diff --git a/stmhal/led.c b/stmhal/led.c
index 80c1e145f149bfb5d4cfad240f40c19a13d6fc91..e9a97d1debd76bf349abb26eeadbc47a1b42c47e 100644
--- a/stmhal/led.c
+++ b/stmhal/led.c
@@ -1,10 +1,13 @@
#include <stdio.h>
#include <stm32f4xx_hal.h>
+#include "usbd_cdc_msc.h"
+#include "usbd_cdc_interface.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
+#include "runtime.h"
#include "led.h"
#include "pin.h"
#include "build/pins.h"
@@ -38,12 +41,43 @@ void led_init(void) {
GPIO_InitStructure.Pin = gLed[led]->pin_mask;
HAL_GPIO_Init(gLed[led]->gpio, &GPIO_InitStructure);
}
+
+ // LED4 (blue) is on PB4 which is TIM3_CH1
+ // we use PWM on this channel to fade the LED
+
+ // GPIO configuration
+ GPIO_InitStructure.Pin = GPIO_PIN_4;
+ GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
+ GPIO_InitStructure.Pull = GPIO_NOPULL;
+ GPIO_InitStructure.Alternate = GPIO_AF2_TIM3;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+ // PWM mode configuration
+ TIM_OC_InitTypeDef oc_init;
+ oc_init.OCMode = TIM_OCMODE_PWM1;
+ oc_init.Pulse = 0; // off
+ oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
+ oc_init.OCFastMode = TIM_OCFAST_DISABLE;
+ HAL_TIM_PWM_ConfigChannel(&TIM3_Handle, &oc_init, TIM_CHANNEL_1);
+
+ // start PWM
+ TIM_CCxChannelCmd(TIM3, TIM_CHANNEL_1, TIM_CCx_ENABLE);
+ //HAL_TIM_PWM_Start(&USBD_CDC_TIM3_Handle, TIM_CHANNEL_1);
}
void led_state(pyb_led_t led, int state) {
if (led < 1 || led > NUM_LEDS) {
return;
}
+ if (led == 4) {
+ if (state) {
+ TIM3->CCR1 = 0xffff;
+ } else {
+ TIM3->CCR1 = 0;
+ }
+ return;
+ }
const pin_obj_t *led_pin = gLed[led - 1];
//printf("led_state(%d,%d)\n", led, state);
if (state == 0) {
@@ -73,6 +107,23 @@ void led_toggle(pyb_led_t led) {
}
}
+int led_get_state(pyb_led_t led) {
+ if (led < 1 || led > NUM_LEDS) {
+ return 0;
+ }
+ const pin_obj_t *led_pin = gLed[led - 1];
+ GPIO_TypeDef *gpio = led_pin->gpio;
+
+ // TODO convert high/low to on/off depending on board
+ if (gpio->ODR & led_pin->pin_mask) {
+ // pin is high
+ return 1;
+ } else {
+ // pin is low
+ return 0;
+ }
+}
+
void led_debug(int n, int delay) {
led_state(1, n & 1);
led_state(2, n & 2);
@@ -112,25 +163,47 @@ mp_obj_t led_obj_toggle(mp_obj_t self_in) {
return mp_const_none;
}
-static MP_DEFINE_CONST_FUN_OBJ_1(led_obj_on_obj, led_obj_on);
-static MP_DEFINE_CONST_FUN_OBJ_1(led_obj_off_obj, led_obj_off);
-static MP_DEFINE_CONST_FUN_OBJ_1(led_obj_toggle_obj, led_obj_toggle);
+mp_obj_t led_obj_state(uint n_args, const mp_obj_t *args) {
+ pyb_led_obj_t *self = args[0];
+ if (n_args == 0) {
+ return MP_BOOL(led_get_state(self->led_id));
+ } else {
+ led_state(self->led_id, rt_is_true(args[1]));
+ return mp_const_none;
+ }
+}
+
+mp_obj_t led_obj_intensity(mp_obj_t self_in, mp_obj_t intensity) {
+ pyb_led_obj_t *self = self_in;
+ if (self->led_id == 4) {
+ TIM3->CCR1 = mp_obj_get_int(intensity);
+ }
+ return mp_const_none;
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_on_obj, led_obj_on);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_off_obj, led_obj_off);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(led_obj_toggle_obj, led_obj_toggle);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(led_obj_state_obj, 1, 2, led_obj_state);
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(led_obj_intensity_obj, led_obj_intensity);
-static const mp_method_t led_methods[] = {
+STATIC const mp_method_t led_methods[] = {
{ "on", &led_obj_on_obj },
{ "off", &led_obj_off_obj },
{ "toggle", &led_obj_toggle_obj },
+ { "state", &led_obj_state_obj },
+ { "intensity", &led_obj_intensity_obj },
