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-rw-r--r--[-rwxr-xr-x]stmhal/boards/STM32F4DISC/staccel.py45
-rw-r--r--stmhal/hal/src/stm32f4xx_hal.c2
-rw-r--r--stmhal/modpyb.c40
-rw-r--r--stmhal/pybwlan.c34
-rw-r--r--stmhal/qstrdefsport.h1
-rw-r--r--stmhal/stm32f4xx_it.c11
-rw-r--r--stmhal/systick.c48
-rw-r--r--stmhal/systick.h1
-rw-r--r--stmhal/usb.c1
9 files changed, 148 insertions, 35 deletions
diff --git a/stmhal/boards/STM32F4DISC/staccel.py b/stmhal/boards/STM32F4DISC/staccel.py
index 8395df803d..eb36f0343c 100755..100644
--- a/stmhal/boards/STM32F4DISC/staccel.py
+++ b/stmhal/boards/STM32F4DISC/staccel.py
@@ -21,36 +21,41 @@ from pyb import SPI
READWRITE_CMD = const(0x80)
MULTIPLEBYTE_CMD = const(0x40)
LIS302DL_WHO_AM_I_ADDR = const(0x0f)
+LIS302DL_WHO_AM_I_VAL = const(0x3b)
LIS302DL_CTRL_REG1_ADDR = const(0x20)
LIS302DL_OUT_X = const(0x29)
+LIS302DL_OUT_Y = const(0x2b)
+LIS302DL_OUT_Z = const(0x2d)
# Configuration for 100Hz sampling rate, +-2g range
-LIS302DL_CONF = 0b01000111
+LIS302DL_CONF = const(0b01000111)
-def signed8(x):
+def convert_raw_to_g(x):
if x & 0x80:
- return x - 256
- else:
- return x
+ x = x - 256
+ return x * 18 / 1000
class STAccel:
def __init__(self):
self.cs_pin = Pin('PE3', Pin.OUT_PP, Pin.PULL_NONE)
self.cs_pin.high()
self.spi = SPI(1, SPI.MASTER, baudrate=328125, polarity=0, phase=1, bits=8)
- self.wr(LIS302DL_CTRL_REG1_ADDR, bytearray([LIS302DL_CONF]))
+ self.write_bytes(LIS302DL_CTRL_REG1_ADDR, bytearray([LIS302DL_CONF]))
+ if self.read_id() != LIS302DL_WHO_AM_I_VAL:
+ raise Exception('LIS302DL accelerometer not present')
- def rd(self, addr, nbytes):
+ def read_bytes(self, addr, nbytes):
if nbytes > 1:
addr |= READWRITE_CMD | MULTIPLEBYTE_CMD
else:
addr |= READWRITE_CMD
self.cs_pin.low()
self.spi.send(addr)
- buf = self.spi.send_recv(bytearray(nbytes * [0])) # read data, MSB first
+ #buf = self.spi.send_recv(bytearray(nbytes * [0])) # read data, MSB first
+ buf = self.spi.recv(nbytes)
self.cs_pin.high()
return buf
- def wr(self, addr, buf):
+ def write_bytes(self, addr, buf):
if len(buf) > 1:
addr |= MULTIPLEBYTE_CMD
self.cs_pin.low()
@@ -60,11 +65,19 @@ class STAccel:
self.cs_pin.high()
def read_id(self):
- return self.rd(LIS302DL_WHO_AM_I_ADDR, 1)
+ return self.read_bytes(LIS302DL_WHO_AM_I_ADDR, 1)[0]
- def get_xyz(self):
- val = self.rd(LIS302DL_OUT_X, 5)
- x = signed8(val[0]) * 18.0 / 1000
- y = signed8(val[2]) * 18.0 / 1000
- z = signed8(val[4]) * 18.0 / 1000
- return [x, y, z]
+ def x(self):
+ return convert_raw_to_g(self.read_bytes(LIS302DL_OUT_X, 1)[0])
+
+ def y(self):
+ return convert_raw_to_g(self.read_bytes(LIS302DL_OUT_Y, 1)[0])
+
+ def z(self):
+ return convert_raw_to_g(self.read_bytes(LIS302DL_OUT_Z, 1)[0])
+
+ def xyz(self):
+ val = self.read_bytes(LIS302DL_OUT_X, 5)
+ return [convert_raw_to_g(val[0]),
