Add Timer support (PWM, OC, IC) for stmhal and teensy

1 files changed, 897 insertions, 0 deletions

diff --git a/teensy/timer.c b/teensy/timer.c
new file mode 100644
index 0000000000..96678b86cc
--- /dev/null
+++ b/teensy/timer.c
@@ -0,0 +1,897 @@
+/*
+ * 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 <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <stddef.h>
+
+#include "mpconfig.h"
+#include "nlr.h"
+#include "misc.h"
+#include "qstr.h"
+#include "obj.h"
+#include "runtime.h"
+#include MICROPY_HAL_H
+#include "gc.h"
+#include "pin.h"
+#include "reg.h"
+
+#include "timer.h"
+
+
+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;
+} gChannelMode[] = {
+    { MP_QSTR_PWM,                FTM_OCMODE_PWM1 },
+    { MP_QSTR_PWM_INVERTED,       FTM_OCMODE_PWM2 },
+    { MP_QSTR_OC_TIMING,          FTM_OCMODE_TIMING },
+    { MP_QSTR_OC_ACTIVE,          FTM_OCMODE_ACTIVE },
+    { MP_QSTR_OC_INACTIVE,        FTM_OCMODE_INACTIVE },
+    { MP_QSTR_OC_TOGGLE,          FTM_OCMODE_TOGGLE },
+//    { MP_QSTR_OC_FORCED_ACTIVE,   FTM_OCMODE_FORCED_ACTIVE },
+//    { MP_QSTR_OC_FORCED_INACTIVE, FTM_OCMODE_FORCED_INACTIVE },
+    { MP_QSTR_IC,                 0 },
+};
+
+struct _pyb_timer_obj_t;
+
+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 irqn;
+    mp_obj_t callback;
+    FTM_HandleTypeDef ftm;
+    pyb_timer_channel_obj_t *channel;
+} pyb_timer_obj_t;
+
+// Used to do callbacks to Python code on interrupt
+STATIC pyb_timer_obj_t *pyb_timer_obj_all[3];
+#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) {
+    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);
+        }
+    }
+}
+
+mp_uint_t get_prescaler_shift(mp_int_t prescaler) {
+    mp_uint_t prescaler_shift;
+    for (prescaler_shift = 0; prescaler_shift < 8; prescaler_shift++) {
+        if (prescaler == (1 << prescaler_shift)) {
+            return prescaler_shift;
+        }
+    }
+    nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "prescaler must be a power of 2 between 1 and 128, not %d", prescaler));
+}
+
+/******************************************************************************/
+/* Micro Python bindings                                                      */
+
+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->ftm.State == HAL_FTM_STATE_RESET) {
+        print(env, "Timer(%u)", self->tim_id);
+    } else {
+        print(env, "Timer(%u, prescaler=%u, period=%u, mode=%s)",
+            self->tim_id,
+            1 << self->ftm.Init.PrescalerShift,
+            self->ftm.Init.Period,
+            self->ftm.Init.CounterMode == FTM_COUNTERMODE_UP ? "tUP" : "CENTER");
+    }
+}
+
+/// \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` 1, 2, 4, 8 16 32, 64 or 128 - specifies the value to be loaded into the
+///                 timer's prescaler. The timer clock source is divided by
+///     (`prescaler`) to arrive at the timer clock.
+///
+///   - `period` [0-0xffff] - Specifies the value to be loaded into the timer's
+///     Modulo Register (MOD). 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 MOD (default)
+///     - `Timer.CENTER` - confgures the timer to count from 0 to MOD and
+///       then back down to 0.