{ NULL, NULL },
};
-static const mp_obj_type_t led_obj_type = {
+STATIC const mp_obj_type_t led_obj_type = {
{ &mp_type_type },
.name = MP_QSTR_Led,
.print = led_obj_print,
.methods = led_methods,
};
-static mp_obj_t pyb_Led(mp_obj_t led_id) {
+STATIC mp_obj_t pyb_Led(mp_obj_t led_id) {
pyb_led_obj_t *o = m_new_obj(pyb_led_obj_t);
o->base.type = &led_obj_type;
o->led_id = mp_obj_get_int(led_id);
diff --git a/stmhal/main.c b/stmhal/main.c
index 6511891a1ba821e4937cf0ee57c07b27d5ac90bd..9d882069784f7979e4c95550fcaf5c97c626be00 100644
--- a/stmhal/main.c
+++ b/stmhal/main.c
@@ -37,10 +37,10 @@
#include "lcd.h"
#include "accel.h"
#include "servo.h"
+#include "pin.h"
#if 0
#include "timer.h"
#include "pybwlan.h"
-#include "pin.h"
#endif
void SystemClock_Config(void);
@@ -266,9 +266,7 @@ soft_reset:
#endif
#endif
-#if 0
pin_map_init();
-#endif
// add some functions to the builtin Python namespace
rt_store_name(MP_QSTR_help, rt_make_function_n(0, pyb_help));
diff --git a/stmhal/stm32f4xx_hal_msp.c b/stmhal/stm32f4xx_hal_msp.c
index c64f37795930d3c2930bec4fbdd133af46a9c53a..a8587c384a8b8eb47500b8d501260994294125a3 100644
--- a/stmhal/stm32f4xx_hal_msp.c
+++ b/stmhal/stm32f4xx_hal_msp.c
@@ -5,16 +5,7 @@
* @version V1.0.1
* @date 26-February-2014
* @brief HAL MSP module.
- *
- @verbatim
- ===============================================================================
- ##### How to use this driver #####
- ===============================================================================
- [..]
- This file is generated automatically by MicroXplorer and eventually modified
- by the user
-
- @endverbatim
+ *
******************************************************************************
* @attention
*
@@ -56,25 +47,7 @@
#include "obj.h"
#include "servo.h"
-/** @addtogroup STM32F4xx_HAL_Driver
- * @{
- */
-
-/** @defgroup HAL_MSP
- * @brief HAL MSP module.
- * @{
- */
-
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-
-/** @defgroup HAL_MSP_Private_Functions
- * @{
- */
+TIM_HandleTypeDef TIM3_Handle;
/**
* @brief Initializes the Global MSP.
@@ -83,9 +56,21 @@
*/
void HAL_MspInit(void) {
// set up the timer for USBD CDC
- USBD_CDC_TIMx_CLK_ENABLE();
- HAL_NVIC_SetPriority(USBD_CDC_TIMx_IRQn, 6, 0);
- HAL_NVIC_EnableIRQ(USBD_CDC_TIMx_IRQn);
+ __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 */
+ }
}
/**
@@ -94,9 +79,9 @@ void HAL_MspInit(void) {
* @retval None
*/
void HAL_MspDeInit(void) {
- // reset USBD CDC timer
- USBD_CDC_TIMx_FORCE_RESET();
- USBD_CDC_TIMx_RELEASE_RESET();
+ // reset TIM3 timer
+ __TIM3_FORCE_RESET();
+ __TIM3_RELEASE_RESET();
}
/**
@@ -162,7 +147,7 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc)
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
- if (htim == &USBD_CDC_TIM3_Handle) {
+ if (htim == &TIM3_Handle) {
USBD_CDC_HAL_TIM_PeriodElapsedCallback();
} else if (htim == &servo_TIM2_Handle) {
servo_timer_irq_callback();
diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c
index 30ded5f7b5d5a0439597654128f120a82e2daa6e..cfd24dd3313d1fc2e673ab5d38fc563b466ce368 100644
--- a/stmhal/stm32f4xx_it.c
+++ b/stmhal/stm32f4xx_it.c
@@ -357,8 +357,7 @@ void TIM2_IRQHandler(void) {
}
void TIM3_IRQHandler(void) {
- // USBD CDC timer is TIM3
- HAL_TIM_IRQHandler(&USBD_CDC_TIM3_Handle);
+ HAL_TIM_IRQHandler(&TIM3_Handle);
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/stmhal/usbd_cdc_interface.c b/stmhal/usbd_cdc_interface.c
index e190e34793394977dae27ec2ac054b3e09a073f3..8a2470c853631a06d4f05ad0d47111636172295d 100644
--- a/stmhal/usbd_cdc_interface.c
