Daniel Campora
10 years ago
16 changed files with 946 additions and 31 deletions
@ -0,0 +1,834 @@ |
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/*
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* This file is part of the Micro Python project, http://micropython.org/
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* |
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* The MIT License (MIT) |
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* |
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* Copyright (c) 2013, 2014 Damien P. George |
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* Copyright (c) 2015 Daniel Campora |
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* |
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* Permission is hereby granted, free of charge, to any person obtaining a copy |
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* of this software and associated documentation files (the "Software"), to deal |
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* in the Software without restriction, including without limitation the rights |
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the Software is |
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* furnished to do so, subject to the following conditions: |
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* |
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* The above copyright notice and this permission notice shall be included in |
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* all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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* THE SOFTWARE. |
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*/ |
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#include <stdint.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include "py/mpconfig.h" |
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#include MICROPY_HAL_H |
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#include "py/obj.h" |
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#include "py/nlr.h" |
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#include "py/runtime.h" |
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#include "py/gc.h" |
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#include "inc/hw_types.h" |
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#include "inc/hw_ints.h" |
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#include "inc/hw_memmap.h" |
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#include "inc/hw_timer.h" |
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#include "rom_map.h" |
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#include "interrupt.h" |
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#include "prcm.h" |
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#include "timer.h" |
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#include "pybtimer.h" |
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#include "pybsleep.h" |
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#include "mpcallback.h" |
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#include "mpexception.h" |
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/// \moduleref pyb
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/// \class Timer - generate periodic events, count events, and create PWM signals.
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///
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/// Each timer consists of a counter that counts up at a certain rate. The rate
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/// at which it counts is the peripheral clock frequency (in Hz) divided by the
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/// timer prescaler. When the counter reaches the timer period it triggers an
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/// event, and the counter resets back to zero. By using the callback method,
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/// the timer event can call a Python function.
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///
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/// Example usage to toggle an LED at a fixed frequency:
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///
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/// tim = pyb.Timer(3) # create a timer object using timer 4
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/// tim.init(mode=Timer.PERIODIC) # initialize it in periodic mode
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/// tim_ch = tim.channel(Timer.A, freq=2) # configure channel A at a frequency of 2Hz
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/// tim_ch.callback(handler=lambda t:led.toggle()) # toggle a led on every cycle of the timer
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///
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/// Further examples:
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///
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/// tim1 = pyb.Timer(2, mode=Timer.EVENT_COUNT) # initialize it capture mode
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/// tim2 = pyb.Timer(0, mode=Timer.PWM) # initialize it in PWM mode
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/// tim_ch = tim1.channel(Timer.A, freq=1, polarity=Timer.POSITIVE) # start the PWM on channel B with a 50% duty cycle
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/// tim_ch = tim2.channel(Timer.B, freq=10000, duty_cycle=50) # start the event counter with a frequency of 1Hz and triggered by positive edges
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/// tim_ch.time() # get the current time in usec (can also be set)
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/// tim_ch.freq(20) # set the frequency (can also get)
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/// tim_ch.duty_cycle(30) # set the duty cycle to 30% (can also get)
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/// tim_ch.duty_cycle(30, Timer.NEGATIVE) # set the duty cycle to 30% and change the polarity to negative
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/// tim_ch.event_count() # get the number of captured events
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/// tim_ch.event_time() # get the the time of the last captured event
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///
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/******************************************************************************
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DECLARE PRIVATE CONSTANTS |
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******************************************************************************/ |
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#define PYBTIMER_NUM_TIMERS (4) |
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#define PYBTIMER_POLARITY_POS (0x01) |
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#define PYBTIMER_POLARITY_NEG (0x02) |
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#define PYBTIMER_SRC_FREQ_HZ HAL_FCPU_HZ |
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/******************************************************************************
