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dpgeorgedpgeorge
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stm: add basic Servo class, and stop and standby functions.
1 parent ec64313 commit 5285155

2 files changed

Lines changed: 408 additions & 296 deletions

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‎stm/main.c‎

Lines changed: 110 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,9 @@
11
#include <stdio.h>
22
#include <stm32f4xx.h>
33
#include <stm32f4xx_rcc.h>
4+
#include <stm32f4xx_syscfg.h>
45
#include <stm32f4xx_gpio.h>
6+
#include <stm32f4xx_exti.h>
57
#include <stm32f4xx_tim.h>
68
#include <stm32f4xx_pwr.h>
79
#include <stm32f4xx_rtc.h>
@@ -68,6 +70,30 @@ void sw_init(void) {
6870
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
6971
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
7072
GPIO_Init(PYB_USRSW_PORT, &GPIO_InitStructure);
73+
74+
// the rest does the EXTI interrupt
75+
76+
/* Enable SYSCFG clock */
77+
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
78+
79+
/* Connect EXTI Line13 to PA13 pin */
80+
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource13);
81+
82+
/* Configure EXTI Line13, rising edge */
83+
EXTI_InitTypeDef EXTI_InitStructure;
84+
EXTI_InitStructure.EXTI_Line = EXTI_Line13;
85+
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
86+
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
87+
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
88+
EXTI_Init(&EXTI_InitStructure);
89+
90+
/* Enable and set EXTI15_10 Interrupt to the lowest priority */
91+
NVIC_InitTypeDef NVIC_InitStructure;
92+
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
93+
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
94+
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
95+
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
96+
NVIC_Init(&NVIC_InitStructure);
7197
}
7298

7399
int sw_get(void) {
@@ -173,6 +199,34 @@ py_obj_t pyb_sw(void) {
173199
}
174200
}
175201

202+
py_obj_t servo_obj_angle(py_obj_t self, py_obj_t angle) {
203+
machine_uint_t servo_id;
204+
py_user_get_data(self, &servo_id, NULL);
205+
machine_int_t v = 152 + 85.0 * py_obj_get_float(angle) / 90.0;
206+
if (v < 65) { v = 65; }
207+
if (v > 210) { v = 210; }
208+
switch (servo_id) {
209+
case 1: TIM2->CCR1 = v; break;
210+
case 2: TIM2->CCR2 = v; break;
211+
case 3: TIM2->CCR3 = v; break;
212+
case 4: TIM2->CCR4 = v; break;
213+
}
214+
return py_const_none;
215+
}
216+
217+
const py_user_info_t servo_obj_info = {
218+
"Servo",
219+
NULL, // print
220+
{
221+
{"angle", 1, servo_obj_angle},
222+
{NULL, 0, NULL},
223+
}
224+
};
225+
226+
py_obj_t pyb_Servo(py_obj_t servo_id) {
227+
return py_obj_new_user(&servo_obj_info, (machine_uint_t)py_obj_get_int(servo_id), 0);
228+
}
229+
176230
/*
177231
void g(uint i) {
178232
printf("g:%d\n", i);
@@ -272,6 +326,51 @@ static py_obj_t pyb_info(void) {
272326
return py_const_none;
273327
}
274328

