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-rw-r--r--stmhal/Makefile2
-rw-r--r--stmhal/led.c5
-rw-r--r--stmhal/main.c15
-rw-r--r--stmhal/servo.c50
-rw-r--r--stmhal/servo.h2
-rw-r--r--stmhal/stm32f4xx_hal_msp.c31
-rw-r--r--stmhal/stm32f4xx_it.c12
-rw-r--r--stmhal/timer.c189
-rw-r--r--stmhal/timer.h10
-rw-r--r--stmhal/usbd_cdc_interface.h4
10 files changed, 233 insertions, 87 deletions
diff --git a/stmhal/Makefile b/stmhal/Makefile
index 0f3fe46cfa..fff966934a 100644
--- a/stmhal/Makefile
+++ b/stmhal/Makefile
@@ -61,6 +61,7 @@ SRC_C = \
usbd_msc_storage.c \
pendsv.c \
systick.c \
+ timer.c \
led.c \
pin.c \
pin_map.c \
@@ -98,7 +99,6 @@ SRC_C = \
adc.c \
i2c.c \
-# timer.c \
# pybwlan.c \
SRC_S = \
diff --git a/stmhal/led.c b/stmhal/led.c
index b7afdd40c5..3108ee7792 100644
--- a/stmhal/led.c
+++ b/stmhal/led.c
@@ -1,7 +1,5 @@
#include <stdio.h>
#include <stm32f4xx_hal.h>
-#include "usbd_cdc_msc_hid.h"
-#include "usbd_cdc_interface.h"
#include "nlr.h"
#include "misc.h"
@@ -9,6 +7,7 @@
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
+#include "timer.h"
#include "led.h"
#include "pin.h"
#include "build/pins.h"
@@ -54,6 +53,8 @@ void led_init(void) {
// LED4 (blue) is on PB4 which is TIM3_CH1
// we use PWM on this channel to fade the LED
+ // LED3 (yellow) is on PA15 which has TIM2_CH1, so we could PWM that as well
+
// GPIO configuration
GPIO_InitStructure.Pin = MICROPY_HW_LED4.pin_mask;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
diff --git a/stmhal/main.c b/stmhal/main.c
index d6d9b9ed7e..afef84e290 100644
--- a/stmhal/main.c
+++ b/stmhal/main.c
@@ -22,6 +22,7 @@
#include "readline.h"
#include "pyexec.h"
#include "usart.h"
+#include "timer.h"
#include "led.h"
#include "exti.h"
#include "usrsw.h"
@@ -38,7 +39,6 @@
#include "dac.h"
#include "pin.h"
#if 0
-#include "timer.h"
#include "pybwlan.h"
#endif
@@ -177,6 +177,7 @@ int main(void) {
// basic sub-system init
pendsv_init();
+ timer_tim3_init();
led_init();
switch_init0();
@@ -409,6 +410,11 @@ soft_reset:
rng_init();
#endif
+#if MICROPY_HW_ENABLE_TIMER
+ // timer
+ //timer_init();
+#endif
+
// I2C
i2c_init();
@@ -422,13 +428,6 @@ soft_reset:
servo_init();
#endif
-#if 0
-#if MICROPY_HW_ENABLE_TIMER
- // timer
- timer_init();
-#endif
-#endif
-
#if MICROPY_HW_ENABLE_DAC
// DAC
dac_init();
diff --git a/stmhal/servo.c b/stmhal/servo.c
index 15ba35165c..9c757c5659 100644
--- a/stmhal/servo.c
+++ b/stmhal/servo.c
@@ -8,12 +8,13 @@
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
+#include "timer.h"
#include "servo.h"
// this servo driver uses hardware PWM to drive servos on PA0, PA1, PA2, PA3 = X1, X2, X3, X4
// TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively
// they are both 32-bit counters with 16-bit prescaler
-// we use TIM2
+// we use TIM5
#define PYB_SERVO_NUM (4)
@@ -30,23 +31,8 @@ STATIC const mp_obj_type_t servo_obj_type;
STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
-TIM_HandleTypeDef TIM2_Handle;
-
void servo_init(void) {
- // TIM2 clock enable
- __TIM2_CLK_ENABLE();
-
- // set up and enable interrupt
- HAL_NVIC_SetPriority(TIM2_IRQn, 6, 0);
- HAL_NVIC_EnableIRQ(TIM2_IRQn);
-
- // PWM clock configuration
- TIM2_Handle.Instance = TIM2;
- TIM2_Handle.Init.Period = 2000; // timer cycles at 50Hz