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DEFINE PRIVATE TYPES |
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******************************************************************************/ |
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typedef struct _pyb_timer_obj_t { |
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mp_obj_base_t base; |
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uint32_t timer; |
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uint32_t config; |
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uint16_t intflags; |
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uint8_t peripheral; |
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uint8_t id; |
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} pyb_timer_obj_t; |
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typedef struct _pyb_timer_channel_obj_t { |
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mp_obj_base_t base; |
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struct _pyb_timer_obj_t *timer; |
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uint32_t frequency; |
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uint16_t channel; |
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uint8_t polarity; |
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uint8_t duty_cycle; |
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} pyb_timer_channel_obj_t; |
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/******************************************************************************
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DEFINE PRIVATE DATA |
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******************************************************************************/ |
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STATIC const mp_cb_methods_t pyb_timer_channel_cb_methods; |
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STATIC pyb_timer_obj_t pyb_timer_obj[PYBTIMER_NUM_TIMERS] = {{.timer = TIMERA0_BASE, .peripheral = PRCM_TIMERA0}, |
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{.timer = TIMERA1_BASE, .peripheral = PRCM_TIMERA1}, |
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{.timer = TIMERA2_BASE, .peripheral = PRCM_TIMERA2}, |
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{.timer = TIMERA3_BASE, .peripheral = PRCM_TIMERA3}}; |
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STATIC const mp_obj_type_t pyb_timer_channel_type; |
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/******************************************************************************
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DECLARE PRIVATE FUNCTIONS |
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******************************************************************************/ |
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STATIC mp_obj_t pyb_timer_channel_callback (mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args); |
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STATIC void timer_disable (pyb_timer_obj_t *tim); |
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STATIC void TIMER0AIntHandler(void); |
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STATIC void TIMER0BIntHandler(void); |
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STATIC void TIMER1AIntHandler(void); |
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STATIC void TIMER1BIntHandler(void); |
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STATIC void TIMER2AIntHandler(void); |
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STATIC void TIMER2BIntHandler(void); |
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STATIC void TIMER3AIntHandler(void); |
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STATIC void TIMER3BIntHandler(void); |
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/******************************************************************************
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DEFINE PUBLIC FUNCTIONS |
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******************************************************************************/ |
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void timer_init0 (void) { |
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mp_obj_list_init(&MP_STATE_PORT(pyb_timer_channel_obj_list), 0); |
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} |
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void timer_disable_all (void) { |
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pyb_timer_obj_t timer = { |
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.timer = TIMERA0_BASE, |
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.intflags = TIMER_CAPB_EVENT | TIMER_CAPB_MATCH | |
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TIMER_TIMB_TIMEOUT | TIMER_CAPA_EVENT | |
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TIMER_CAPA_MATCH | TIMER_TIMA_TIMEOUT, |
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.peripheral = PRCM_TIMERA0 |
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}; |
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for (uint32_t i = 0; i < PYBTIMER_NUM_TIMERS; i++) { |
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// in case it's not clocked
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MAP_PRCMPeripheralClkEnable(timer.peripheral, PRCM_RUN_MODE_CLK | PRCM_SLP_MODE_CLK); |
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timer_disable(&timer); |
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// timer base offset according to hw_memmap.h
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timer.timer += 0x1000; |
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// peripheral offset according to prcm.h
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timer.peripheral++; |
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} |
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} |
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void pyb_timer_channel_callback_enable (mp_obj_t self_in) { |
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pyb_timer_channel_obj_t *self = self_in; |
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MAP_TimerIntClear(self->timer->timer, self->timer->intflags & self->channel); |
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MAP_TimerIntEnable(self->timer->timer, self->timer->intflags & self->channel); |
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} |
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void pyb_timer_channel_callback_disable (mp_obj_t self_in) { |
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pyb_timer_channel_obj_t *self = self_in; |
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MAP_TimerIntDisable(self->timer->timer, self->timer->intflags & self->channel); |
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} |
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pyb_timer_channel_obj_t *pyb_timer_channel_find (uint32_t timer, uint16_t channel_n) { |
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for (mp_uint_t i = 0; i < MP_STATE_PORT(pyb_timer_channel_obj_list).len; i++) { |
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pyb_timer_channel_obj_t *ch = ((pyb_timer_channel_obj_t *)(MP_STATE_PORT(pyb_timer_channel_obj_list).items[i])); |
