diff options
Diffstat (limited to 'stmhal/pin.c')
| -rw-r--r-- | stmhal/pin.c | 324 |
1 files changed, 288 insertions, 36 deletions
diff --git a/stmhal/pin.c b/stmhal/pin.c index 735901c306..ed5865d796 100644 --- a/stmhal/pin.c +++ b/stmhal/pin.c @@ -1,78 +1,330 @@ #include <stdio.h> #include <stdint.h> #include <string.h> -#include <stm32f4xx_hal.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" -#if 0 -void pin_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { +// Usage Model: +// +// All Board Pins are predefined as pyb.Pin.board.Name +// +// x1_pin = pyb.Pin.board.X1 +// +// g = pyb.gpio(pyb.Pin.board.X1, 0) +// +// 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.gpio('X1', 0) +// +// Users can add their own names: +// +// pyb.Pin("LeftMotorDir", pyb.Pin.cpu.C12) +// g = pyb.gpio("LeftMotorDir", 0) +// +// 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.gpio("LeftMotorDir", 0) +// 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); } -mp_obj_t pin_obj_name(mp_obj_t self_in) { +// 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); -mp_obj_t pin_obj_port(mp_obj_t self_in) { +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); -mp_obj_t pin_obj_pin(mp_obj_t self_in) { +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 }, -static MP_DEFINE_CONST_FUN_OBJ_1(pin_obj_name_obj, pin_obj_name); -static MP_DEFINE_CONST_FUN_OBJ_1(pin_obj_port_obj, pin_obj_port); -static MP_DEFINE_CONST_FUN_OBJ_1(pin_obj_pin_obj, pin_obj_pin); + // 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 }, -static const mp_method_t pin_methods[] = { - { "name", &pin_obj_name_obj }, - { "port", &pin_obj_port_obj }, - { "pin", &pin_obj_pin_obj }, - { NULL, NULL }, + // 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) }, }; -#endif -const mp_obj_type_t pin_obj_type = { -#if 0 +STATIC MP_DEFINE_CONST_DICT(pin_locals_dict, pin_locals_dict_table); + +const mp_obj_type_t pin_type = { { &mp_type_type }, -#else - { NULL }, -#endif .name = MP_QSTR_Pin, -#if 0 - .print = pin_obj_print, - .methods = pin_methods, -#endif + .print = pin_print, + .make_new = pin_make_new, + .locals_dict = (mp_obj_t)&pin_locals_dict, }; -#if 0 -void pin_af_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { +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); } -#endif -const mp_obj_type_t pin_af_obj_type = { -#if 0 +const mp_obj_type_t pin_af_type = { { &mp_type_type }, -#else - { NULL }, -#endif .name = MP_QSTR_PinAF, -#if 0 .print = pin_af_obj_print, -#endif }; - |