+///
+///   - `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 = FTM_COUNTERMODE_UP} },
+    { 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, uint 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);
+
+    FTM_HandleTypeDef *ftm = &self->ftm;
+
+    // set the TIM configuration values
+    FTM_Base_InitTypeDef *init = &ftm->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"));
+        }
+
+        uint32_t period = MAX(1, F_BUS / vals[0].u_int);
+        uint32_t prescaler_shift = 0;
+        while (period > 0x10000 && prescaler_shift < 7) {
+            period >>= 1;
+            prescaler_shift++;
+        }
+        if (period > 0x10000) {
+            period = 0x10000;
+        }
+        init->PrescalerShift = prescaler_shift;
+        init->Period = period - 1;
+    } else if (vals[1].u_int != 0xffffffff && vals[2].u_int != 0xffffffff) {
+        // set prescaler and period directly
+        init->PrescalerShift = get_prescaler_shift(vals[1].u_int);
+        init->Period = vals[2].u_int;
+        if (!IS_FTM_PERIOD(init->Period)) {
+            nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "period must be between 0 and 65535, not %d", init->Period));
+        }
+    } 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;
+    if (!IS_FTM_COUNTERMODE(init->CounterMode)) {
+        nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "invalid counter mode: %d", init->CounterMode));
+    }
+
+    // Currently core/mk20dx128.c sets SIM_SCGC6_FTM0, SIM_SCGC6_FTM1, SIM_SCGC3_FTM2
+    // so we don't need to do it here.
+
+    NVIC_SET_PRIORITY(self->irqn, 0xe); // next-to lowest priority
+
+    HAL_FTM_Base_Init(ftm);
+    if (vals[4].u_obj == mp_const_none) {
+        HAL_FTM_Base_Start(ftm);
+    } else {
+        pyb_timer_callback(self, vals[4].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, uint n_args, uint 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 FTM number
+    tim->tim_id = mp_obj_get_int(args[0]);
+
+    switch (tim->tim_id) {
+        case 0: tim->ftm.Instance = FTM0; tim->irqn = IRQ_FTM0; break;
+        case 1: tim->ftm.Instance = FTM1; tim->irqn = IRQ_FTM1; break;
+        case 2: tim->ftm.Instance = FTM2; tim->irqn = IRQ_FTM2; 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 < PYB_TIMER_OBJ_ALL_NUM) {
+        pyb_timer_obj_all[tim->tim_id] = tim;
+    }
+
+    return (mp_obj_t)tim;
+}
+
+STATIC mp_obj_t pyb_timer_init(uint 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).
+/// 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 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_FTM_Base_DeInit(&self->ftm);
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
+
+/// \method channel(channel, ...)
+///
+/// If only a channel nunber is passed, then a previously initialized channel
+/// object is returned.
+///
+/// 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.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 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(0, prescaler=128, period=37500, counter_mode=pyb.Timer.COUNTER_MODE_CENTER)
+///     ch0 = t0.channel(0, pyb.Timer.PWM, pin=pyb.Pin.board.D22, pulse_width=(t0.period() + 1) // 4)
+///     ch1 = t0.channel(1, pyb.Timer.PWM, pin=pyb.Pin.board.D23, pulse_width=(t0.period() + 1) // 2)
+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_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) {
+    mp_arg_check_num(n_args, n_args - 2, 2, MP_OBJ_FUN_ARGS_MAX, true);
+
+    pyb_timer_obj_t *self = args[0];
+    mp_int_t channel = mp_obj_get_int(args[1]);
+
+    if (channel < 0 || channel > 7) {
+        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 (kw_args->used == 0) {
+        // Return the previously allocated channel
+        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_FTM, 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: {
+            FTM_OC_InitTypeDef oc_config;
+            oc_config.OCMode        = gChannelMode[chan->mode].oc_mode;
+            oc_config.Pulse         = vals[2].u_int;
+            oc_config.OCPolarity    = FTM_OCPOLARITY_HIGH;
+
+            HAL_FTM_PWM_ConfigChannel(&self->ftm, &oc_config, channel);
+            if (chan->callback == mp_const_none) {
+                HAL_FTM_PWM_Start(&self->ftm, channel);
