Commit a12be917 authored by Damien George's avatar Damien George
Browse files

stmhal: Add timer module; move servo PWM from TIM2 to TIM5.

As per issue #257, servo is better on TIM5 because TIM2 is connected to
more GPIO.
parent 69dee59c
......@@ -61,6 +61,7 @@ SRC_C = \
usbd_msc_storage.c \
pendsv.c \
systick.c \
timer.c \
led.c \
pin.c \
pin_map.c \
......@@ -98,7 +99,6 @@ SRC_C = \
adc.c \
i2c.c \
# timer.c \
# pybwlan.c \
SRC_S = \
......
#include <stdio.h>
#include <stm32f4xx_hal.h>
#include "usbd_cdc_msc_hid.h"
#include "usbd_cdc_interface.h"
#include "nlr.h"
#include "misc.h"
......@@ -9,6 +7,7 @@
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
#include "timer.h"
#include "led.h"
#include "pin.h"
#include "build/pins.h"
......@@ -54,6 +53,8 @@ void led_init(void) {
// LED4 (blue) is on PB4 which is TIM3_CH1
// we use PWM on this channel to fade the LED
// LED3 (yellow) is on PA15 which has TIM2_CH1, so we could PWM that as well
// GPIO configuration
GPIO_InitStructure.Pin = MICROPY_HW_LED4.pin_mask;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
......
......@@ -22,6 +22,7 @@
#include "readline.h"
#include "pyexec.h"
#include "usart.h"
#include "timer.h"
#include "led.h"
#include "exti.h"
#include "usrsw.h"
......@@ -38,7 +39,6 @@
#include "dac.h"
#include "pin.h"
#if 0
#include "timer.h"
#include "pybwlan.h"
#endif
......@@ -177,6 +177,7 @@ int main(void) {
// basic sub-system init
pendsv_init();
timer_tim3_init();
led_init();
switch_init0();
......@@ -409,6 +410,11 @@ soft_reset:
rng_init();
#endif
#if MICROPY_HW_ENABLE_TIMER
// timer
//timer_init();
#endif
// I2C
i2c_init();
......@@ -422,13 +428,6 @@ soft_reset:
servo_init();
#endif
#if 0
#if MICROPY_HW_ENABLE_TIMER
// timer
timer_init();
#endif
#endif
#if MICROPY_HW_ENABLE_DAC
// DAC
dac_init();
......
......@@ -8,12 +8,13 @@
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
#include "timer.h"
#include "servo.h"
// this servo driver uses hardware PWM to drive servos on PA0, PA1, PA2, PA3 = X1, X2, X3, X4
// TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively
// they are both 32-bit counters with 16-bit prescaler
// we use TIM2
// we use TIM5
#define PYB_SERVO_NUM (4)
......@@ -30,23 +31,8 @@ STATIC const mp_obj_type_t servo_obj_type;
STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
TIM_HandleTypeDef TIM2_Handle;
void servo_init(void) {
// TIM2 clock enable
__TIM2_CLK_ENABLE();
// set up and enable interrupt
HAL_NVIC_SetPriority(TIM2_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
// PWM clock configuration
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);
timer_tim5_init();
// reset servo objects
for (int i = 0; i < PYB_SERVO_NUM; i++) {
......@@ -74,17 +60,17 @@ void servo_timer_irq_callback(void) {
need_it = true;
}
switch (s->servo_id) {
case 1: TIM2->CCR1 = s->pulse_cur; break;
case 2: TIM2->CCR2 = s->pulse_cur; break;
case 3: TIM2->CCR3 = s->pulse_cur; break;
case 4: TIM2->CCR4 = s->pulse_cur; break;
case 1: TIM5->CCR1 = s->pulse_cur; break;
case 2: TIM5->CCR2 = s->pulse_cur; break;
case 3: TIM5->CCR3 = s->pulse_cur; break;
case 4: TIM5->CCR4 = s->pulse_cur; break;
}
}
}
if (need_it) {
__HAL_TIM_ENABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&TIM5_Handle, TIM_IT_UPDATE);
} else {
__HAL_TIM_DISABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
__HAL_TIM_DISABLE_IT(&TIM5_Handle, TIM_IT_UPDATE);
}
}
......@@ -105,7 +91,7 @@ STATIC void servo_init_channel(pyb_servo_obj_t *s) {
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Alternate = GPIO_AF1_TIM2;
GPIO_InitStructure.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
// PWM mode configuration
......@@ -114,10 +100,10 @@ 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(&TIM2_Handle, &oc_init, channel);
HAL_TIM_PWM_ConfigChannel(&TIM5_Handle, &oc_init, channel);
// start PWM
HAL_TIM_PWM_Start(&TIM2_Handle, channel);
HAL_TIM_PWM_Start(&TIM5_Handle, channel);
}
/******************************************************************************/
......@@ -129,10 +115,10 @@ STATIC mp_obj_t pyb_servo_set(mp_obj_t port, mp_obj_t value) {
if (v < 50) { v = 50; }
if (v > 250) { v = 250; }
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;
case 1: TIM5->CCR1 = v; break;
case 2: TIM5->CCR2 = v; break;
case 3: TIM5->CCR3 = v; break;
case 4: TIM5->CCR4 = v; break;
}
return mp_const_none;
}
......@@ -142,8 +128,8 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_servo_set_obj, pyb_servo_set);
STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) {
int pe = mp_obj_get_int(period);
int pu = mp_obj_get_int(pulse);
TIM2->ARR = pe;
TIM2->CCR3 = pu;
TIM5->ARR = pe;
TIM5->CCR3 = pu;
return mp_const_none;
}
......
