331 lines
11 KiB
C
331 lines
11 KiB
C
#include <stdio.h>
|
|
#include <stdint.h>
|
|
#include <string.h>
|
|
|
|
#include "stm32f4xx_hal.h"
|
|
|
|
#include "nlr.h"
|
|
#include "misc.h"
|
|
#include "mpconfig.h"
|
|
#include "qstr.h"
|
|
#include "obj.h"
|
|
#include "runtime.h"
|
|
#include "pin.h"
|
|
|
|
// Usage Model:
|
|
//
|
|
// All Board Pins are predefined as pyb.Pin.board.Name
|
|
//
|
|
// x1_pin = pyb.Pin.board.X1
|
|
//
|
|
// g = pyb.Pin(pyb.Pin.board.X1, pyb.Pin.IN)
|
|
//
|
|
// CPU pins which correspond to the board pins are available
|
|
// as pyb.cpu.Name. For the CPU pins, the names are the port letter
|
|
// followed by the pin number. On the PYBV4, pyb.Pin.board.X1 and
|
|
// pyb.Pin.cpu.B6 are the same pin.
|
|
//
|
|
// You can also use strings:
|
|
//
|
|
// g = pyb.Pin('X1', pyb.Pin.OUT_PP)
|
|
//
|
|
// Users can add their own names:
|
|
//
|
|
// pyb.Pin.dict["LeftMotorDir"] = pyb.Pin.cpu.C12
|
|
// g = pyb.Pin("LeftMotorDir", pyb.Pin.OUT_OD)
|
|
//
|
|
// and can query mappings
|
|
//
|
|
// pin = pyb.Pin("LeftMotorDir")
|
|
//
|
|
// Users can also add their own mapping function:
|
|
//
|
|
// def MyMapper(pin_name):
|
|
// if pin_name == "LeftMotorDir":
|
|
// return pyb.Pin.cpu.A0
|
|
//
|
|
// pyb.Pin.mapper(MyMapper)
|
|
//
|
|
// So, if you were to call: pyb.Pin("LeftMotorDir", pyb.Pin.OUT_PP)
|
|
// then "LeftMotorDir" is passed directly to the mapper function.
|
|
//
|
|
// To summarize, the following order determines how things get mapped into
|
|
// an ordinal pin number:
|
|
//
|
|
// 1 - Directly specify a pin object
|
|
// 2 - User supplied mapping function
|
|
// 3 - User supplied mapping (object must be usable as a dictionary key)
|
|
// 4 - Supply a string which matches a board pin
|
|
// 5 - Supply a string which matches a CPU port/pin
|
|
//
|
|
// You can set pyb.Pin.debug(True) to get some debug information about
|
|
// how a particular object gets mapped to a pin.
|
|
|
|
// Pin class variables
|
|
STATIC mp_obj_t pin_class_mapper;
|
|
STATIC mp_obj_t pin_class_map_dict;
|
|
STATIC bool pin_class_debug;
|
|
|
|
void pin_init(void) {
|
|
pin_class_mapper = MP_OBJ_NULL;
|
|
pin_class_map_dict = MP_OBJ_NULL;
|
|
pin_class_debug = false;
|
|
}
|
|
|
|
// C API used to convert a user-supplied pin name into an ordinal pin number.
|
|
const pin_obj_t *pin_find(mp_obj_t user_obj) {
|
|
const pin_obj_t *pin_obj;
|
|
|
|
// If a pin was provided, then use it
|
|
if (MP_OBJ_IS_TYPE(user_obj, &pin_type)) {
|
|
pin_obj = user_obj;
|
|
if (pin_class_debug) {
|
|
printf("Pin map passed pin ");
|
|
mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
|
|
printf("\n");
|
|
}
|
|
return pin_obj;
|
|
}
|
|
|
|
if (pin_class_mapper != MP_OBJ_NULL) {
|
|
pin_obj = mp_call_function_1(pin_class_mapper, user_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.mapper didn't return a Pin object"));
|
|
}
|
|
if (pin_class_debug) {
|
|
printf("Pin.mapper maps ");
|
|
mp_obj_print(user_obj, PRINT_REPR);
|
|
printf(" to ");
|
|
mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
|
|
printf("\n");
|
|
}
|
|
return pin_obj;
|
|
}
|
|
// The pin mapping function returned mp_const_none, fall through to
|
|
// other lookup methods.