+ convert_raw_to_g(val[2]),
+ convert_raw_to_g(val[4])]
diff --git a/stmhal/hal/src/stm32f4xx_hal.c b/stmhal/hal/src/stm32f4xx_hal.c
index 6c076c358b..0040658a0c 100644
--- a/stmhal/hal/src/stm32f4xx_hal.c
+++ b/stmhal/hal/src/stm32f4xx_hal.c
@@ -93,7 +93,7 @@
#define CMPCR_CMP_PD_BB (PERIPH_BB_BASE + (CMPCR_OFFSET * 32) + (CMP_PD_BitNumber * 4))
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
-static __IO uint32_t uwTick;
+__IO uint32_t uwTick;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
diff --git a/stmhal/modpyb.c b/stmhal/modpyb.c
index de7eac4024..09a8caf278 100644
--- a/stmhal/modpyb.c
+++ b/stmhal/modpyb.c
@@ -99,7 +99,7 @@ STATIC mp_obj_t pyb_info(uint n_args, const mp_obj_t *args) {
// get and print clock speeds
// SYSCLK=168MHz, HCLK=168MHz, PCLK1=42MHz, PCLK2=84MHz
{
- printf("S=%lu\nH=%lu\nP1=%lu\nP2=%lu\n",
+ printf("S=%lu\nH=%lu\nP1=%lu\nP2=%lu\n",
HAL_RCC_GetSysClockFreq(),
HAL_RCC_GetHCLKFreq(),
HAL_RCC_GetPCLK1Freq(),
@@ -187,11 +187,44 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_sync_obj, pyb_sync);
/// \function millis()
/// Returns the number of milliseconds since the board was last reset.
+///
+/// Note that this may return a negative number. This allows you to always
+/// do:
+/// start = pyb.millis()
+/// ...do some operation...
+/// elapsed = pyb.millis() - start
+///
+/// and as long as the time of your operation is less than 24 days, you'll
+/// always get the right answer and not have to worry about whether pyb.millis()
+/// wraps around.
STATIC mp_obj_t pyb_millis(void) {
- return mp_obj_new_int(HAL_GetTick());
+ // We want to "cast" the 32 bit unsigned into a small-int. This means
+ // copying the MSB down 1 bit (extending the sign down), which is
+ // equivalent to just using the MP_OBJ_NEW_SMALL_INT macro.
+ return MP_OBJ_NEW_SMALL_INT(HAL_GetTick());
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_millis_obj, pyb_millis);
+/// \function micros()
+/// Returns the number of microseconds since the board was last reset.
+///
+/// Note that this may return a negative number. This allows you to always
+/// do:
+/// start = pyb.micros()
+/// ...do some operation...
+/// elapsed = pyb.micros() - start
+///
+/// and as long as the time of your operation is less than 35 minutes, you'll
+/// always get the right answer and not have to worry about whether pyb.micros()
+/// wraps around.
+STATIC mp_obj_t pyb_micros(void) {
+ // We want to "cast" the 32 bit unsigned into a small-int. This means
+ // copying the MSB down 1 bit (extending the sign down), which is
+ // equivalent to just using the MP_OBJ_NEW_SMALL_INT macro.
+ return MP_OBJ_NEW_SMALL_INT(sys_tick_get_microseconds());
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_micros_obj, pyb_micros);
+
/// \function delay(ms)
/// Delay for the given number of milliseconds.