+++ b/stmhal/usbd_cdc_interface.c
@@ -65,8 +65,6 @@ static uint16_t UserTxBufPtrOut = 0; // increment this pointer modulo APP_TX_DAT
static int user_interrupt_char = VCP_CHAR_NONE;
static void *user_interrupt_data = NULL;
-/* TIM handler declaration */
-TIM_HandleTypeDef USBD_CDC_TIM3_Handle;
/* USB handler declaration */
extern USBD_HandleTypeDef hUSBDDevice;
@@ -76,8 +74,6 @@ static int8_t CDC_Itf_DeInit (void);
static int8_t CDC_Itf_Control (uint8_t cmd, uint8_t* pbuf, uint16_t length);
static int8_t CDC_Itf_Receive (uint8_t* pbuf, uint32_t *Len);
-static void TIM_Config(void);
-
const USBD_CDC_ItfTypeDef USBD_CDC_fops = {
CDC_Itf_Init,
CDC_Itf_DeInit,
@@ -125,21 +121,19 @@ static int8_t CDC_Itf_Init(void)
/* Transfer error in reception process */
Error_Handler();
}
-#endif
/*##-3- Configure the TIM Base generation #################################*/
+ now done in HAL_MspInit
TIM_Config();
+#endif
- /*##-4- Start the TIM Base generation in interrupt mode ####################*/
- /* Start Channel1 */
- if(HAL_TIM_Base_Start_IT(&USBD_CDC_TIM3_Handle) != HAL_OK)
- {
- /* Starting Error */
- }
+ /*##-4- Start the TIM Base generation in interrupt mode ####################*/
+ /* Start Channel1 */
+ __HAL_TIM_ENABLE_IT(&TIM3_Handle, TIM_IT_UPDATE);
- /*##-5- Set Application Buffers ############################################*/
- USBD_CDC_SetTxBuffer(&hUSBDDevice, UserTxBuffer, 0);
- USBD_CDC_SetRxBuffer(&hUSBDDevice, UserRxBuffer);
+ /*##-5- Set Application Buffers ############################################*/
+ USBD_CDC_SetTxBuffer(&hUSBDDevice, UserTxBuffer, 0);
+ USBD_CDC_SetRxBuffer(&hUSBDDevice, UserRxBuffer);
UserRxBufCur = 0;
UserRxBufLen = 0;
@@ -147,7 +141,7 @@ static int8_t CDC_Itf_Init(void)
user_interrupt_char = VCP_CHAR_NONE;
user_interrupt_data = NULL;
- return (USBD_OK);
+ return (USBD_OK);
}
/**
@@ -378,29 +372,3 @@ int USBD_CDC_RxGet(void) {
}
return c;
}
-
-/**
- * @brief TIM_Config: Configure TIMx timer
- * @param None.
- * @retval None.
- */
-static void TIM_Config(void)
-{
- /* Set TIMx instance */
- USBD_CDC_TIM3_Handle.Instance = USBD_CDC_TIMx;
-
- /* Initialize TIM3 peripheral as follow:
- + Period = 10000 - 1
- + Prescaler = ((SystemCoreClock/2)/10000) - 1
- + ClockDivision = 0
- + Counter direction = Up
- */
- USBD_CDC_TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1;
- USBD_CDC_TIM3_Handle.Init.Prescaler = 84-1;
- USBD_CDC_TIM3_Handle.Init.ClockDivision = 0;
- USBD_CDC_TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
- if(HAL_TIM_Base_Init(&USBD_CDC_TIM3_Handle) != HAL_OK)
- {
- /* Initialization Error */
- }
-}
diff --git a/stmhal/usbd_cdc_interface.h b/stmhal/usbd_cdc_interface.h
index f0c8404ff5aacef7c709c842353997f2fd78bc47..5ed5ecef46bc73d42032faf392567d1eb7ace539 100644
--- a/stmhal/usbd_cdc_interface.h
+++ b/stmhal/usbd_cdc_interface.h
@@ -33,21 +33,11 @@
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
-/* Definition for TIMx clock resources */
-#define USBD_CDC_TIMx TIM3
-#define USBD_CDC_TIMx_CLK_ENABLE __TIM3_CLK_ENABLE
-#define USBD_CDC_TIMx_FORCE_RESET() __TIM3_FORCE_RESET()
-#define USBD_CDC_TIMx_RELEASE_RESET() __TIM3_RELEASE_RESET()
-
-/* Definition for TIMx's NVIC */
-#define USBD_CDC_TIMx_IRQn TIM3_IRQn
-//#define USBD_CDC_TIMx_IRQHandler TIM3_IRQHandler // this is hard coded in stm32f4xx_it.c
-
/* 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 USBD_CDC_TIM3_Handle;
+extern TIM_HandleTypeDef TIM3_Handle;
extern const USBD_CDC_ItfTypeDef USBD_CDC_fops;
void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void);