- TIM2_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
- TIM2_Handle.Init.ClockDivision = 0;
- TIM2_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
- HAL_TIM_PWM_Init(&TIM2_Handle);
+ timer_tim5_init();
// reset servo objects
for (int i = 0; i < PYB_SERVO_NUM; i++) {
@@ -74,17 +60,17 @@ void servo_timer_irq_callback(void) {
need_it = true;
}
switch (s->servo_id) {
- case 1: TIM2->CCR1 = s->pulse_cur; break;
- case 2: TIM2->CCR2 = s->pulse_cur; break;
- case 3: TIM2->CCR3 = s->pulse_cur; break;
- case 4: TIM2->CCR4 = s->pulse_cur; break;
+ case 1: TIM5->CCR1 = s->pulse_cur; break;
+ case 2: TIM5->CCR2 = s->pulse_cur; break;
+ case 3: TIM5->CCR3 = s->pulse_cur; break;
+ case 4: TIM5->CCR4 = s->pulse_cur; break;
}
}
}
if (need_it) {
- __HAL_TIM_ENABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
+ __HAL_TIM_ENABLE_IT(&TIM5_Handle, TIM_IT_UPDATE);
} else {
- __HAL_TIM_DISABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
+ __HAL_TIM_DISABLE_IT(&TIM5_Handle, TIM_IT_UPDATE);
}
}
@@ -105,7 +91,7 @@ STATIC void servo_init_channel(pyb_servo_obj_t *s) {
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_NOPULL;
- GPIO_InitStructure.Alternate = GPIO_AF1_TIM2;
+ GPIO_InitStructure.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
// PWM mode configuration
@@ -114,10 +100,10 @@ STATIC void servo_init_channel(pyb_servo_obj_t *s) {
oc_init.Pulse = s->pulse_cur; // units of 10us
oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
oc_init.OCFastMode = TIM_OCFAST_DISABLE;
- HAL_TIM_PWM_ConfigChannel(&TIM2_Handle, &oc_init, channel);
+ HAL_TIM_PWM_ConfigChannel(&TIM5_Handle, &oc_init, channel);
// start PWM
- HAL_TIM_PWM_Start(&TIM2_Handle, channel);
+ HAL_TIM_PWM_Start(&TIM5_Handle, channel);
}
/******************************************************************************/
@@ -129,10 +115,10 @@ STATIC mp_obj_t pyb_servo_set(mp_obj_t port, mp_obj_t value) {
if (v < 50) { v = 50; }
if (v > 250) { v = 250; }
switch (p) {
- case 1: TIM2->CCR1 = v; break;
- case 2: TIM2->CCR2 = v; break;
- case 3: TIM2->CCR3 = v; break;
- case 4: TIM2->CCR4 = v; break;
+ case 1: TIM5->CCR1 = v; break;
+ case 2: TIM5->CCR2 = v; break;
+ case 3: TIM5->CCR3 = v; break;
+ case 4: TIM5->CCR4 = v; break;
}
return mp_const_none;
}
@@ -142,8 +128,8 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_servo_set_obj, pyb_servo_set);
STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) {
int pe = mp_obj_get_int(period);
int pu = mp_obj_get_int(pulse);
- TIM2->ARR = pe;
- TIM2->CCR3 = pu;
+ TIM5->ARR = pe;
+ TIM5->CCR3 = pu;
return mp_const_none;
}
diff --git a/stmhal/servo.h b/stmhal/servo.h
index d5fb6a8505..865b0fc9f5 100644
--- a/stmhal/servo.h
+++ b/stmhal/servo.h
@@ -1,5 +1,3 @@
-extern TIM_HandleTypeDef TIM2_Handle;
-
void servo_init(void);
void servo_timer_irq_callback(void);
diff --git a/stmhal/stm32f4xx_hal_msp.c b/stmhal/stm32f4xx_hal_msp.c
index 1cf78336f8..7004912e14 100644
--- a/stmhal/stm32f4xx_hal_msp.c
+++ b/stmhal/stm32f4xx_hal_msp.c
@@ -38,8 +38,6 @@
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
-#include "usbd_cdc_msc_hid.h"
-#include "usbd_cdc_interface.h"
#include "misc.h"
#include "mpconfig.h"
@@ -47,30 +45,12 @@
#include "obj.h"
#include "servo.h"
-TIM_HandleTypeDef TIM3_Handle;
-
/**
* @brief Initializes the Global MSP.