|
|
}
|
|
|
|
if (pin_class_map_dict != MP_OBJ_NULL) {
|
|
mp_map_t *pin_map_map = mp_obj_dict_get_map(pin_class_map_dict);
|
|
mp_map_elem_t *elem = mp_map_lookup(pin_map_map, user_obj, MP_MAP_LOOKUP);
|
|
if (elem != NULL && elem->value != NULL) {
|
|
pin_obj = elem->value;
|
|
if (pin_class_debug) {
|
|
printf("Pin.map_dict maps ");
|
|
mp_obj_print(user_obj, PRINT_REPR);
|
|
printf(" to ");
|
|
mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
|
|
printf("\n");
|
|
}
|
|
return pin_obj;
|
|
}
|
|
}
|
|
|
|
// See if the pin name matches a board pin
|
|
const char *pin_name = mp_obj_str_get_str(user_obj);
|
|
pin_obj = pin_find_named_pin(pin_board_pins, pin_name);
|
|
if (pin_obj) {
|
|
if (pin_class_debug) {
|
|
printf("Pin.board maps ");
|
|
mp_obj_print(user_obj, PRINT_REPR);
|
|
printf(" to ");
|
|
mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
|
|
printf("\n");
|
|
}
|
|
return pin_obj;
|
|
}
|
|
|
|
// See if the pin name matches a cpu pin
|
|
pin_obj = pin_find_named_pin(pin_cpu_pins, pin_name);
|
|
if (pin_obj) {
|
|
if (pin_class_debug) {
|
|
printf("Pin.cpu maps ");
|
|
mp_obj_print(user_obj, PRINT_REPR);
|
|
printf(" to ");
|
|
mp_obj_print((mp_obj_t)pin_obj, PRINT_STR);
|
|
printf("\n");
|
|
}
|
|
return pin_obj;
|
|
}
|
|
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "pin '%s' not a valid pin identifier", pin_name));
|
|
}
|
|
|
|
STATIC void pin_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
|
|
pin_obj_t *self = self_in;
|
|
print(env, "<Pin %s>", self->name);
|
|
}
|
|
|
|
// Pin constructor
|
|
STATIC mp_obj_t pin_make_new(mp_obj_t self_in, uint n_args, uint n_kw, const mp_obj_t *args) {
|
|
mp_check_nargs(n_args, 1, 3, n_kw, false);
|
|
|
|
// Run an argument through the mapper and return the result.
|
|
const pin_obj_t *pin = pin_find(args[0]);
|
|
|
|
if (n_args >= 2) {
|
|
// pin mode given, so configure this GPIO
|
|
|
|
// get io mode
|
|
uint mode = mp_obj_get_int(args[1]);
|
|
if (!IS_GPIO_MODE(mode)) {
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid pin mode: %d", mode));
|
|
}
|
|
|
|
// get pull mode
|
|
uint pull = GPIO_NOPULL;
|
|
if (n_args >= 3) {
|
|
pull = mp_obj_get_int(args[2]);
|
|
if (!IS_GPIO_PULL(pull)) {
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid pin pull: %d", pull));
|
|
}
|
|
}
|
|
|
|
// configure the GPIO as requested
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
GPIO_InitStructure.Pin = pin->pin_mask;
|
|
GPIO_InitStructure.Mode = mode;
|
|
GPIO_InitStructure.Pull = pull;
|
|
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
|
|
GPIO_InitStructure.Alternate = 0;
|
|
HAL_GPIO_Init(pin->gpio, &GPIO_InitStructure);
|
|
}
|
|
|
|
return (mp_obj_t)pin;
|
|
}
|
|
|
|
// class method
|
|
STATIC mp_obj_t pin_mapper(uint n_args, mp_obj_t *args) {
|
|
if (n_args > 1) {
|
|
pin_class_mapper = args[1];
|
|
return mp_const_none;
|
|
}
|
|
return pin_class_mapper;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_mapper_fun_obj, 1, 2, pin_mapper);
|
|
STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pin_mapper_obj, (mp_obj_t)&pin_mapper_fun_obj);
|
|
|
|
// class method
|
|
STATIC mp_obj_t pin_map_dict(uint n_args, mp_obj_t *args) {
|
|
if (n_args > 1) {
|
|
pin_class_map_dict = args[1];
|
|
return mp_const_none;
|
|
}
|
|
return pin_class_map_dict;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_map_dict_fun_obj, 1, 2, pin_map_dict);
|
|
STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pin_map_dict_obj, (mp_obj_t)&pin_map_dict_fun_obj);
|
|
|
|
// class method
|
|
STATIC mp_obj_t pin_debug(uint n_args, mp_obj_t *args) {
|
|
if (n_args > 1) {
|
|
pin_class_debug = mp_obj_is_true(args[1]);
|
|
return mp_const_none;
|
|
}
|
|
return MP_BOOL(pin_class_debug);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_debug_fun_obj, 1, 2, pin_debug);
|
|
STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pin_debug_obj, (mp_obj_t)&pin_debug_fun_obj);
|
|
|
|
STATIC mp_obj_t pin_value(uint n_args, mp_obj_t *args) {
|
|
pin_obj_t *self = args[0];
|
|
if (n_args == 1) {
|
|
// get pin
|
|