329+
static void SYSCLKConfig_STOP(void) {
330+
/* After wake-up from STOP reconfigure the system clock */
331+
/* Enable HSE */
332+
RCC_HSEConfig(RCC_HSE_ON);
333+
334+
/* Wait till HSE is ready */
335+
while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET) {
336+
}
337+
338+
/* Enable PLL */
339+
RCC_PLLCmd(ENABLE);
340+
341+
/* Wait till PLL is ready */
342+
while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) {
343+
}
344+
345+
/* Select PLL as system clock source */
346+
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
347+
348+
/* Wait till PLL is used as system clock source */
349+
while (RCC_GetSYSCLKSource() != 0x08) {
350+
}
351+
}
352+
353+
static py_obj_t pyb_stop(void) {
354+
PWR_EnterSTANDBYMode();
355+
//PWR_FlashPowerDownCmd(ENABLE); don't know what the logic is with this
356+
357+
/* Enter Stop Mode */
358+
PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
359+
360+
/* Configures system clock after wake-up from STOP: enable HSE, PLL and select
361+
* PLL as system clock source (HSE and PLL are disabled in STOP mode) */
362+
SYSCLKConfig_STOP();
363+
364+
//PWR_FlashPowerDownCmd(DISABLE);
365+
366+
return py_const_none;
367+
}
368+
369+
static py_obj_t pyb_standby(void) {
370+
PWR_EnterSTANDBYMode();
371+
return py_const_none;
372+
}
373+
275374
py_obj_t pyb_usart_send(py_obj_t data) {
276375
usart_tx_char(py_obj_get_int(data));
277376
return py_const_none;
@@ -322,6 +421,9 @@ int readline(vstr_t *line, const char *prompt) {
322421
break;
323422
}
324423
sys_tick_delay_ms(1);
424+
if (storage_needs_flush()) {
425+
storage_flush();
426+
}
325427
}
326428
if (escape == 0) {
327429
if (c == 4 && vstr_len(line) == len) {
@@ -422,7 +524,7 @@ void do_repl(void) {
422524
rt_call_function_0(module_fun);
423525
nlr_pop();
424526
uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
425-
printf("(took %lu ms)\n", ticks);
527+
//printf("(took %lu ms)\n", ticks);
426528
} else {
427529
// uncaught exception
428530
py_obj_print((py_obj_t)nlr.ret_val);
@@ -583,8 +685,8 @@ void servo_init(void) {
583685
py_obj_t pyb_servo_set(py_obj_t port, py_obj_t value) {
584686
int p = py_obj_get_int(port);
585687
int v = py_obj_get_int(value);
586-
if (v < 100) { v = 100; }
587-
if (v > 200) { v = 200; }
688+
if (v < 50) { v = 50; }
689+
if (v > 250) { v = 250; }
588690
switch (p) {
589691
case 1: TIM2->CCR1 = v; break;
590692
case 2: TIM2->CCR2 = v; break;
@@ -843,13 +945,13 @@ int main(void) {
843945
servo_init();
844946

845947
// audio
846-
audio_init();
948+
//audio_init();
847949

848950
// timer
849951
timer_init();
850952

851953
// RNG
852-
{
954+
if (0) {
853955
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
854956
RNG_Cmd(ENABLE);
855957
}
@@ -858,6 +960,8 @@ int main(void) {
858960
{
859961
py_obj_t m = py_module_new();
860962
rt_store_attr(m, qstr_from_str_static("info"), rt_make_function_0(pyb_info));
963+
rt_store_attr(m, qstr_from_str_static("stop"), rt_make_function_0(pyb_stop));
964+
rt_store_attr(m, qstr_from_str_static("standby"), rt_make_function_0(pyb_standby));
861965
rt_store_attr(m, qstr_from_str_static("source_dir"), rt_make_function_1(pyb_source_dir));
862966
rt_store_attr(m, qstr_from_str_static("main"), rt_make_function_1(pyb_main));
863967
rt_store_attr(m, qstr_from_str_static("sync"), rt_make_function_0(pyb_sync));
@@ -875,6 +979,7 @@ int main(void) {
875979
rt_store_attr(m, qstr_from_str_static("ustat"), rt_make_function_0(pyb_usart_status));
876980
rt_store_attr(m, qstr_from_str_static("rng"), rt_make_function_0(pyb_rng_get));
877981
rt_store_attr(m, qstr_from_str_static("Led"), rt_make_function_1(pyb_Led));
982+
rt_store_attr(m, qstr_from_str_static("Servo"), rt_make_function_1(pyb_Servo));
878983
rt_store_name(qstr_from_str_static("pyb"), m);
879984

880985
rt_store_name(qstr_from_str_static("open"), rt_make_function_2(pyb_io_open));

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