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-rw-r--r--py/builtin.c21
-rw-r--r--stmhal/boards/PYBv10/mpconfigboard.h2
-rw-r--r--stmhal/lcd.c2
-rw-r--r--stmhal/led.c80
-rw-r--r--stmhal/servo.c22
-rw-r--r--stmhal/servo.h2
-rw-r--r--stmhal/stm32f4xx_hal_msp.c2
-rw-r--r--stmhal/stm32f4xx_it.c3
8 files changed, 89 insertions, 45 deletions
diff --git a/py/builtin.c b/py/builtin.c
index 93e91072c..42bb980f1 100644
--- a/py/builtin.c
+++ b/py/builtin.c
@@ -151,7 +151,8 @@ MP_DEFINE_CONST_FUN_OBJ_1(mp_builtin_chr_obj, mp_builtin_chr);
STATIC mp_obj_t mp_builtin_dir(uint n_args, const mp_obj_t *args) {
// TODO make this function more general and less of a hack
- mp_map_t *map;
+ mp_map_t *map = NULL;
+ const mp_method_t *meth = NULL;
if (n_args == 0) {
// make a list of names in the local name space
map = rt_locals_get();
@@ -162,15 +163,23 @@ STATIC mp_obj_t mp_builtin_dir(uint n_args, const mp_obj_t *args) {
map = mp_obj_module_get_globals(args[0]);
} else if (type->locals_dict != MP_OBJ_NULL && MP_OBJ_IS_TYPE(type->locals_dict, &dict_type)) {
map = mp_obj_dict_get_map(type->locals_dict);
- } else {
- return mp_obj_new_list(0, NULL);
+ }
+ if (type->methods != NULL) {
+ meth = type->methods;
}
}
mp_obj_t dir = mp_obj_new_list(0, NULL);
- for (uint i = 0; i < map->alloc; i++) {
- if (map->table[i].key != MP_OBJ_NULL) {
- mp_obj_list_append(dir, map->table[i].key);
+ if (map != NULL) {
+ for (uint i = 0; i < map->alloc; i++) {
+ if (map->table[i].key != MP_OBJ_NULL) {
+ mp_obj_list_append(dir, map->table[i].key);
+ }
+ }
+ }
+ if (meth != NULL) {
+ for (; meth->name != NULL; meth++) {
+ mp_obj_list_append(dir, MP_OBJ_NEW_QSTR(qstr_from_str(meth->name)));
}
}
return dir;
diff --git a/stmhal/boards/PYBv10/mpconfigboard.h b/stmhal/boards/PYBv10/mpconfigboard.h
index b7b025944..fba7ab4ab 100644
--- a/stmhal/boards/PYBv10/mpconfigboard.h
+++ b/stmhal/boards/PYBv10/mpconfigboard.h
@@ -1,4 +1,4 @@
-#define PYBOARD4
+#define PYBv10
#define MICROPY_HW_BOARD_NAME "PYBv1.0"
diff --git a/stmhal/lcd.c b/stmhal/lcd.c
index 7c15cbcd2..d2db7b7ba 100644
--- a/stmhal/lcd.c
+++ b/stmhal/lcd.c
@@ -23,7 +23,7 @@
#define PYB_LCD_A0_PIN (GPIO_PIN_2)
#define PYB_LCD_SCL_PIN (GPIO_PIN_3)
#define PYB_LCD_SI_PIN (GPIO_PIN_4)
-#elif defined(PYBOARD4)
+#elif defined(PYBOARD4) || defined(PYBv10)
// X position
#define PYB_LCD_PORT (GPIOA)
#define PYB_LCD_CS1_PIN (GPIO_PIN_2) // X3
diff --git a/stmhal/led.c b/stmhal/led.c
index e9a97d1de..102cbac5a 100644
--- a/stmhal/led.c
+++ b/stmhal/led.c
@@ -37,21 +37,22 @@ void led_init(void) {
/* Turn off LEDs and initialize */
for (int led = 0; led < NUM_LEDS; led++) {
- PYB_LED_OFF(gLed[led]);
+ PYB_LED_OFF(gLed[led]);
GPIO_InitStructure.Pin = gLed[led]->pin_mask;
HAL_GPIO_Init(gLed[led]->gpio, &GPIO_InitStructure);
}
+#if defined(PYBOARD4) || defined(PYBv10)
// LED4 (blue) is on PB4 which is TIM3_CH1
// we use PWM on this channel to fade the LED
// GPIO configuration
- GPIO_InitStructure.Pin = GPIO_PIN_4;
+ GPIO_InitStructure.Pin = PYB_LED4.pin_mask;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Alternate = GPIO_AF2_TIM3;
- HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
+ HAL_GPIO_Init(PYB_LED4.gpio, &GPIO_InitStructure);