+            } else {
+                HAL_FTM_PWM_Start_IT(&self->ftm, channel);
+            }
+            break;
+        }
+
+        case CHANNEL_MODE_OC_TIMING:
+        case CHANNEL_MODE_OC_ACTIVE:
+        case CHANNEL_MODE_OC_INACTIVE:
+        case CHANNEL_MODE_OC_TOGGLE: {
+            FTM_OC_InitTypeDef oc_config;
+            oc_config.OCMode       = gChannelMode[chan->mode].oc_mode;
+            oc_config.Pulse        = vals[3].u_int;
+            oc_config.OCPolarity   = vals[4].u_int;
+            if (oc_config.OCPolarity == 0xffffffff) {
+                oc_config.OCPolarity = FTM_OCPOLARITY_HIGH;
+            }
+
+            if (!IS_FTM_OC_POLARITY(oc_config.OCPolarity)) {
+                nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid polarity (%d)", oc_config.OCPolarity));
+            }
+            HAL_FTM_OC_ConfigChannel(&self->ftm, &oc_config, channel);
+            if (chan->callback == mp_const_none) {
+                HAL_FTM_OC_Start(&self->ftm, channel);
+            } else {
+                HAL_FTM_OC_Start_IT(&self->ftm, channel);
+            }
+            break;
+        }
+
+        case CHANNEL_MODE_IC: {
+            FTM_IC_InitTypeDef ic_config;
+
+            ic_config.ICPolarity  = vals[4].u_int;
+            if (ic_config.ICPolarity == 0xffffffff) {
+                ic_config.ICPolarity = FTM_ICPOLARITY_RISING;
+            }
+
+            if (!IS_FTM_IC_POLARITY(ic_config.ICPolarity)) {
+                nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid polarity (%d)", ic_config.ICPolarity));
+            }
+            HAL_FTM_IC_ConfigChannel(&self->ftm, &ic_config, chan->channel);
+            if (chan->callback == mp_const_none) {
+                HAL_FTM_IC_Start(&self->ftm, channel);
+            } else {
+                HAL_FTM_IC_Start_IT(&self->ftm, channel);
+            }
+            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, 3, pyb_timer_channel);
+
+/// \method counter([value])
+/// Get or set the timer counter.
+mp_obj_t pyb_timer_counter(uint 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->ftm.Instance->CNT);
+    }
+    // set - In order to write to CNT we need to set CNTIN
+    self->ftm.Instance->CNTIN = mp_obj_get_int(args[1]);
+    self->ftm.Instance->CNT = 0;    // write any value to load CNTIN into CNT
+    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.
+mp_obj_t pyb_timer_prescaler(uint n_args, const mp_obj_t *args) {
+    pyb_timer_obj_t *self = args[0];
+    if (n_args == 1) {
+        // get
+        return mp_obj_new_int(1 << (self->ftm.Instance->SC & 7));
+    }
+
+    // set
+    mp_uint_t prescaler_shift = get_prescaler_shift(mp_obj_get_int(args[1]));
+
+    mp_uint_t sc = self->ftm.Instance->SC;
+    sc &= ~7;
+    sc |= FTM_SC_PS(prescaler_shift);
+    self->ftm.Instance->SC = sc;
+
+    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.
+mp_obj_t pyb_timer_period(uint 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->ftm.Instance->MOD & 0xffff);
+    }
+
+    // set
+    mp_int_t period = mp_obj_get_int(args[1]) & 0xffff;
+    self->ftm.Instance->CNT = 0;
+    self->ftm.Instance->MOD = period;
+    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_FTM_DISABLE_TOF_IT(&self->ftm);
+        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_FTM_Base_Start_IT(&self->ftm);
+    } 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);
+
+#if MICROPY_TIMER_REG
+reg_t timer_reg[] = {
+    REG_ENTRY(FTM_TypeDef, SC),
+    REG_ENTRY(FTM_TypeDef, CNT),
+    REG_ENTRY(FTM_TypeDef, MOD),
+    REG_ENTRY(FTM_TypeDef, CNTIN),
+    REG_ENTRY(FTM_TypeDef, STATUS),
+    REG_ENTRY(FTM_TypeDef, MODE),
+    REG_ENTRY(FTM_TypeDef, SYNC),
+    REG_ENTRY(FTM_TypeDef, OUTINIT),
+    REG_ENTRY(FTM_TypeDef, OUTMASK),
+    REG_ENTRY(FTM_TypeDef, COMBINE),
+    REG_ENTRY(FTM_TypeDef, DEADTIME),
+    REG_ENTRY(FTM_TypeDef, EXTTRIG),
+    REG_ENTRY(FTM_TypeDef, POL),
+    REG_ENTRY(FTM_TypeDef, FMS),
+    REG_ENTRY(FTM_TypeDef, FILTER),
+    REG_ENTRY(FTM_TypeDef, FLTCTRL),
+    REG_ENTRY(FTM_TypeDef, QDCTRL),
+    REG_ENTRY(FTM_TypeDef, CONF),
+    REG_ENTRY(FTM_TypeDef, FLTPOL),
+    REG_ENTRY(FTM_TypeDef, SYNCONF),
+    REG_ENTRY(FTM_TypeDef, INVCTRL),
