Commit 8fe8413b authored by Damien's avatar Damien
Browse files

stm: servos on PA0-3; MMA filtering; timer for Python REPL.

parent 11809ee5
......@@ -24,10 +24,10 @@
#include "timer.h"
#include "audio.h"
static FATFS fatfs0;
extern uint32_t _heap_start;
static FATFS fatfs0;
void flash_error(int n) {
for (int i = 0; i < n; i++) {
led_state(PYB_LED_R1, 1);
......@@ -376,9 +376,12 @@ void do_repl(void) {
py_obj_t module_fun = rt_make_function_from_id(1);
if (module_fun != py_const_none) {
nlr_buf_t nlr;
uint32_t start = sys_tick_counter;
if (nlr_push(&nlr) == 0) {
rt_call_function_0(module_fun);
nlr_pop();
uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
printf("(took %lu ms)\n", ticks);
} else {
// uncaught exception
py_obj_print((py_obj_t)nlr.ret_val);
......@@ -468,7 +471,9 @@ void servo_init(void) {
// TIM2 clock enable
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
// GPIOC Configuration: TIM2_CH3 (PB10)
// for PB10
/*
// GPIOB Configuration: TIM2_CH3 (PB10)
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
......@@ -479,6 +484,25 @@ void servo_init(void) {
// Connect TIM2 pins to AF1
GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_TIM2);
*/
// for PA0, PA1, PA2, PA3
{
// GPIOA Configuration: TIM2_CH0, TIM2_CH1 (PA0, PA1)
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
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(GPIOA, &GPIO_InitStructure);
// Connect TIM2 pins to AF1
GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_TIM2);
}
// Compute the prescaler value so TIM2 runs at 100kHz
uint16_t PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 100000) - 1;
......@@ -491,16 +515,22 @@ void servo_init(void) {
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// PWM1 Mode configuration: Channel1
// PWM Mode configuration
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_OC1Init(TIM2, &TIM_OCInitStructure); // channel 1
TIM_OC2Init(TIM2, &TIM_OCInitStructure); // channel 2
TIM_OC3Init(TIM2, &TIM_OCInitStructure); // channel 3
TIM_OC4Init(TIM2, &TIM_OCInitStructure); // channel 4
// ?
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 1
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 2
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 3
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 4
// ?
TIM_ARRPreloadConfig(TIM2, ENABLE);
......@@ -509,11 +539,17 @@ void servo_init(void) {
TIM_Cmd(TIM2, ENABLE);
}
py_obj_t pyb_servo_set(py_obj_t value) {
py_obj_t pyb_servo_set(py_obj_t port, py_obj_t value) {
int p = py_obj_get_int(port);
int v = py_obj_get_int(value);
if (v < 100) { v = 100; }
if (v > 200) { v = 200; }
TIM2->CCR3 = v;
switch (p) {
case 1: TIM2->CCR1 = v; break;
case 2: TIM2->CCR2 = v; break;
case 3: TIM2->CCR3 = v; break;
case 4: TIM2->CCR4 = v; break;
}
return py_const_none;
}
......@@ -527,19 +563,33 @@ py_obj_t pyb_pwm_set(py_obj_t period, py_obj_t pulse) {
#define MMA_ADDR (0x4c)
int mma_buf[12];
py_obj_t pyb_mma_read(void) {
for (int i = 0; i <= 6; i += 3) {
mma_buf[0 + i] = mma_buf[0 + i + 3];
mma_buf[1 + i] = mma_buf[1 + i + 3];
mma_buf[2 + i] = mma_buf[2 + i + 3];
}
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
py_obj_t data[4];
for (int i = 3; i >= 1; i--) {
for (int i = 0; i <= 2; i++) {
int v = mma_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
data[i] = py_obj_new_int(v);
mma_buf[9 + i] = v;
}
data[0] = py_obj_new_int(mma_read_nack());
int jolt_info = mma_read_nack();
py_obj_t data[4];
data[0] = py_obj_new_int(jolt_info);
data[1] = py_obj_new_int(mma_buf[2] + mma_buf[5] + mma_buf[8] + mma_buf[11]);
data[2] = py_obj_new_int(mma_buf[1] + mma_buf[4] + mma_buf[7] + mma_buf[10]);
data[3] = py_obj_new_int(mma_buf[0] + mma_buf[3] + mma_buf[6] + mma_buf[9]);
return rt_build_tuple(4, data); // items in reverse order in data
}
......@@ -742,7 +792,7 @@ soft_reset:
rt_init();
// LCD init
lcd_init();
//lcd_init(); disabled while servos on PA0 PA1
// servo
servo_init();
......@@ -770,7 +820,7 @@ 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_attr(m, qstr_from_str_static("servo"), rt_make_function_2(pyb_servo_set));
rt_store_attr(m, qstr_from_str_static("pwm"), rt_make_function_2(pyb_pwm_set));
rt_store_attr(m, qstr_from_str_static("mma"), rt_make_function_0(pyb_mma_read));
rt_store_attr(m, qstr_from_str_static("hid"), rt_make_function_1(pyb_hid_send_report));
......@@ -1126,7 +1176,7 @@ soft_reset:
// SD card testing
if (1) {
extern void sdio_init(void);
sdio_init();
//sdio_init();
}
printf("PYB: sync filesystems\n");
......
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