extern TIM_HandleTypeDef TIM2_Handle;
void servo_init(void);
void servo_timer_irq_callback(void);
......
......@@ -38,8 +38,6 @@
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "usbd_cdc_msc_hid.h"
#include "usbd_cdc_interface.h"
#include "misc.h"
#include "mpconfig.h"
......@@ -47,30 +45,12 @@
#include "obj.h"
#include "servo.h"
TIM_HandleTypeDef TIM3_Handle;
/**
* @brief Initializes the Global MSP.
* @param None
* @retval None
*/
void HAL_MspInit(void) {
// set up the timer for USBD CDC
__TIM3_CLK_ENABLE();
TIM3_Handle.Instance = TIM3;
TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1;
TIM3_Handle.Init.Prescaler = 84-1;
TIM3_Handle.Init.ClockDivision = 0;
TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TIM3_Handle);
HAL_NVIC_SetPriority(TIM3_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
if (HAL_TIM_Base_Start(&TIM3_Handle) != HAL_OK) {
/* Starting Error */
}
}
/**
......@@ -79,9 +59,6 @@ void HAL_MspInit(void) {
* @retval None
*/
void HAL_MspDeInit(void) {
// reset TIM3 timer
__TIM3_FORCE_RESET();
__TIM3_RELEASE_RESET();
}
/**
......@@ -146,14 +123,6 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc)
__HAL_RCC_RTC_DISABLE();
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim == &TIM3_Handle) {
USBD_CDC_HAL_TIM_PeriodElapsedCallback();
} else if (htim == &TIM2_Handle) {
servo_timer_irq_callback();
}
}
/**
* @}
*/
......
......@@ -42,15 +42,13 @@
#include "stm32f4xx_it.h"
#include "stm32f4xx_hal.h"
#include "usbd_cdc_msc_hid.h"
#include "usbd_cdc_interface.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
#include "exti.h"
#include "servo.h"
#include "timer.h"
/** @addtogroup STM32F4xx_HAL_Examples
* @{
......@@ -351,12 +349,12 @@ void RTC_WKUP_IRQHandler(void) {
Handle_EXTI_Irq(EXTI_RTC_WAKEUP);
}
void TIM2_IRQHandler(void) {
HAL_TIM_IRQHandler(&TIM2_Handle);
}
void TIM3_IRQHandler(void) {
HAL_TIM_IRQHandler(&TIM3_Handle);
}
void TIM5_IRQHandler(void) {
HAL_TIM_IRQHandler(&TIM5_Handle);
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <stm32f4xx_hal.h>
#include "usbd_cdc_msc_hid.h"
#include "usbd_cdc_interface.h"
#include "nlr.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
#include "timer.h"
#include "servo.h"
// The timers can be used by multiple drivers, and need a common point for
// the interrupts to be dispatched, so they are all collected here.
//
// TIM3:
// - USB CDC interface, interval, to check for new data
// - LED 4, PWM to set the LED intensity
//
// TIM5:
// - servo controller, PWM
TIM_HandleTypeDef TIM3_Handle;
TIM_HandleTypeDef TIM5_Handle;
// TIM3 is set-up for the USB CDC interface
void timer_tim3_init(void) {
// set up the timer for USBD CDC
__TIM3_CLK_ENABLE();
TIM3_Handle.Instance = TIM3;
TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1;
TIM3_Handle.Init.Prescaler = 84-1;
TIM3_Handle.Init.ClockDivision = 0;
TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TIM3_Handle);
HAL_NVIC_SetPriority(TIM3_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
if (HAL_TIM_Base_Start(&TIM3_Handle) != HAL_OK) {
/* Starting Error */
}
}
/* unused
void timer_tim3_deinit(void) {
// reset TIM3 timer
__TIM3_FORCE_RESET();
__TIM3_RELEASE_RESET();
}
*/
// TIM5 is set-up for the servo controller
void timer_tim5_init(void) {
// TIM5 clock enable
__TIM5_CLK_ENABLE();
// set up and enable interrupt
HAL_NVIC_SetPriority(TIM5_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
// PWM clock configuration
TIM5_Handle.Instance = TIM5;
TIM5_Handle.Init.Period = 2000; // timer cycles at 50Hz
TIM5_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
TIM5_Handle.Init.ClockDivision = 0;
TIM5_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TIM5_Handle);
}
// Interrupt dispatch
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim == &TIM3_Handle) {
USBD_CDC_HAL_TIM_PeriodElapsedCallback();
} else if (htim == &TIM5_Handle) {
servo_timer_irq_callback();
}
}
