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stmhal: Make Led, Servo and Accel their class, not a function.

pull/372/head
Damien George 11 years ago
parent
5fd2ebbbdd
commit
0e9d96f18f
7 changed files with 92 additions and 51 deletions
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  1. 29
      stmhal/accel.c
  2. 2
      stmhal/accel.h
  3. 46
      stmhal/led.c
  4. 2
      stmhal/led.h
  5. 6
      stmhal/pybmodule.c
  6. 55
      stmhal/servo.c
  7. 3
      stmhal/servo.h

29
stmhal/accel.c
View File

@ -3,6 +3,7 @@
#include <stm32f4xx_hal.h>
#include "nlr.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
@ -99,6 +100,19 @@ typedef struct _pyb_accel_obj_t {
STATIC pyb_accel_obj_t pyb_accel_obj;
STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
if (!(n_args == 0 && n_kw == 0)) {
nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Accel accepts no arguments"));
}
// init accel object
pyb_accel_obj.base.type = &pyb_accel_type;
accel_init_device();
return &pyb_accel_obj;
}
STATIC mp_obj_t read_axis(int axis) {
uint8_t data[1];
HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
@ -171,7 +185,7 @@ STATIC mp_obj_t pyb_accel_write_reg(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val
MP_DEFINE_CONST_FUN_OBJ_3(pyb_accel_write_reg_obj, pyb_accel_write_reg);
STATIC const mp_method_t accel_methods[] = {
STATIC const mp_method_t pyb_accel_methods[] = {
{ "x", &pyb_accel_x_obj },
{ "y", &pyb_accel_y_obj },
{ "z", &pyb_accel_z_obj },
@ -182,16 +196,9 @@ STATIC const mp_method_t accel_methods[] = {
{ NULL, NULL },
};
STATIC const mp_obj_type_t accel_obj_type = {
const mp_obj_type_t pyb_accel_type = {
{ &mp_type_type },
.name = MP_QSTR_Accel,
.methods = accel_methods,
.make_new = pyb_accel_make_new,
.methods = pyb_accel_methods,
};
STATIC mp_obj_t pyb_Accel(void) {
pyb_accel_obj.base.type = &accel_obj_type;
accel_init_device();
return &pyb_accel_obj;
}
MP_DEFINE_CONST_FUN_OBJ_0(pyb_Accel_obj, pyb_Accel);

2
stmhal/accel.h
View File

@ -1,3 +1,3 @@
void accel_init(void);
MP_DECLARE_CONST_FUN_OBJ(pyb_Accel_obj);
extern const mp_obj_type_t pyb_accel_type;

46
stmhal/led.c
View File

@ -3,6 +3,7 @@
#include "usbd_cdc_msc.h"
#include "usbd_cdc_interface.h"
#include "nlr.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
@ -183,14 +184,45 @@ void led_debug(int n, int delay) {
typedef struct _pyb_led_obj_t {
mp_obj_base_t base;
uint led_id;
machine_uint_t led_id;
} pyb_led_obj_t;
STATIC const pyb_led_obj_t pyb_led_obj[NUM_LEDS] = {
{{&pyb_led_type}, 1},
#if defined(PYB_LED2)
{{&pyb_led_type}, 2},
#if defined(PYB_LED3)
{{&pyb_led_type}, 3},
#if defined(PYB_LED4)
{{&pyb_led_type}, 4},
#endif
#endif
#endif
};
void led_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_led_obj_t *self = self_in;
print(env, "<LED %lu>", self->led_id);
}
STATIC mp_obj_t led_obj_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
if (!(n_args == 1 && n_kw == 0)) {
nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Led accepts 1 argument"));
}
// get led number
machine_int_t led_id = mp_obj_get_int(args[0]) - 1;
// check led number
if (!(0 <= led_id && led_id < NUM_LEDS)) {
nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Led %d does not exist", led_id));
}
// return static led object
return (mp_obj_t)&pyb_led_obj[led_id];
}
mp_obj_t led_obj_on(mp_obj_t self_in) {
pyb_led_obj_t *self = self_in;
led_state(self->led_id, 1);
@ -232,18 +264,10 @@ STATIC const mp_method_t led_methods[] = {
{ NULL, NULL },
};
STATIC const mp_obj_type_t led_obj_type = {
const mp_obj_type_t pyb_led_type = {
{ &mp_type_type },
.name = MP_QSTR_Led,
.print = led_obj_print,
.make_new = led_obj_make_new,
.methods = led_methods,
};
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);
return o;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_Led_obj, pyb_Led);