// PWM mode configuration
TIM_OC_InitTypeDef oc_init;
@@ -63,13 +64,14 @@ void led_init(void) {
// start PWM
TIM_CCxChannelCmd(TIM3, TIM_CHANNEL_1, TIM_CCx_ENABLE);
- //HAL_TIM_PWM_Start(&USBD_CDC_TIM3_Handle, TIM_CHANNEL_1);
+#endif
}
void led_state(pyb_led_t led, int state) {
if (led < 1 || led > NUM_LEDS) {
return;
}
+#if defined(PYBOARD4) || defined(PYBv10)
if (led == 4) {
if (state) {
TIM3->CCR1 = 0xffff;
@@ -78,8 +80,9 @@ void led_state(pyb_led_t led, int state) {
}
return;
}
+#endif
const pin_obj_t *led_pin = gLed[led - 1];
-//printf("led_state(%d,%d)\n", led, state);
+ //printf("led_state(%d,%d)\n", led, state);
if (state == 0) {
// turn LED off
PYB_LED_OFF(led_pin);
@@ -93,6 +96,18 @@ void led_toggle(pyb_led_t led) {
if (led < 1 || led > NUM_LEDS) {
return;
}
+
+#if defined(PYBOARD4) || defined(PYBv10)
+ if (led == 4) {
+ if (TIM3->CCR1 == 0) {
+ TIM3->CCR1 = 0xffff;
+ } else {
+ TIM3->CCR1 = 0;
+ }
+ return;
+ }
+#endif
+
const pin_obj_t *led_pin = gLed[led - 1];
GPIO_TypeDef *gpio = led_pin->gpio;
@@ -107,23 +122,54 @@ void led_toggle(pyb_led_t led) {
}
}
-int led_get_state(pyb_led_t led) {
+int led_get_intensity(pyb_led_t led) {
if (led < 1 || led > NUM_LEDS) {
return 0;
}
+
+#if defined(PYBOARD4) || defined(PYBv10)
+ if (led == 4) {
+ machine_uint_t i = TIM3->CCR1 * 255 / ((USBD_CDC_POLLING_INTERVAL*1000) - 1);
+ if (i > 255) {
+ i = 255;
+ }
+ return i;
+ }
+#endif
+
const pin_obj_t *led_pin = gLed[led - 1];
GPIO_TypeDef *gpio = led_pin->gpio;
// TODO convert high/low to on/off depending on board
if (gpio->ODR & led_pin->pin_mask) {
// pin is high
- return 1;
+ return 255;
} else {
// pin is low
return 0;
}
}
+void led_set_intensity(pyb_led_t led, machine_int_t intensity) {
+#if defined(PYBOARD4) || defined(PYBv10)
+ if (led == 4) {
+ // set intensity using PWM pulse width
+ if (intensity < 0) {
+ intensity = 0;
+ } else if (intensity >= 255) {
+ intensity = 0xffff;
+ } else {
+ intensity = intensity * ((USBD_CDC_POLLING_INTERVAL*1000) - 1) / 255;
+ }
+ TIM3->CCR1 = intensity;
+ return;
+ }
+#endif
+
+ // intensity not supported for this LED; just turn it on/off
+ led_state(led, intensity > 0);
+}
+
void led_debug(int n, int delay) {
led_state(1, n & 1);
led_state(2, n & 2);
@@ -163,35 +209,25 @@ mp_obj_t led_obj_toggle(mp_obj_t self_in) {
return mp_const_none;
}
-mp_obj_t led_obj_state(uint n_args, const mp_obj_t *args) {
+mp_obj_t led_obj_intensity(uint n_args, const mp_obj_t *args) {
pyb_led_obj_t *self = args[0];
- if (n_args == 0) {
- return MP_BOOL(led_get_state(self->led_id));
+ if (n_args == 1) {
+ return mp_obj_new_int(led_get_intensity(self->led_id));
} else {
- led_state(self->led_id, rt_is_true(args[1]));
+ led_set_intensity(self->led_id, mp_obj_get_int(args[1]));
return mp_const_none;
}
}
-mp_obj_t led_obj_intensity(mp_obj_t self_in, mp_obj_t intensity) {
- pyb_led_obj_t *self = self_in;
- if (self->led_id == 4) {
- TIM3->CCR1 = mp_obj_get_int(intensity);
- }
- return mp_const_none;
-}
-
STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_on_obj, led_obj_on);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_off_obj, led_obj_off);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_toggle_obj, led_obj_toggle);
-STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(led_obj_state_obj, 1, 2, led_obj_state);
-STATIC MP_DEFINE_CONST_FUN_OBJ_2(led_obj_intensity_obj, led_obj_intensity);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(led_obj_intensity_obj, 1, 2, led_obj_intensity);
STATIC const mp_method_t led_methods[] = {
{ "on", &led_obj_on_obj },
{ "off", &led_obj_off_obj },
{ "toggle", &led_obj_toggle_obj },
- { "state", &led_obj_state_obj },
{ "intensity", &led_obj_intensity_obj },
{ NULL, NULL },
};
diff --git a/stmhal/servo.c b/stmhal/servo.c
index 57f1eb5d1..2c9461420 100644
--- a/stmhal/servo.c
+++ b/stmhal/servo.c
@@ -29,7 +29,7 @@ STATIC const mp_obj_type_t servo_obj_type;
STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
-TIM_HandleTypeDef servo_TIM2_Handle;
+TIM_HandleTypeDef TIM2_Handle;
void servo_init(void) {
// TIM2 clock enable
@@ -40,12 +40,12 @@ void servo_init(void) {
HAL_NVIC_EnableIRQ(TIM2_IRQn);
// PWM clock configuration
- servo_TIM2_Handle.Instance = TIM2;
- servo_TIM2_Handle.Init.Period = 2000; // timer cycles at 50Hz
- servo_TIM2_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
- servo_TIM2_Handle.Init.ClockDivision = 0;
- servo_TIM2_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
- HAL_TIM_PWM_Init(&servo_TIM2_Handle);
+ 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);
// reset servo objects
for (int i = 0; i < PYB_SERVO_NUM; i++) {
@@ -83,9 +83,9 @@ void servo_timer_irq_callback(void) {
}
}
if (need_it) {
- __HAL_TIM_ENABLE_IT(&servo_TIM2_Handle, TIM_IT_UPDATE);
+ __HAL_TIM_ENABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
} else {
- __HAL_TIM_DISABLE_IT(&servo_TIM2_Handle, TIM_IT_UPDATE);
+ __HAL_TIM_DISABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
}
}
@@ -115,10 +115,10 @@ 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(&servo_TIM2_Handle, &oc_init, channel);
+ HAL_TIM_PWM_ConfigChannel(&TIM2_Handle, &oc_init, channel);
// start PWM
- HAL_TIM_PWM_Start(&servo_TIM2_Handle, channel);
+ HAL_TIM_PWM_Start(&TIM2_Handle, channel);
}
/******************************************************************************/
diff --git a/stmhal/servo.h b/stmhal/servo.h
index 277ccdd1c..753ca4959 100644
--- a/stmhal/servo.h
+++ b/stmhal/servo.h
@@ -1,4 +1,4 @@
-extern TIM_HandleTypeDef servo_TIM2_Handle;
+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 a8587c384..15dca5651 100644
--- a/stmhal/stm32f4xx_hal_msp.c
+++ b/stmhal/stm32f4xx_hal_msp.c
@@ -149,7 +149,7 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc)
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim == &TIM3_Handle) {
USBD_CDC_HAL_TIM_PeriodElapsedCallback();
- } else if (htim == &servo_TIM2_Handle) {
+ } else if (htim == &TIM2_Handle) {
servo_timer_irq_callback();
}
}
diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c
index cfd24dd33..bd324a030 100644
--- a/stmhal/stm32f4xx_it.c
+++ b/stmhal/stm32f4xx_it.c
@@ -352,8 +352,7 @@ void RTC_WKUP_IRQHandler(void) {
}
void TIM2_IRQHandler(void) {
- // servo timer is TIM2
- HAL_TIM_IRQHandler(&servo_TIM2_Handle);
+ HAL_TIM_IRQHandler(&TIM2_Handle);
}
void TIM3_IRQHandler(void) {
generated by cgit v1.2.3 (git 2.46.0) at 2025-11-07 07:45:55 +0000