+    REG_ENTRY(FTM_TypeDef, SWOCTRL),
+    REG_ENTRY(FTM_TypeDef, PWMLOAD),
+};
+
+mp_obj_t pyb_timer_reg(uint n_args, const mp_obj_t *args) {
+    pyb_timer_obj_t *self = args[0];
+    return reg_cmd(self->ftm.Instance, timer_reg, MP_ARRAY_SIZE(timer_reg), n_args - 1, args + 1);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_reg_obj, 1, 3, pyb_timer_reg);
+#endif // MICROPY_TIMER_REG
+
+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 },
+#if MICROPY_TIMER_REG
+    { MP_OBJ_NEW_QSTR(MP_QSTR_reg), (mp_obj_t)&pyb_timer_reg_obj },
+#endif
+    { MP_OBJ_NEW_QSTR(MP_QSTR_UP),              MP_OBJ_NEW_SMALL_INT(FTM_COUNTERMODE_UP) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_CENTER),          MP_OBJ_NEW_SMALL_INT(FTM_COUNTERMODE_CENTER) },
+    { 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_IC),              MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_IC) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HIGH),            MP_OBJ_NEW_SMALL_INT(FTM_OCPOLARITY_HIGH) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_LOW),             MP_OBJ_NEW_SMALL_INT(FTM_OCPOLARITY_LOW) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_RISING),          MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_RISING) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_FALLING),         MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_FALLING) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_BOTH),            MP_OBJ_NEW_SMALL_INT(FTM_ICPOLARITY_BOTH) },
+};
+
+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(gChannelMode[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(uint n_args, const mp_obj_t *args) {
+    pyb_timer_channel_obj_t *self = args[0];
+    if (self->channel == 0xffffffff) {
+        nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Timer %d no channel specified", self->timer->tim_id));
+    }
+    FTM_TypeDef *FTMx = self->timer->ftm.Instance;
+    if (n_args == 1) {
+        // get
+        return mp_obj_new_int(FTMx->channel[self->channel].CV);
+    }
+
+    mp_int_t pw = mp_obj_get_int(args[1]);
+
+    // set
+    FTMx->channel[self->channel].CV = pw;
+    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 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_FTM_DISABLE_CH_IT(&self->timer->ftm, 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_FTM_PWM_Start_IT(&self->timer->ftm, self->channel);
+                break;
+            case CHANNEL_MODE_OC_TIMING:
+            case CHANNEL_MODE_OC_ACTIVE:
+            case CHANNEL_MODE_OC_INACTIVE:
+            case CHANNEL_MODE_OC_TOGGLE:
+                HAL_FTM_OC_Start_IT(&self->timer->ftm, self->channel);
+                break;
+            case CHANNEL_MODE_IC:
+                HAL_FTM_IC_Start_IT(&self->timer->ftm, self->channel);
+                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);
+
+#if MICROPY_TIMER_REG
+reg_t timer_channel_reg[] = {
+    REG_ENTRY(FTM_ChannelTypeDef, CSC),
+    REG_ENTRY(FTM_ChannelTypeDef, CV),
+};
+
+mp_obj_t pyb_timer_channel_reg(uint n_args, const mp_obj_t *args) {
+    pyb_timer_channel_obj_t *self = args[0];
+    return reg_cmd(&self->timer->ftm.Instance->channel[self->channel],
+                   timer_channel_reg, MP_ARRAY_SIZE(timer_channel_reg),
+                   n_args - 1, args + 1);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_reg_obj, 1, 3, pyb_timer_channel_reg);
+#endif
+
+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_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 },
+#if MICROPY_TIMER_REG
+    { MP_OBJ_NEW_QSTR(MP_QSTR_reg), (mp_obj_t)&pyb_timer_channel_reg_obj },
+#endif
+};
+STATIC MP_DEFINE_CONST_DICT(pyb_timer_channel_locals_dict, pyb_timer_channel_locals_dict_table);
+
+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 bool ftm_handle_irq_callback(pyb_timer_obj_t *self, mp_uint_t channel, mp_obj_t callback) {
+    // execute callback if it's set
+    if (callback == mp_const_none) {
+        return false;
+    }
+    bool handled = false;
+
+    // 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, self);
+        nlr_pop();
+        handled = true;
+    } else {
+        // Uncaught exception; disable the callback so it doesn't run again.
