Commit 57e41585 authored by Damien George's avatar Damien George
Browse files

stmhal: Tidy up and improve consistency across modules.

parent d689430e
#include <stdio.h>
#include <string.h>
#include <stm32f4xx_hal.h>
#include "stm32f4xx_hal.h"
#include "nlr.h"
#include "misc.h"
......@@ -34,7 +34,7 @@ void accel_init(void) {
STATIC void accel_start(void) {
// start the I2C bus
i2c_start(&I2cHandle_X);
i2c_init(&I2CHandle1);
// turn off AVDD, wait 20ms, turn on AVDD, wait 20ms again
GPIOB->BSRRH = GPIO_PIN_5; // turn off
......@@ -46,7 +46,7 @@ STATIC void accel_start(void) {
//printf("IsDeviceReady\n");
for (int i = 0; i < 10; i++) {
status = HAL_I2C_IsDeviceReady(&I2cHandle_X, MMA_ADDR, 10, 200);
status = HAL_I2C_IsDeviceReady(&I2CHandle1, MMA_ADDR, 10, 200);
//printf(" got %d\n", status);
if (status == HAL_OK) {
break;
......@@ -56,7 +56,7 @@ STATIC void accel_start(void) {
//printf("MemWrite\n");
uint8_t data[1];
data[0] = 1; // active mode
status = HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
status = HAL_I2C_Mem_Write(&I2CHandle1, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
//printf(" got %d\n", status);
}
......@@ -86,7 +86,7 @@ STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con
STATIC mp_obj_t read_axis(int axis) {
uint8_t data[1];
HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
}
......@@ -110,7 +110,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z);
STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
uint8_t data[1];
HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
return mp_obj_new_int(data[0]);
}
......@@ -122,7 +122,7 @@ STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) {
memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t));
uint8_t data[NUM_AXIS];
HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
mp_obj_t tuple[NUM_AXIS];
for (int i = 0; i < NUM_AXIS; i++) {
......@@ -141,7 +141,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_
STATIC mp_obj_t pyb_accel_read(mp_obj_t self_in, mp_obj_t reg) {
uint8_t data[1];
HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
HAL_I2C_Mem_Read(&I2CHandle1, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
return mp_obj_new_int(data[0]);
}
......@@ -150,7 +150,7 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_obj, pyb_accel_read);
STATIC mp_obj_t pyb_accel_write(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) {
uint8_t data[1];
data[0] = mp_obj_get_int(val);
HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
HAL_I2C_Mem_Write(&I2CHandle1, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
return mp_const_none;
}
......
#include <stdio.h>
#include <string.h>
#include <stm32f4xx_hal.h>
#include "stm32f4xx_hal.h"
#include "nlr.h"
#include "misc.h"
......@@ -9,58 +9,71 @@
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
#include "pin.h"
#include "genhdr/pins.h"
#include "i2c.h"
I2C_HandleTypeDef I2cHandle_X;
I2C_HandleTypeDef I2cHandle_Y;
I2C_HandleTypeDef I2CHandle1 = {.Instance = NULL};
I2C_HandleTypeDef I2CHandle2 = {.Instance = NULL};
void i2c_init(void) {
// init the I2C1 device
memset(&I2cHandle_X, 0, sizeof(I2C_HandleTypeDef));
I2cHandle_X.Instance = I2C1;
// init the I2C2 device
memset(&I2cHandle_Y, 0, sizeof(I2C_HandleTypeDef));
I2cHandle_Y.Instance = I2C2;
void i2c_init0(void) {
// reset the I2C1 handles
memset(&I2CHandle1, 0, sizeof(I2C_HandleTypeDef));
I2CHandle1.Instance = I2C1;
memset(&I2CHandle2, 0, sizeof(I2C_HandleTypeDef));
I2CHandle2.Instance = I2C2;
}
void i2c_start(I2C_HandleTypeDef *i2c_handle) {
GPIO_InitTypeDef GPIO_InitStructure;
void i2c_init(I2C_HandleTypeDef *i2c) {
// init the GPIO lines
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines
if (i2c_handle == &I2cHandle_X) {
const pin_obj_t *pins[2];
if (i2c == &I2CHandle1) {
// X-skin: X9=PB6=SCL, X10=PB7=SDA
GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
pins[0] = &pin_B6;
pins[1] = &pin_B7;
GPIO_InitStructure.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
// enable the I2C clock
__I2C1_CLK_ENABLE();
} else {
// Y-skin: Y9=PB10=SCL, Y10=PB11=SDA
GPIO_InitStructure.Pin = GPIO_PIN_10 | GPIO_PIN_11;
pins[0] = &pin_B10;
pins[1] = &pin_B11;
GPIO_InitStructure.Alternate = GPIO_AF4_I2C2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
// enable the I2C clock
__I2C2_CLK_ENABLE();
}
// init the GPIO lines
for (uint i = 0; i < 2; i++) {
GPIO_InitStructure.Pin = pins[i]->pin_mask;
HAL_GPIO_Init(pins[i]->gpio, &GPIO_InitStructure);
}
// enable the I2C clock
if (i2c == &I2CHandle1) {
__I2C1_CLK_ENABLE();
} else {
__I2C2_CLK_ENABLE();
}
// init the I2C device
i2c_handle->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
i2c_handle->Init.ClockSpeed = 400000;
i2c_handle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
i2c_handle->Init.DutyCycle = I2C_DUTYCYCLE_16_9;
i2c_handle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
i2c_handle->Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
i2c_handle->Init.OwnAddress1 = 0xfe; // unused
i2c_handle->Init.OwnAddress2 = 0xfe; // unused
if (HAL_I2C_Init(i2c_handle) != HAL_OK) {
i2c->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
i2c->Init.ClockSpeed = 400000;
i2c->Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
i2c->Init.DutyCycle = I2C_DUTYCYCLE_16_9;
i2c->Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
i2c->Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
i2c->Init.OwnAddress1 = 0xfe; // unused
i2c->Init.OwnAddress2 = 0xfe; // unused
if (HAL_I2C_Init(i2c) != HAL_OK) {
// init error
printf("accel_init: HAL_I2C_Init failed\n");
printf("HardwareError: HAL_I2C_Init failed\n");
return;
}
}
......@@ -72,10 +85,10 @@ void i2c_start(I2C_HandleTypeDef *i2c_handle) {
typedef struct _pyb_i2c_obj_t {
mp_obj_base_t base;
I2C_HandleTypeDef *i2c_handle;
I2C_HandleTypeDef *i2c;
} pyb_i2c_obj_t;
STATIC const pyb_i2c_obj_t pyb_i2c_obj[PYB_NUM_I2C] = {{{&pyb_i2c_type}, &I2cHandle_X}, {{&pyb_i2c_type}, &I2cHandle_Y}};
STATIC const pyb_i2c_obj_t pyb_i2c_obj[PYB_NUM_I2C] = {{{&pyb_i2c_type}, &I2CHandle1}, {{&pyb_i2c_type}, &I2CHandle2}};
STATIC mp_obj_t pyb_i2c_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
......@@ -93,7 +106,7 @@ STATIC mp_obj_t pyb_i2c_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const
const pyb_i2c_obj_t *i2c_obj = &pyb_i2c_obj[i2c_id];
// start the peripheral
i2c_start(i2c_obj->i2c_handle);
i2c_init(i2c_obj->i2c);
return (mp_obj_t)i2c_obj;
}
......@@ -104,7 +117,7 @@ STATIC mp_obj_t pyb_i2c_is_ready(mp_obj_t self_in, mp_obj_t i2c_addr_o) {
machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_o) << 1;
for (int i = 0; i < 10; i++) {
HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, i2c_addr, 10, 200);
HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c, i2c_addr, 10, 200);
if (status == HAL_OK) {
return mp_const_true;
}
......@@ -123,7 +136,7 @@ STATIC mp_obj_t pyb_i2c_scan(mp_obj_t self_in) {
for (uint addr = 1; addr <= 127; addr++) {
for (int i = 0; i < 10; i++) {
HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, addr << 1, 10, 200);
HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c, addr << 1, 10, 200);
if (status == HAL_OK) {
mp_obj_list_append(list, mp_obj_new_int(addr));
break;
......@@ -143,7 +156,7 @@ STATIC mp_obj_t pyb_i2c_read(mp_obj_t self_in, mp_obj_t i2c_addr_in, mp_obj_t n_
byte *data;
mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data);
HAL_StatusTypeDef status = HAL_I2C_Master_Receive(self->i2c_handle, i2c_addr, data, n, 500);
HAL_StatusTypeDef status = HAL_I2C_Master_Receive(self->i2c, i2c_addr, data, n, 500);
if (status != HAL_OK) {
// TODO really need a HardwareError object, or something