STATIC mp_obj_t pyb_delay(mp_obj_t ms_in) {
@@ -251,7 +284,7 @@ STATIC mp_obj_t pyb_stop(void) {
/* Enter Stop Mode */
PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
- /* Configures system clock after wake-up from STOP: enable HSE, PLL and select
+ /* Configures system clock after wake-up from STOP: enable HSE, PLL and select
* PLL as system clock source (HSE and PLL are disabled in STOP mode) */
SYSCLKConfig_STOP();
@@ -343,6 +376,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR_USB_VCP), (mp_obj_t)&pyb_usb_vcp_type },
{ MP_OBJ_NEW_QSTR(MP_QSTR_millis), (mp_obj_t)&pyb_millis_obj },
+ { MP_OBJ_NEW_QSTR(MP_QSTR_micros), (mp_obj_t)&pyb_micros_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_delay), (mp_obj_t)&pyb_delay_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_udelay), (mp_obj_t)&pyb_udelay_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_sync), (mp_obj_t)&pyb_sync_obj },
diff --git a/stmhal/pybwlan.c b/stmhal/pybwlan.c
index 15221091f1..b2f95b93ff 100644
--- a/stmhal/pybwlan.c
+++ b/stmhal/pybwlan.c
@@ -47,7 +47,7 @@
#include "cc3k/wlan.h"
#include "cc3k/nvmem.h"
-mp_obj_t pyb_wlan_connect(uint n_args, const mp_obj_t *args) {
+STATIC mp_obj_t pyb_wlan_connect(uint n_args, const mp_obj_t *args) {
const char *ap;
const char *key;
if (n_args == 2) {
@@ -61,11 +61,13 @@ mp_obj_t pyb_wlan_connect(uint n_args, const mp_obj_t *args) {
int ret = wlan_connect(WLAN_SEC_WPA2, ap, strlen(ap), NULL, (byte*)key, strlen(key));
return mp_obj_new_int(ret);
}
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_wlan_connect_obj, 0, 2, pyb_wlan_connect);
-mp_obj_t pyb_wlan_disconnect(void) {
+STATIC mp_obj_t pyb_wlan_disconnect(void) {
int ret = wlan_disconnect();
return mp_obj_new_int(ret);
}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_wlan_disconnect_obj, pyb_wlan_disconnect);
mp_obj_t decode_addr(unsigned char *ip, int n_bytes) {
char data[64] = "";
@@ -76,7 +78,7 @@ mp_obj_t decode_addr(unsigned char *ip, int n_bytes) {
} else if (n_bytes == 32) {
snprintf(data, 64, "%s", ip);
}
- return mp_obj_new_str((byte*)data, strlen(data), false);
+ return mp_obj_new_str(data, strlen(data), false);
}
void decode_addr_and_store(mp_obj_t object, qstr q_attr, unsigned char *ip, int n_bytes) {
@@ -85,7 +87,7 @@ void decode_addr_and_store(mp_obj_t object, qstr q_attr, unsigned char *ip, int
static mp_obj_t net_address_type = MP_OBJ_NULL;
-mp_obj_t pyb_wlan_get_ip(void) {
+STATIC mp_obj_t pyb_wlan_get_ip(void) {
tNetappIpconfigRetArgs ipconfig;
netapp_ipconfig(&ipconfig);
@@ -113,9 +115,10 @@ mp_obj_t pyb_wlan_get_ip(void) {
return net_addr;
}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_wlan_get_ip_obj, pyb_wlan_get_ip);
uint32_t last_ip = 0; // XXX such a hack!
-mp_obj_t pyb_wlan_get_host(mp_obj_t host_name) {
+STATIC mp_obj_t pyb_wlan_get_host(mp_obj_t host_name) {
const char *host = mp_obj_str_get_str(host_name);
uint32_t ip;
if (gethostbyname(host, strlen(host), &ip) < 0) {
@@ -134,8 +137,9 @@ mp_obj_t pyb_wlan_get_host(mp_obj_t host_name) {
ip_data[3] = ((ip >> 24) & 0xff);
return decode_addr(ip_data, 4);
}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_wlan_get_host_obj, pyb_wlan_get_host);
-mp_obj_t pyb_wlan_http_get(mp_obj_t host_name, mp_obj_t host_path) {
+STATIC mp_obj_t pyb_wlan_http_get(mp_obj_t host_name, mp_obj_t host_path) {
int port;