// below is old code from stm/ which has not yet been fully ported to stmhal/
#if 0
typedef struct _pyb_hal_tim_t {
mp_obj_base_t base;
TIM_HandleTypeDef htim;
} pyb_hal_tim_t;
pyb_hal_tim_t pyb_hal_tim_6;
pyb_hal_tim_6 = {
.base = {&pyb_type_hal_tim};
.htim = {TIM6
// TIM6 is used as an internal interrup to schedule something at a specific rate
mp_obj_t timer_py_callback;
mp_obj_t timer_py_set_callback(mp_obj_t f) {
timer_py_callback = f;
return mp_const_none;
}
mp_obj_t timer_py_set_period(mp_obj_t period) {
TIM6->ARR = mp_obj_get_int(period) & 0xffff;
return mp_const_none;
}
mp_obj_t timer_py_set_prescaler(mp_obj_t prescaler) {
TIM6->PSC = mp_obj_get_int(prescaler) & 0xffff;
return mp_const_none;
}
mp_obj_t timer_py_get_value(void) {
return mp_obj_new_int(TIM6->CNT & 0xfffff);
}
void timer_init(void) {
timer_py_callback = mp_const_none;
// TIM6 clock enable
__TIM6_CLK_ENABLE();
// Compute the prescaler value so TIM6 runs at 20kHz
uint16_t PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 20000) - 1;
// Time base configuration
tim_handle.Instance = TIM6;
tim_handle.Init.Prescaler = PrescalerValue;
tim_handle.Init.CounterMode = TIM_COUNTERMODE_UP; // unused for TIM6
tim_handle.Init.Period = 20000; // timer cycles at 1Hz
tim_handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; // unused for TIM6
tim_handle.Init.RepetitionCounter = 0; // unused for TIM6
HAL_TIM_Base_Init(&tim_handle);
// enable perhipheral preload register
//TIM_ARRPreloadConfig(TIM6, ENABLE); ??
// set up interrupt
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0xf, 0xf); // lowest priority
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
// start timer, so that it interrupts on overflow
HAL_TIM_Base_Start_IT(&tim_handle);
// Python interface
mp_obj_t m = mp_obj_new_module(QSTR_FROM_STR_STATIC("timer"));
rt_store_attr(m, QSTR_FROM_STR_STATIC("callback"), rt_make_function_n(1, timer_py_set_callback));
rt_store_attr(m, QSTR_FROM_STR_STATIC("period"), rt_make_function_n(1, timer_py_set_period));
rt_store_attr(m, QSTR_FROM_STR_STATIC("prescaler"), rt_make_function_n(1, timer_py_set_prescaler));
rt_store_attr(m, QSTR_FROM_STR_STATIC("value"), rt_make_function_n(0, timer_py_get_value));
rt_store_name(QSTR_FROM_STR_STATIC("timer"), m);
}
void timer_interrupt(void) {
if (timer_py_callback != mp_const_none) {
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
// XXX what to do if the GC is in the middle of running??
rt_call_function_0(timer_py_callback);
nlr_pop();
} else {
// uncaught exception
printf("exception in timer interrupt\n");
mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
printf("\n");
}
}
}
mp_obj_t pyb_Timer(mp_obj_t timx_in) {
TIM_TypeDef *TIMx = (TIM_TypeDef*)mp_obj_get_int(timx_in);
if (!IS_TIM_INSTANCE(TIMx)) {
nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "argument 1 is not a TIM instance"));
}
pyb_hal_tim_t *tim = m_new_obj(pyb_hal_tim_t);
tim->htim.Instance = TIMx;
tim->htim.Instance.Init.Prescaler = x;
tim->htim.Instance.Init.CounterMode = y;
tim->htim.Instance.Init.Period = y;
tim->htim.Instance.Init.ClockDivision = y;
tim->htim.Instance.Init.RepetitionCounter = y;
HAL_TIM_Base_Init(&tim->htim);
return tim;
}
#endif
// Periodically, the state of the buffer "UserTxBuffer" is checked.
// The period depends on USBD_CDC_POLLING_INTERVAL
// The value is in ms. The max is 65 and the min is 1.
#define USBD_CDC_POLLING_INTERVAL (10)
extern TIM_HandleTypeDef TIM3_Handle;
extern TIM_HandleTypeDef TIM5_Handle;
void timer_tim3_init(void);
void timer_tim5_init(void);
......@@ -33,10 +33,6 @@
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Periodically, the state of the buffer "UserTxBuffer" is checked.
The period depends on USBD_CDC_POLLING_INTERVAL */
#define USBD_CDC_POLLING_INTERVAL 10 /* in ms. The max is 65 and the min is 1 */
extern TIM_HandleTypeDef TIM3_Handle;
extern const USBD_CDC_ItfTypeDef USBD_CDC_fops;
......
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