diff options
Diffstat (limited to 'stm/main.c')
| -rw-r--r-- | stm/main.c | 89 |
1 files changed, 76 insertions, 13 deletions
diff --git a/stm/main.c b/stm/main.c index fc61962f1..94c40f27e 100644 --- a/stm/main.c +++ b/stm/main.c @@ -2,6 +2,7 @@ #include <stm32f4xx.h> #include <stm32f4xx_rcc.h> #include <stm32f4xx_gpio.h> +#include <stm32f4xx_tim.h> #include <stm_misc.h> #include "std.h" @@ -32,7 +33,7 @@ void flash_error(int n) { led_state(PYB_LED_R2, 0); } -static void impl02_c_version() { +static void impl02_c_version(void) { int x = 0; while (x < 400) { int y = 0; @@ -50,7 +51,7 @@ static void impl02_c_version() { #define PYB_USRSW_PORT (GPIOA) #define PYB_USRSW_PIN (GPIO_Pin_13) -void sw_init() { +void sw_init(void) { // make it an input with pull-up GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = PYB_USRSW_PIN; @@ -59,7 +60,7 @@ void sw_init() { GPIO_Init(PYB_USRSW_PORT, &GPIO_InitStructure); } -int sw_get() { +int sw_get(void) { if (PYB_USRSW_PORT->IDR & PYB_USRSW_PIN) { // pulled high, so switch is not pressed return 0; @@ -101,7 +102,7 @@ py_obj_t pyb_main(py_obj_t main) { } // sync all file systems -py_obj_t pyb_sync() { +py_obj_t pyb_sync(void) { storage_flush(); return py_const_none; } @@ -116,7 +117,7 @@ py_obj_t pyb_led(py_obj_t state) { return state; } -py_obj_t pyb_sw() { +py_obj_t pyb_sw(void) { if (sw_get()) { return py_const_true; } else { @@ -131,7 +132,7 @@ void g(uint i) { nlr_jump((void*)(42 + i)); } } -void f() { +void f(void) { nlr_buf_t nlr; int i; for (i = 0; i < 4; i++) { @@ -149,12 +150,12 @@ void f() { } } } -void nlr_test() { +void nlr_test(void) { f(1); } */ -void fatality() { +void fatality(void) { led_state(PYB_LED_R1, 1); led_state(PYB_LED_G1, 1); led_state(PYB_LED_R2, 1); @@ -174,7 +175,7 @@ static const char fresh_boot_py[] = ; // get lots of info about the board -static py_obj_t pyb_info() { +static py_obj_t pyb_info(void) { // get and print clock speeds // SYSCLK=168MHz, HCLK=168MHz, PCLK1=42MHz, PCLK2=84MHz { @@ -249,7 +250,7 @@ int readline(vstr_t *line, const char *prompt) { } } -void do_repl() { +void do_repl(void) { usb_vcp_send_str("Micro Python 0.5; STM32F405RG; PYBv2\r\n"); usb_vcp_send_str("Type \"help\" for more information.\r\n"); @@ -352,7 +353,7 @@ bool do_file(const char *filename) { void gc_helper_get_regs_and_clean_stack(machine_uint_t *regs, machine_uint_t heap_end); -void gc_collect() { +void gc_collect(void) { uint32_t start = sys_tick_counter; gc_collect_start(); gc_collect_root((void**)RAM_START, (((uint32_t)&_heap_start) - RAM_START) / 4); @@ -369,12 +370,70 @@ void gc_collect() { printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block); } -py_obj_t pyb_gc() { +py_obj_t pyb_gc(void) { gc_collect(); return py_const_none; } -int main() { +// PWM +// TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively +// they are both 32-bit counters +// 16-bit prescaler +// TIM2_CH3 also on PB10 (used below) +void servo_init(void) { + // TIM2 clock enable + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); + + // GPIOC Configuration: TIM2_CH3 (PB10) + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; + GPIO_Init(GPIOB, &GPIO_InitStructure); + + // Connect TIM2 pins to AF1 + GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_TIM2); + + // Compute the prescaler value so TIM2 runs at 100kHz + uint16_t PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 100000) - 1; + + // Time base configuration + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + TIM_TimeBaseStructure.TIM_Period = 2000; // timer cycles at 50Hz + TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; + TIM_TimeBaseStructure.TIM_ClockDivision = 0; + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; + TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); + + // PWM1 Mode configuration: Channel1 + TIM_OCInitTypeDef TIM_OCInitStructure; + TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; + TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; + TIM_OCInitStructure.TIM_Pulse = 150; // units of 10us + TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; + TIM_OC3Init(TIM2, &TIM_OCInitStructure); + + // ? + TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); + + // ? + TIM_ARRPreloadConfig(TIM2, ENABLE); + + // TIM2 enable counter + TIM_Cmd(TIM2, ENABLE); +} + +py_obj_t pyb_servo_set(py_obj_t value) { + int v = py_get_int(value); + if (v < 100) { v = 100; } + if (v > 200) { v = 200; } + TIM2->CCR3 = v; + return py_const_none; +} + +int main(void) { // TODO disable JTAG // set interrupt priority config to use all 4 bits for pre-empting @@ -406,6 +465,9 @@ soft_reset: qstr_init(); rt_init(); + // servo + servo_init(); + // add some functions to the python namespace { py_obj_t m = py_module_new(); @@ -417,6 +479,7 @@ soft_reset: rt_store_attr(m, qstr_from_str_static("delay"), rt_make_function_1(pyb_delay)); rt_store_attr(m, qstr_from_str_static("led"), rt_make_function_1(pyb_led)); rt_store_attr(m, qstr_from_str_static("sw"), rt_make_function_0(pyb_sw)); + rt_store_attr(m, qstr_from_str_static("servo"), rt_make_function_1(pyb_servo_set)); rt_store_name(qstr_from_str_static("pyb"), m); } |