return MP_OBJ_NEW_SMALL_INT((self->gpio->IDR >> self->port) & 1);
|
|
} else {
|
|
// set pin
|
|
if (mp_obj_is_true(args[1])) {
|
|
self->gpio->BSRRL = self->pin_mask;
|
|
} else {
|
|
self->gpio->BSRRH = self->pin_mask;
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pin_value_obj, 1, 2, pin_value);
|
|
|
|
STATIC mp_obj_t pin_low(mp_obj_t self_in) {
|
|
pin_obj_t *self = self_in;
|
|
self->gpio->BSRRH = self->pin_mask;
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_low_obj, pin_low);
|
|
|
|
STATIC mp_obj_t pin_high(mp_obj_t self_in) {
|
|
pin_obj_t *self = self_in;
|
|
self->gpio->BSRRL = self->pin_mask;
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_high_obj, pin_high);
|
|
|
|
STATIC mp_obj_t pin_name(mp_obj_t self_in) {
|
|
pin_obj_t *self = self_in;
|
|
return MP_OBJ_NEW_QSTR(qstr_from_str(self->name));
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_name_obj, pin_name);
|
|
|
|
STATIC mp_obj_t pin_port(mp_obj_t self_in) {
|
|
pin_obj_t *self = self_in;
|
|
return MP_OBJ_NEW_SMALL_INT((mp_small_int_t)self->port);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_port_obj, pin_port);
|
|
|
|
STATIC mp_obj_t pin_pin(mp_obj_t self_in) {
|
|
pin_obj_t *self = self_in;
|
|
return MP_OBJ_NEW_SMALL_INT((mp_small_int_t)self->pin);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pin_pin_obj, pin_pin);
|
|
|
|
STATIC const mp_map_elem_t pin_locals_dict_table[] = {
|
|
// instance methods
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_value), (mp_obj_t)&pin_value_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_low), (mp_obj_t)&pin_low_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_high), (mp_obj_t)&pin_high_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_name), (mp_obj_t)&pin_name_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_port), (mp_obj_t)&pin_port_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_pin), (mp_obj_t)&pin_pin_obj },
|
|
|
|
// class methods
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_mapper), (mp_obj_t)&pin_mapper_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_dict), (mp_obj_t)&pin_map_dict_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_debug), (mp_obj_t)&pin_debug_obj },
|
|
|
|
// class attributes
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_board), (mp_obj_t)&pin_board_pins_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_cpu), (mp_obj_t)&pin_cpu_pins_obj },
|
|
|
|
// class constants
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_IN), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_INPUT) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_OUT_PP), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_OUTPUT_PP) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_OUT_OD), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_OUTPUT_OD) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_AF_PP), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_AF_PP) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_AF_OD), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_AF_OD) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_ANALOG), MP_OBJ_NEW_SMALL_INT(GPIO_MODE_ANALOG) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_PULL_NONE), MP_OBJ_NEW_SMALL_INT(GPIO_NOPULL) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_PULL_UP), MP_OBJ_NEW_SMALL_INT(GPIO_PULLUP) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_PULL_DOWN), MP_OBJ_NEW_SMALL_INT(GPIO_PULLDOWN) },
|
|
};
|
|
|
|
STATIC MP_DEFINE_CONST_DICT(pin_locals_dict, pin_locals_dict_table);
|
|
|
|
const mp_obj_type_t pin_type = {
|
|
{ &mp_type_type },
|
|
.name = MP_QSTR_Pin,
|
|
.print = pin_print,
|
|
.make_new = pin_make_new,
|
|
.locals_dict = (mp_obj_t)&pin_locals_dict,
|
|
};
|
|
|
|
STATIC void pin_af_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
|
|
pin_af_obj_t *self = self_in;
|
|
print(env, "<Pin AF %d fn:%d unit:%d typ:%d>", self->idx, self->fn,
|
|
self->unit, self->type);
|
|
}
|
|
|
|
const mp_obj_type_t pin_af_type = {
|
|
{ &mp_type_type },
|
|
.name = MP_QSTR_PinAF,
|
|
.print = pin_af_obj_print,
|
|
};
|