if (mp_obj_is_integer(host_name)) {
last_ip = (192 << 24) | (168 << 16) | (0 << 8) | (mp_obj_get_int(host_name));
@@ -259,7 +263,7 @@ mp_obj_t pyb_wlan_http_get(mp_obj_t host_name, mp_obj_t host_path) {
vstr_add_strn(vstr, buf, ret);
}
- mp_ret = mp_obj_new_str((byte*)vstr->buf, vstr->len, false);
+ mp_ret = mp_obj_new_str(vstr->buf, vstr->len, false);
}
closesocket(sd);
@@ -267,8 +271,9 @@ mp_obj_t pyb_wlan_http_get(mp_obj_t host_name, mp_obj_t host_path) {
return mp_ret;
}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_wlan_http_get_obj, pyb_wlan_http_get);
-mp_obj_t pyb_wlan_serve(void) {
+STATIC mp_obj_t pyb_wlan_serve(void) {
printf("serve socket\n");
int sd = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
printf("serve socket got %d\n", sd);
@@ -340,6 +345,7 @@ mp_obj_t pyb_wlan_serve(void) {
return mp_const_none;
}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_wlan_serve_obj, pyb_wlan_serve);
//*****************************************************************************
//
@@ -415,12 +421,12 @@ void pyb_wlan_init(void) {
wlan_init(CC3000_UsynchCallback, sendWLFWPatch, sendDriverPatch, sendBootLoaderPatch, ReadWlanInterruptPin, WlanInterruptEnable, WlanInterruptDisable, WriteWlanPin);
mp_obj_t m = mp_obj_new_module(QSTR_FROM_STR_STATIC("wlan"));
- mp_store_attr(m, QSTR_FROM_STR_STATIC("connect"), mp_make_function_var(0, pyb_wlan_connect));
- mp_store_attr(m, QSTR_FROM_STR_STATIC("disconnect"), mp_make_function_n(0, pyb_wlan_disconnect));
- mp_store_attr(m, QSTR_FROM_STR_STATIC("ip"), mp_make_function_n(0, pyb_wlan_get_ip));
- mp_store_attr(m, QSTR_FROM_STR_STATIC("get_host"), mp_make_function_n(1, pyb_wlan_get_host));
- mp_store_attr(m, QSTR_FROM_STR_STATIC("http_get"), mp_make_function_n(2, pyb_wlan_http_get));
- mp_store_attr(m, QSTR_FROM_STR_STATIC("serve"), mp_make_function_n(0, pyb_wlan_serve));
+ mp_store_attr(m, QSTR_FROM_STR_STATIC("connect"), (mp_obj_t)&pyb_wlan_connect_obj);
+ mp_store_attr(m, QSTR_FROM_STR_STATIC("disconnect"), (mp_obj_t)&pyb_wlan_disconnect_obj);
+ mp_store_attr(m, QSTR_FROM_STR_STATIC("ip"), (mp_obj_t)&pyb_wlan_get_ip_obj);
+ mp_store_attr(m, QSTR_FROM_STR_STATIC("get_host"), (mp_obj_t)&pyb_wlan_get_host_obj);
+ mp_store_attr(m, QSTR_FROM_STR_STATIC("http_get"), (mp_obj_t)&pyb_wlan_http_get_obj);
+ mp_store_attr(m, QSTR_FROM_STR_STATIC("serve"), (mp_obj_t)&pyb_wlan_serve_obj);
mp_store_name(QSTR_FROM_STR_STATIC("wlan"), m);
}
diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h
index 53b385dbfa..04f49276b5 100644
--- a/stmhal/qstrdefsport.h
+++ b/stmhal/qstrdefsport.h
@@ -67,6 +67,7 @@ Q(/flash/lib)
Q(/sd)
Q(/sd/lib)
Q(millis)
+Q(micros)
// for file class
Q(seek)
diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c
index 5fa7f8289d..74fdf53d1e 100644
--- a/stmhal/stm32f4xx_it.c
+++ b/stmhal/stm32f4xx_it.c
@@ -173,7 +173,16 @@ void PendSV_Handler(void) {
* @retval None
*/
void SysTick_Handler(void) {
- HAL_IncTick();
+ // Instead of calling HAL_IncTick we do the increment here of the counter.
+ // This is purely for efficiency, since SysTick is called 1000 times per
+ // second at the highest interrupt priority.
+ extern __IO uint32_t uwTick;
+ uwTick += 1;
+
+ // Read the systick control regster. This has the side effect of clearing
+ // the COUNTFLAG bit, which makes the logic in sys_tick_get_microseconds
+ // work properly.