2
stmhal/led.h
View File

@ -21,4 +21,4 @@ void led_state(pyb_led_t led, int state);
void led_toggle(pyb_led_t led);
void led_debug(int value, int delay);
MP_DECLARE_CONST_FUN_OBJ(pyb_Led_obj);
extern const mp_obj_type_t pyb_led_type;

6
stmhal/pybmodule.c
View File

@ -242,7 +242,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
#if MICROPY_HW_ENABLE_SERVO
{ MP_OBJ_NEW_QSTR(MP_QSTR_pwm), (mp_obj_t)&pyb_pwm_set_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_servo), (mp_obj_t)&pyb_servo_set_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_Servo), (mp_obj_t)&pyb_Servo_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_Servo), (mp_obj_t)&pyb_servo_type },
#endif
#if MICROPY_HW_HAS_SWITCH
@ -254,13 +254,13 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
#endif
#if MICROPY_HW_HAS_MMA7660
{ MP_OBJ_NEW_QSTR(MP_QSTR_Accel), (mp_obj_t)&pyb_Accel_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_Accel), (mp_obj_t)&pyb_accel_type },
#endif
#if 0
{ MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj },
#endif
{ MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_Led_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_led_type },
#if 0
{ MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_I2C_obj },
#endif

55
stmhal/servo.c
View File

@ -148,12 +148,35 @@ STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) {
MP_DEFINE_CONST_FUN_OBJ_2(pyb_pwm_set_obj, pyb_pwm_set);
STATIC void servo_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
STATIC void pyb_servo_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_servo_obj_t *self = self_in;
print(env, "<Servo %lu at %lu>", self->servo_id, self->pulse_cur);
}
STATIC mp_obj_t servo_obj_angle(uint n_args, const mp_obj_t *args) {
STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
if (!(n_args == 1 && n_kw == 0)) {
nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "Servo accepts 1 argument"));
}
// get servo number
machine_int_t servo_id = mp_obj_get_int(args[0]) - 1;
// check servo number
if (!(0 <= servo_id && servo_id < PYB_SERVO_NUM)) {
nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id));
}
// get and init servo object
pyb_servo_obj_t *s = &pyb_servo_obj[servo_id];
s->pulse_dest = s->pulse_cur;
s->time_left = 0;
servo_init_channel(s);
return s;
}
STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) {
pyb_servo_obj_t *self = args[0];
if (n_args == 1) {
// get angle
@ -180,31 +203,17 @@ STATIC mp_obj_t servo_obj_angle(uint n_args, const mp_obj_t *args) {
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_angle_obj, 1, 3, servo_obj_angle);
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_angle_obj, 1, 3, pyb_servo_angle);
STATIC const mp_method_t servo_methods[] = {
{ "angle", &servo_obj_angle_obj },
STATIC const mp_method_t pyb_servo_methods[] = {
{ "angle", &pyb_servo_angle_obj },
{ NULL, NULL },
};
STATIC const mp_obj_type_t servo_obj_type = {
const mp_obj_type_t pyb_servo_type = {
{ &mp_type_type },
.name = MP_QSTR_Servo,
.print = servo_obj_print,
.methods = servo_methods,
.print = pyb_servo_print,
.make_new = pyb_servo_make_new,
.methods = pyb_servo_methods,
};
STATIC mp_obj_t pyb_Servo(mp_obj_t servo_id_o) {
machine_int_t servo_id = mp_obj_get_int(servo_id_o) - 1;
if (0 <= servo_id && servo_id < PYB_SERVO_NUM) {
pyb_servo_obj_t *s = &pyb_servo_obj[servo_id];
s->pulse_dest = s->pulse_cur;
s->time_left = 0;
servo_init_channel(s);
return s;
} else {
nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id));
}
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_Servo_obj, pyb_Servo);

3
stmhal/servo.h
View File

@ -3,6 +3,7 @@ extern TIM_HandleTypeDef TIM2_Handle;
void servo_init(void);
void servo_timer_irq_callback(void);
extern const mp_obj_type_t pyb_servo_type;
MP_DECLARE_CONST_FUN_OBJ(pyb_servo_set_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_pwm_set_obj);
MP_DECLARE_CONST_FUN_OBJ(pyb_Servo_obj);

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