......@@ -161,11 +174,11 @@ STATIC mp_obj_t pyb_i2c_write(mp_obj_t self_in, mp_obj_t i2c_addr_in, mp_obj_t d
HAL_StatusTypeDef status;
if (MP_OBJ_IS_INT(data_in)) {
uint8_t data[1] = {mp_obj_get_int(data_in)};
status = HAL_I2C_Master_Transmit(self->i2c_handle, i2c_addr, data, 1, 500);
status = HAL_I2C_Master_Transmit(self->i2c, i2c_addr, data, 1, 500);
} else {
mp_buffer_info_t bufinfo;
mp_get_buffer_raise(data_in, &bufinfo, MP_BUFFER_READ);
status = HAL_I2C_Master_Transmit(self->i2c_handle, i2c_addr, bufinfo.buf, bufinfo.len, 500);
status = HAL_I2C_Master_Transmit(self->i2c, i2c_addr, bufinfo.buf, bufinfo.len, 500);
}
if (status != HAL_OK) {
......@@ -186,7 +199,7 @@ STATIC mp_obj_t pyb_i2c_mem_read(uint n_args, const mp_obj_t *args) {
byte *data;
mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data);
HAL_StatusTypeDef status = HAL_I2C_Mem_Read(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, n, 200);
HAL_StatusTypeDef status = HAL_I2C_Mem_Read(self->i2c, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, n, 200);
//printf("Read got %d\n", status);
......@@ -207,11 +220,11 @@ STATIC mp_obj_t pyb_i2c_mem_write(uint n_args, const mp_obj_t *args) {
HAL_StatusTypeDef status;
if (MP_OBJ_IS_INT(args[3])) {
uint8_t data[1] = {mp_obj_get_int(args[3])};
status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
status = HAL_I2C_Mem_Write(self->i2c, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
} else {
mp_buffer_info_t bufinfo;
mp_get_buffer_raise(args[3], &bufinfo, MP_BUFFER_READ);
status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, bufinfo.buf, bufinfo.len, 200);
status = HAL_I2C_Mem_Write(self->i2c, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, bufinfo.buf, bufinfo.len, 200);
}
//printf("Write got %d\n", status);
......
extern I2C_HandleTypeDef I2cHandle_X;
extern I2C_HandleTypeDef I2cHandle_Y;
extern I2C_HandleTypeDef I2CHandle1;
extern I2C_HandleTypeDef I2CHandle2;
extern const mp_obj_type_t pyb_i2c_type;
void i2c_init(void);
void i2c_start(I2C_HandleTypeDef *i2c_handle);
void i2c_init0(void);
void i2c_init(I2C_HandleTypeDef *i2c);
......@@ -467,7 +467,7 @@ soft_reset:
//timer_init();
#endif
i2c_init();
i2c_init0();
spi_init0();
#if MICROPY_HW_HAS_MMA7660
......
......@@ -33,30 +33,34 @@ void spi_init0(void) {
// TODO allow to take a list of pins to use
void spi_init(SPI_HandleTypeDef *spi) {
// auto-detect the GPIO pins to use
// init the GPIO lines
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_PULLUP; // ST examples use PULLUP
const pin_obj_t *pins[4];
uint32_t af_type;
if (spi->Instance == SPI1) {
// X-skin: X5=PA4=SPI1_NSS, X6=PA5=SPI1_SCK, X7=PA6=SPI1_MISO, X8=PA7=SPI1_MOSI
pins[0] = &pin_A4;
pins[1] = &pin_A5;
pins[2] = &pin_A6;
pins[3] = &pin_A7;
af_type = GPIO_AF5_SPI1;
GPIO_InitStructure.Alternate = GPIO_AF5_SPI1;
} else if (spi->Instance == SPI2) {
// Y-skin: Y5=PB12=SPI2_NSS, Y6=PB13=SPI2_SCK, Y7=PB14=SPI2_MISO, Y8=PB15=SPI2_MOSI
pins[0] = &pin_B12;
pins[1] = &pin_B13;
pins[2] = &pin_B14;
pins[3] = &pin_B15;
af_type = GPIO_AF5_SPI2;
GPIO_InitStructure.Alternate = GPIO_AF5_SPI2;
#if MICROPY_HW_ENABLE_SPI3
} else if (spi->Instance == SPI3) {
pins[0] = &pin_A4;
pins[1] = &pin_B3;
pins[2] = &pin_B4;
pins[3] = &pin_B5;
af_type = GPIO_AF6_SPI3;
GPIO_InitStructure.Alternate = GPIO_AF6_SPI3;
#endif
} else {
// SPI does not exist for this board
......@@ -64,14 +68,8 @@ void spi_init(SPI_HandleTypeDef *spi) {
return;
}
// init the GPIO lines
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_PULLUP; // ST examples use PULLUP
for (uint i = 0; i < 4; i++) {
GPIO_InitStructure.Pin = pins[i]->pin_mask;
GPIO_InitStructure.Alternate = af_type;
HAL_GPIO_Init(pins[i]->gpio, &GPIO_InitStructure);
}
......
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