+        self->callback = mp_const_none;
+        if (channel == 0xffffffff) {
+            printf("Uncaught exception in Timer(" UINT_FMT
+                   ") interrupt handler\n", self->tim_id);
+        } else {
+            printf("Uncaught exception in Timer(" UINT_FMT ") channel "
+                   UINT_FMT " interrupt handler\n", self->tim_id, channel);
+        }
+        mp_obj_print_exception((mp_obj_t)nlr.ret_val);
+    }
+    gc_unlock();
+    return handled;
+}
+
+STATIC void ftm_irq_handler(uint tim_id) {
+    if (tim_id >= PYB_TIMER_OBJ_ALL_NUM) {
+        return;
+    }
+    // get the timer object
+    pyb_timer_obj_t *self = pyb_timer_obj_all[tim_id];
+    if (self == NULL) {
+        // timer object has not been set, so we can't do anything
+        printf("No timer object for id=%d\n", tim_id);
+        return;
+    }
+    FTM_HandleTypeDef *hftm = &self->ftm;
+
+    bool handled = false;
+
+    // Check for timer (versus timer channel) interrupt.
+    if (__HAL_FTM_GET_TOF_IT(hftm) && __HAL_FTM_GET_TOF_FLAG(hftm)) {
+        __HAL_FTM_CLEAR_TOF_FLAG(hftm);
+        if (ftm_handle_irq_callback(self, 0xffffffff, self->callback)) {
+            handled = true;
+        } else {
+            __HAL_FTM_DISABLE_TOF_IT(&self->ftm);
+            printf("No callback for Timer %d TOF (now disabled)\n", tim_id);
+        }
+    }
+
+    uint32_t processed = 0;
+
+    // Check to see if a timer channel interrupt is pending
+    pyb_timer_channel_obj_t *chan = self->channel;
+    while (chan != NULL) {
+        processed |= (1 << chan->channel);
+        if (__HAL_FTM_GET_CH_IT(&self->ftm, chan->channel) && __HAL_FTM_GET_CH_FLAG(&self->ftm, chan->channel)) {
+            __HAL_FTM_CLEAR_CH_FLAG(&self->ftm, chan->channel);
+            if (ftm_handle_irq_callback(self, chan->channel, chan->callback)) {
+                handled = true;
+            } else {
+                __HAL_FTM_DISABLE_CH_IT(&self->ftm, chan->channel);
+                printf("No callback for Timer %d channel %u (now disabled)\n",
+                       self->tim_id, chan->channel);
+            }
+        }
+        chan = chan->next;
+    }
+
+    if (!handled) {
+        // An interrupt occurred for a channel we didn't process. Find it and
+        // turn it off.
+        for (mp_uint_t channel = 0; channel < 8; channel++) {
+            if ((processed & (1 << channel)) == 0) {
+                if (__HAL_FTM_GET_CH_FLAG(&self->ftm, channel) != 0) {
+                    __HAL_FTM_CLEAR_CH_FLAG(&self->ftm, channel);
+                    __HAL_FTM_DISABLE_CH_IT(&self->ftm, channel);
+                    printf("Unhandled interrupt Timer %d channel %u (now disabled)\n",
+                           tim_id, channel);
+                }
+            }
+        }
+    }
+}
+
+void ftm0_isr(void) {
+    ftm_irq_handler(0);
+}
+
+void ftm1_isr(void) {
+    ftm_irq_handler(1);
+}
+
+void ftm2_isr(void) {
+    ftm_irq_handler(2);
+}