* @param None
* @retval None
*/
void HAL_MspInit(void) {
- // set up the timer for USBD CDC
- __TIM3_CLK_ENABLE();
-
- TIM3_Handle.Instance = TIM3;
- TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1;
- TIM3_Handle.Init.Prescaler = 84-1;
- TIM3_Handle.Init.ClockDivision = 0;
- TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
- HAL_TIM_Base_Init(&TIM3_Handle);
-
- HAL_NVIC_SetPriority(TIM3_IRQn, 6, 0);
- HAL_NVIC_EnableIRQ(TIM3_IRQn);
-
- if (HAL_TIM_Base_Start(&TIM3_Handle) != HAL_OK) {
- /* Starting Error */
- }
}
/**
@@ -79,9 +59,6 @@ void HAL_MspInit(void) {
* @retval None
*/
void HAL_MspDeInit(void) {
- // reset TIM3 timer
- __TIM3_FORCE_RESET();
- __TIM3_RELEASE_RESET();
}
/**
@@ -146,14 +123,6 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc)
__HAL_RCC_RTC_DISABLE();
}
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
- if (htim == &TIM3_Handle) {
- USBD_CDC_HAL_TIM_PeriodElapsedCallback();
- } else if (htim == &TIM2_Handle) {
- servo_timer_irq_callback();
- }
-}
-
/**
* @}
*/
diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c
index e74b1c6c75..aee689d7e2 100644
--- a/stmhal/stm32f4xx_it.c
+++ b/stmhal/stm32f4xx_it.c
@@ -42,15 +42,13 @@
#include "stm32f4xx_it.h"
#include "stm32f4xx_hal.h"
-#include "usbd_cdc_msc_hid.h"
-#include "usbd_cdc_interface.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
#include "exti.h"
-#include "servo.h"
+#include "timer.h"
/** @addtogroup STM32F4xx_HAL_Examples
* @{
@@ -351,12 +349,12 @@ void RTC_WKUP_IRQHandler(void) {
Handle_EXTI_Irq(EXTI_RTC_WAKEUP);
}
-void TIM2_IRQHandler(void) {
- HAL_TIM_IRQHandler(&TIM2_Handle);
-}
-
void TIM3_IRQHandler(void) {
HAL_TIM_IRQHandler(&TIM3_Handle);
}
+void TIM5_IRQHandler(void) {
+ HAL_TIM_IRQHandler(&TIM5_Handle);
+}
+
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/stmhal/timer.c b/stmhal/timer.c
new file mode 100644
index 0000000000..cfdb93587f
--- /dev/null
+++ b/stmhal/timer.c
@@ -0,0 +1,189 @@
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+
+#include <stm32f4xx_hal.h>
+#include "usbd_cdc_msc_hid.h"
+#include "usbd_cdc_interface.h"
+
+#include "nlr.h"
+#include "misc.h"
+#include "mpconfig.h"
+#include "qstr.h"
+#include "obj.h"
+#include "runtime.h"
+#include "timer.h"
+#include "servo.h"
+
+// The timers can be used by multiple drivers, and need a common point for
+// the interrupts to be dispatched, so they are all collected here.
