213 lines
6.5 KiB
C
213 lines
6.5 KiB
C
#include <stdio.h>
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#include "stm32f4xx_hal.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 "obj.h"
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#include "servo.h"
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// this servo driver uses hardware PWM to drive servos on PA0, PA1, PA2, PA3 = X1, X2, X3, X4
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// TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively
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// they are both 32-bit counters with 16-bit prescaler
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// we use TIM2
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#define PYB_SERVO_NUM (4)
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typedef struct _pyb_servo_obj_t {
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mp_obj_base_t base;
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uint16_t servo_id;
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uint16_t time_left;
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int16_t pulse_accum;
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uint16_t pulse_cur;
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uint16_t pulse_dest;
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} pyb_servo_obj_t;
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STATIC const mp_obj_type_t servo_obj_type;
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STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
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TIM_HandleTypeDef TIM2_Handle;
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void servo_init(void) {
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// TIM2 clock enable
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__TIM2_CLK_ENABLE();
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// set up and enable interrupt
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HAL_NVIC_SetPriority(TIM2_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(TIM2_IRQn);
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// PWM clock configuration
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TIM2_Handle.Instance = TIM2;
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TIM2_Handle.Init.Period = 2000; // timer cycles at 50Hz
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TIM2_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
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TIM2_Handle.Init.ClockDivision = 0;
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TIM2_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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HAL_TIM_PWM_Init(&TIM2_Handle);
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// reset servo objects
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for (int i = 0; i < PYB_SERVO_NUM; i++) {
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pyb_servo_obj[i].base.type = &servo_obj_type;
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pyb_servo_obj[i].servo_id = i + 1;
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pyb_servo_obj[i].time_left = 0;
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pyb_servo_obj[i].pulse_cur = 150; // units of 10us
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pyb_servo_obj[i].pulse_dest = 0;
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}
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}
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#include "led.h"
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void servo_timer_irq_callback(void) {
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led_toggle(1);
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bool need_it = false;
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for (int i = 0; i < PYB_SERVO_NUM; i++) {
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pyb_servo_obj_t *s = &pyb_servo_obj[i];
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if (s->pulse_cur != s->pulse_dest) {
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if (s->time_left <= 1) {
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s->pulse_cur = s->pulse_dest;
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s->time_left = 0;
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} else {
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s->pulse_accum += s->pulse_dest - s->pulse_cur;
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s->pulse_cur += s->pulse_accum / s->time_left;
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s->pulse_accum %= s->time_left;
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s->time_left--;
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need_it = true;
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}
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switch (s->servo_id) {
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case 1: TIM2->CCR1 = s->pulse_cur; break;
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case 2: TIM2->CCR2 = s->pulse_cur; break;
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case 3: TIM2->CCR3 = s->pulse_cur; break;
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case 4: TIM2->CCR4 = s->pulse_cur; break;
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}
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}
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}
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if (need_it) {
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__HAL_TIM_ENABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
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} else {
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__HAL_TIM_DISABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
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}
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}
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STATIC void servo_init_channel(pyb_servo_obj_t *s) {
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uint32_t pin;
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uint32_t channel;
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switch (s->servo_id) {
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case 1: pin = GPIO_PIN_0; channel = TIM_CHANNEL_1; break;
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case 2: pin = GPIO_PIN_1; channel = TIM_CHANNEL_2; break;
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case 3: pin = GPIO_PIN_2; channel = TIM_CHANNEL_3; break;
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case 4: pin = GPIO_PIN_3; channel = TIM_CHANNEL_4; break;
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default: return;
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}
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// GPIO configuration
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.Pin = pin;
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GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
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GPIO_InitStructure.Pull = GPIO_NOPULL;
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GPIO_InitStructure.Alternate = GPIO_AF1_TIM2;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
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// PWM mode configuration
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TIM_OC_InitTypeDef oc_init;
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oc_init.OCMode = TIM_OCMODE_PWM1;
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oc_init.Pulse = s->pulse_cur; // units of 10us
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oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
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oc_init.OCFastMode = TIM_OCFAST_DISABLE;
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HAL_TIM_PWM_ConfigChannel(&TIM2_Handle, &oc_init, channel);
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// start PWM
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HAL_TIM_PWM_Start(&TIM2_Handle, channel);
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}
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/******************************************************************************/
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// Micro Python bindings
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STATIC mp_obj_t pyb_servo_set(mp_obj_t port, mp_obj_t value) {
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int p = mp_obj_get_int(port);
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int v = mp_obj_get_int(value);
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if (v < 50) { v = 50; }
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if (v > 250) { v = 250; }
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switch (p) {
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case 1: TIM2->CCR1 = v; break;
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case 2: TIM2->CCR2 = v; break;
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case 3: TIM2->CCR3 = v; break;
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case 4: TIM2->CCR4 = v; break;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_2(pyb_servo_set_obj, pyb_servo_set);
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STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) {
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int pe = mp_obj_get_int(period);
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int pu = mp_obj_get_int(pulse);
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TIM2->ARR = pe;
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TIM2->CCR3 = pu;
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_2(pyb_pwm_set_obj, pyb_pwm_set);
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STATIC void servo_obj_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_servo_obj_t *self = self_in;
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print(env, "<Servo %lu at %lu>", self->servo_id, self->pulse_cur);
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}
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STATIC mp_obj_t servo_obj_angle(uint n_args, const mp_obj_t *args) {
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pyb_servo_obj_t *self = args[0];
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if (n_args == 1) {
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// get angle
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return mp_obj_new_int((self->pulse_cur - 152) * 90 / 85);
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} else {
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#if MICROPY_ENABLE_FLOAT
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machine_int_t v = 152 + 85.0 * mp_obj_get_float(args[1]) / 90.0;
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#else
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machine_int_t v = 152 + 85 * mp_obj_get_int(args[1]) / 90;
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#endif
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if (v < 65) { v = 65; }
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if (v > 210) { v = 210; }
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self->pulse_dest = v;
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if (n_args == 2) {
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// set angle immediately
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self->time_left = 0;
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} else {
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// set angle over a given time (given in milli seconds)
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self->time_left = mp_obj_get_int(args[2]) / 20;
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self->pulse_accum = 0;
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}
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servo_timer_irq_callback();
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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(servo_obj_angle_obj, 1, 3, servo_obj_angle);
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STATIC const mp_method_t servo_methods[] = {
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{ "angle", &servo_obj_angle_obj },
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{ NULL, NULL },
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};
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STATIC const mp_obj_type_t servo_obj_type = {
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{ &mp_type_type },
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.name = MP_QSTR_Servo,
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.print = servo_obj_print,
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.methods = servo_methods,
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};
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STATIC mp_obj_t pyb_Servo(mp_obj_t servo_id_o) {
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machine_int_t servo_id = mp_obj_get_int(servo_id_o) - 1;
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if (0 <= servo_id && servo_id < PYB_SERVO_NUM) {
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pyb_servo_obj_t *s = &pyb_servo_obj[servo_id];
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s->pulse_dest = s->pulse_cur;
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s->time_left = 0;
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servo_init_channel(s);
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return s;
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} else {
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nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id));
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}
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_Servo_obj, pyb_Servo);
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