinit()
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/// Deinitialises the timer.
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///
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/// *This function is not yet implemented.*
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STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) {
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//pyb_timer_obj_t *self = self_in;
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// TODO implement me
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
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/// \method counter([value])
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/// Get or set the timer counter.
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mp_obj_t pyb_timer_counter(uint n_args, const mp_obj_t *args) {
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pyb_timer_obj_t *self = args[0];
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if (n_args == 1) {
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// get
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return mp_obj_new_int(self->tim.Instance->CNT);
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} else {
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// set
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__HAL_TIM_SetCounter(&self->tim, mp_obj_get_int(args[1]));
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_counter_obj, 1, 2, pyb_timer_counter);
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/// \method prescaler([value])
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/// Get or set the prescaler for the timer.
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mp_obj_t pyb_timer_prescaler(uint n_args, const mp_obj_t *args) {
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pyb_timer_obj_t *self = args[0];
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if (n_args == 1) {
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// get
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return mp_obj_new_int(self->tim.Instance->PSC & 0xffff);
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} else {
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// set
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self->tim.Init.Prescaler = self->tim.Instance->PSC = mp_obj_get_int(args[1]) & 0xffff;
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_prescaler_obj, 1, 2, pyb_timer_prescaler);
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/// \method period([value])
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/// Get or set the period of the timer.
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mp_obj_t pyb_timer_period(uint n_args, const mp_obj_t *args) {
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pyb_timer_obj_t *self = args[0];
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if (n_args == 1) {
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// get
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return mp_obj_new_int(self->tim.Instance->ARR & 0xffff);
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} else {
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// set
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__HAL_TIM_SetAutoreload(&self->tim, mp_obj_get_int(args[1]) & 0xffff);
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_period_obj, 1, 2, pyb_timer_period);
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/// \method callback(fun)
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/// Set the function to be called when the timer triggers.
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|
/// `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) {
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|
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_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 },
|
|
};
|
|
|
|
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,
|
|
};
|
|
|
|
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
|
|
return;
|
|
}
|
|
|
|
// see if it was a TIM update event (the only event we currently interrupt on)
|
|
if (__HAL_TIM_GET_FLAG(&tim->tim, TIM_FLAG_UPDATE) != RESET) {
|
|
if (__HAL_TIM_GET_ITSTATUS(&tim->tim, TIM_IT_UPDATE) != RESET) {
|
|
// clear the interrupt
|
|
__HAL_TIM_CLEAR_IT(&tim->tim, TIM_IT_UPDATE);
|
|
|
|
// execute callback if it's set
|
|
if (tim->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(tim->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, TIM_IT_UPDATE);
|
|
printf("Uncaught exception in Timer(" UINT_FMT ") interrupt handler\n", tim->tim_id);
|
|
mp_obj_print_exception((mp_obj_t)nlr.ret_val);
|
|
}
|
|
gc_unlock();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|