+//
+// TIM3:
+// - USB CDC interface, interval, to check for new data
+// - LED 4, PWM to set the LED intensity
+//
+// TIM5:
+// - servo controller, PWM
+
+TIM_HandleTypeDef TIM3_Handle;
+TIM_HandleTypeDef TIM5_Handle;
+
+// TIM3 is set-up for the USB CDC interface
+void timer_tim3_init(void) {
+ // set up the timer for USBD CDC
+ __TIM3_CLK_ENABLE();
+
+ TIM3_Handle.Instance = TIM3;
+ TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1;
+ TIM3_Handle.Init.Prescaler = 84-1;
+ TIM3_Handle.Init.ClockDivision = 0;
+ TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+ HAL_TIM_Base_Init(&TIM3_Handle);
+
+ HAL_NVIC_SetPriority(TIM3_IRQn, 6, 0);
+ HAL_NVIC_EnableIRQ(TIM3_IRQn);
+
+ if (HAL_TIM_Base_Start(&TIM3_Handle) != HAL_OK) {
+ /* Starting Error */
+ }
+}
+
+/* unused
+void timer_tim3_deinit(void) {
+ // reset TIM3 timer
+ __TIM3_FORCE_RESET();
+ __TIM3_RELEASE_RESET();
+}
+*/
+
+// TIM5 is set-up for the servo controller
+void timer_tim5_init(void) {
+ // TIM5 clock enable
+ __TIM5_CLK_ENABLE();
+
+ // set up and enable interrupt
+ HAL_NVIC_SetPriority(TIM5_IRQn, 6, 0);
+ HAL_NVIC_EnableIRQ(TIM5_IRQn);
+
+ // PWM clock configuration
+ TIM5_Handle.Instance = TIM5;
+ TIM5_Handle.Init.Period = 2000; // timer cycles at 50Hz
+ TIM5_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
+ TIM5_Handle.Init.ClockDivision = 0;
+ TIM5_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+ HAL_TIM_PWM_Init(&TIM5_Handle);
+}
+
+// Interrupt dispatch
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
+ if (htim == &TIM3_Handle) {
+ USBD_CDC_HAL_TIM_PeriodElapsedCallback();
+ } else if (htim == &TIM5_Handle) {
+ servo_timer_irq_callback();
+ }
+}
+
+// below is old code from stm/ which has not yet been fully ported to stmhal/
+#if 0
+typedef struct _pyb_hal_tim_t {
+ mp_obj_base_t base;
+ TIM_HandleTypeDef htim;
+} pyb_hal_tim_t;
+
+pyb_hal_tim_t pyb_hal_tim_6;
+
+ pyb_hal_tim_6 = {
+ .base = {&pyb_type_hal_tim};
+ .htim = {TIM6
+
+// TIM6 is used as an internal interrup to schedule something at a specific rate
+mp_obj_t timer_py_callback;
+
+mp_obj_t timer_py_set_callback(mp_obj_t f) {
+ timer_py_callback = f;
+ return mp_const_none;
+}
+
+mp_obj_t timer_py_set_period(mp_obj_t period) {
+ TIM6->ARR = mp_obj_get_int(period) & 0xffff;
+ return mp_const_none;
+}
+
+mp_obj_t timer_py_set_prescaler(mp_obj_t prescaler) {
+ TIM6->PSC = mp_obj_get_int(prescaler) & 0xffff;
+ return mp_const_none;
+}
+
+mp_obj_t timer_py_get_value(void) {
+ return mp_obj_new_int(TIM6->CNT & 0xfffff);
+}
+
+void timer_init(void) {
+ timer_py_callback = mp_const_none;
+
+ // TIM6 clock enable
+ __TIM6_CLK_ENABLE();
+
+ // Compute the prescaler value so TIM6 runs at 20kHz
+ uint16_t PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 20000) - 1;
+
+ // Time base configuration
+ tim_handle.Instance = TIM6;
+ tim_handle.Init.Prescaler = PrescalerValue;
+ tim_handle.Init.CounterMode = TIM_COUNTERMODE_UP; // unused for TIM6
+ tim_handle.Init.Period = 20000; // timer cycles at 1Hz
+ tim_handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; // unused for TIM6
+ tim_handle.Init.RepetitionCounter = 0; // unused for TIM6
+ HAL_TIM_Base_Init(&tim_handle);
+
+ // enable perhipheral preload register
+ //TIM_ARRPreloadConfig(TIM6, ENABLE); ??