+ SysTick->CTRL;
}
/******************************************************************************/
diff --git a/stmhal/systick.c b/stmhal/systick.c
index 196f1fbcae..b4dd68ffec 100644
--- a/stmhal/systick.c
+++ b/stmhal/systick.c
@@ -27,8 +27,24 @@
#include <stm32f4xx_hal.h>
#include "mpconfig.h"
#include "misc.h"
+#include "nlr.h"
+#include "qstr.h"
+#include "obj.h"
+#include "irq.h"
#include "systick.h"
+// We provide our own version of HAL_Delay that calls __WFI while waiting, in
+// order to reduce power consumption.
+void HAL_Delay(uint32_t Delay) {
+ extern __IO uint32_t uwTick;
+ uint32_t start = uwTick;
+ // Wraparound of tick is taken care of by 2's complement arithmetic.
+ while (uwTick - start < Delay) {
+ // Enter sleep mode, waiting for (at least) the SysTick interrupt.
+ __WFI();
+ }
+}
+
bool sys_tick_has_passed(uint32_t start_tick, uint32_t delay_ms) {
return HAL_GetTick() - start_tick >= delay_ms;
}
@@ -41,3 +57,35 @@ void sys_tick_wait_at_least(uint32_t start_tick, uint32_t delay_ms) {
__WFI(); // enter sleep mode, waiting for interrupt
}
}
+
+// The SysTick timer counts down at 168 MHz, so we can use that knowledge
+// to grab a microsecond counter.
+//
+// We assume that HAL_GetTickis returns milliseconds.
+uint32_t sys_tick_get_microseconds(void) {
+ mp_uint_t irq_state = disable_irq();
+ uint32_t counter = SysTick->VAL;
+ uint32_t milliseconds = HAL_GetTick();
+ uint32_t status = SysTick->CTRL;
+ enable_irq(irq_state);
+
+ // It's still possible for the countflag bit to get set if the counter was
+ // reloaded between reading VAL and reading CTRL. With interrupts disabled
+ // it definitely takes less than 50 HCLK cycles between reading VAL and
+ // reading CTRL, so the test (counter > 50) is to cover the case where VAL
+ // is +ve and very close to zero, and the COUNTFLAG bit is also set.
+ if ((status & SysTick_CTRL_COUNTFLAG_Msk) && counter > 50) {
+ // This means that the HW reloaded VAL between the time we read VAL and the
+ // time we read CTRL, which implies that there is an interrupt pending
+ // to increment the tick counter.
+ milliseconds++;
+ }
+ uint32_t load = SysTick->LOAD;
+ counter = load - counter; // Convert from decrementing to incrementing
+
+ // ((load + 1) / 1000) is the number of counts per microsecond.
+ //
+ // counter / ((load + 1) / 1000) scales from the systick clock to microseconds
+ // and is the same thing as (counter * 1000) / (load + 1)
+ return milliseconds * 1000 + (counter * 1000) / (load + 1);
+}
diff --git a/stmhal/systick.h b/stmhal/systick.h
index 1e7f623355..98045d16c4 100644
--- a/stmhal/systick.h
+++ b/stmhal/systick.h
@@ -26,3 +26,4 @@
void sys_tick_wait_at_least(uint32_t stc, uint32_t delay_ms);
bool sys_tick_has_passed(uint32_t stc, uint32_t delay_ms);
+uint32_t sys_tick_get_microseconds(void);
diff --git a/stmhal/usb.c b/stmhal/usb.c
index 40c474f432..a4369ff4cd 100644
--- a/stmhal/usb.c
+++ b/stmhal/usb.c
@@ -255,6 +255,7 @@ mp_obj_t pyb_usb_vcp___exit__(uint n_args, const mp_obj_t *args) {
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_usb_vcp___exit___obj, 4, 4, pyb_usb_vcp___exit__);
STATIC const mp_map_elem_t pyb_usb_vcp_locals_dict_table[] = {
+ { MP_OBJ_NEW_QSTR(MP_QSTR_any), (mp_obj_t)&pyb_usb_vcp_any_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_usb_vcp_send_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_usb_vcp_recv_obj },
/// \method read([nbytes])
generated by cgit v1.2.3 (git 2.39.1) at 2025-06-01 06:18:17 +0000