+
+ // set up interrupt
+ HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0xf, 0xf); // lowest priority
+ HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+
+ // start timer, so that it interrupts on overflow
+ HAL_TIM_Base_Start_IT(&tim_handle);
+
+ // Python interface
+ mp_obj_t m = mp_obj_new_module(QSTR_FROM_STR_STATIC("timer"));
+ rt_store_attr(m, QSTR_FROM_STR_STATIC("callback"), rt_make_function_n(1, timer_py_set_callback));
+ rt_store_attr(m, QSTR_FROM_STR_STATIC("period"), rt_make_function_n(1, timer_py_set_period));
+ rt_store_attr(m, QSTR_FROM_STR_STATIC("prescaler"), rt_make_function_n(1, timer_py_set_prescaler));
+ rt_store_attr(m, QSTR_FROM_STR_STATIC("value"), rt_make_function_n(0, timer_py_get_value));
+ rt_store_name(QSTR_FROM_STR_STATIC("timer"), m);
+}
+
+void timer_interrupt(void) {
+ if (timer_py_callback != mp_const_none) {
+ nlr_buf_t nlr;
+ if (nlr_push(&nlr) == 0) {
+ // XXX what to do if the GC is in the middle of running??
+ rt_call_function_0(timer_py_callback);
+ nlr_pop();
+ } else {
+ // uncaught exception
+ printf("exception in timer interrupt\n");
+ mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
+ printf("\n");
+ }
+ }
+}
+
+mp_obj_t pyb_Timer(mp_obj_t timx_in) {
+ TIM_TypeDef *TIMx = (TIM_TypeDef*)mp_obj_get_int(timx_in);
+ if (!IS_TIM_INSTANCE(TIMx)) {
+ nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "argument 1 is not a TIM instance"));
+ }
+ pyb_hal_tim_t *tim = m_new_obj(pyb_hal_tim_t);
+ tim->htim.Instance = TIMx;
+ tim->htim.Instance.Init.Prescaler = x;
+ tim->htim.Instance.Init.CounterMode = y;
+ tim->htim.Instance.Init.Period = y;
+ tim->htim.Instance.Init.ClockDivision = y;
+ tim->htim.Instance.Init.RepetitionCounter = y;
+ HAL_TIM_Base_Init(&tim->htim);
+ return tim;
+}
+#endif
diff --git a/stmhal/timer.h b/stmhal/timer.h
new file mode 100644
index 0000000000..317b39b3f7
--- /dev/null
+++ b/stmhal/timer.h
@@ -0,0 +1,10 @@
+// Periodically, the state of the buffer "UserTxBuffer" is checked.
+// The period depends on USBD_CDC_POLLING_INTERVAL
+// The value is in ms. The max is 65 and the min is 1.
+#define USBD_CDC_POLLING_INTERVAL (10)
+
+extern TIM_HandleTypeDef TIM3_Handle;
+extern TIM_HandleTypeDef TIM5_Handle;
+
+void timer_tim3_init(void);
+void timer_tim5_init(void);
diff --git a/stmhal/usbd_cdc_interface.h b/stmhal/usbd_cdc_interface.h
index 5ed5ecef46..88ea7e5afc 100644
--- a/stmhal/usbd_cdc_interface.h
+++ b/stmhal/usbd_cdc_interface.h
@@ -33,10 +33,6 @@
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
-/* Periodically, the state of the buffer "UserTxBuffer" is checked.
- The period depends on USBD_CDC_POLLING_INTERVAL */
-#define USBD_CDC_POLLING_INTERVAL 10 /* in ms. The max is 65 and the min is 1 */
-
extern TIM_HandleTypeDef TIM3_Handle;
extern const USBD_CDC_ItfTypeDef USBD_CDC_fops;
generated by cgit v1.2.3 (git 2.39.1) at 2025-05-02 23:13:42 +0000