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// any 32-bit timer must be matched by any of its 16-bit versions
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if (ch->timer->timer == timer && ((ch->channel & TIMER_A) == channel_n || (ch->channel & TIMER_B) == channel_n)) { |
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return ch; |
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} |
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} |
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return MP_OBJ_NULL; |
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} |
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void pyb_timer_channel_remove (pyb_timer_channel_obj_t *ch) { |
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pyb_timer_channel_obj_t *channel; |
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if ((channel = pyb_timer_channel_find(ch->timer->timer, ch->channel))) { |
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mp_obj_list_remove(&MP_STATE_PORT(pyb_timer_channel_obj_list), channel); |
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} |
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} |
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void pyb_timer_channel_add (pyb_timer_channel_obj_t *ch) { |
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// remove it in case it already exists
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pyb_timer_channel_remove(ch); |
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mp_obj_list_append(&MP_STATE_PORT(pyb_timer_channel_obj_list), ch); |
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} |
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STATIC void timer_disable (pyb_timer_obj_t *tim) { |
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// disable all timers and it's interrupts
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MAP_TimerDisable(tim->timer, TIMER_A | TIMER_B); |
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MAP_TimerIntDisable(tim->timer, tim->intflags); |
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MAP_TimerIntClear(tim->timer, tim->intflags); |
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MAP_PRCMPeripheralClkDisable(tim->peripheral, PRCM_RUN_MODE_CLK | PRCM_SLP_MODE_CLK); |
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memset(&pyb_timer_obj[tim->id], 0, sizeof(pyb_timer_obj_t)); |
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} |
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// computes prescaler period and match value so timer triggers at freq-Hz
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STATIC uint32_t compute_prescaler_period_and_match_value(pyb_timer_channel_obj_t *ch, uint32_t *period_out, uint32_t *match_out) { |
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uint32_t maxcount = (ch->channel == (TIMER_A | TIMER_B)) ? 0xFFFFFFFF : 0xFFFF; |
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uint32_t prescaler; |
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uint32_t period = PYBTIMER_SRC_FREQ_HZ / ch->frequency; |
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period = MAX(1, period) - 1; |
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prescaler = period >> 16; |
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*period_out = period; |
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if (prescaler > 0xFF && maxcount == 0xFFFF) { |
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goto error; |
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} |
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// check limit values for the duty cycle
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if (ch->duty_cycle == 0) { |
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*match_out = period - 1; |
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} |
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else { |
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*match_out = period - ((period * ch->duty_cycle) / 100); |
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} |
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if ((ch->timer->config & 0x0F) == TIMER_CFG_A_PWM && (*match_out > 0xFFFF)) { |
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goto error; |
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} |
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return prescaler; |
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error: |
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nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, mpexception_value_invalid_arguments)); |
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} |
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STATIC void timer_init (pyb_timer_obj_t *tim) { |
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MAP_PRCMPeripheralClkEnable(tim->peripheral, PRCM_RUN_MODE_CLK | PRCM_SLP_MODE_CLK); |
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MAP_PRCMPeripheralReset(tim->peripheral); |
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MAP_TimerConfigure(tim->timer, tim->config); |
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} |
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STATIC void timer_channel_init (pyb_timer_channel_obj_t *ch) { |
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// calculate the period, the prescaler and the match value
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uint32_t period; |
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uint32_t match; |
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uint32_t prescaler = compute_prescaler_period_and_match_value(ch, &period, &match); |
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// set the prescaler
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MAP_TimerPrescaleSet(ch->timer->timer, ch->channel, (prescaler < 0xFF) ? prescaler : 0); |
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// set the load value
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MAP_TimerLoadSet(ch->timer->timer, ch->channel, period); |
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// configure the pwm if we are in such mode
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if ((ch->timer->config & 0x0F) == TIMER_CFG_A_PWM) { |
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// invert the timer output if required
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MAP_TimerControlLevel(ch->timer->timer, ch->channel, (ch->polarity == PYBTIMER_POLARITY_NEG) ? true : false); |
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// set the match value (which is simply the duty cycle translated to ticks)
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MAP_TimerMatchSet(ch->timer->timer, ch->channel, match); |
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} |
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// configure the event edge type if we are in such mode
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else if ((ch->timer->config & 0x0F) == TIMER_CFG_A_CAP_COUNT || (ch->timer->config & 0x0F) == TIMER_CFG_A_CAP_TIME) { |
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uint32_t polarity = TIMER_EVENT_BOTH_EDGES; |
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if (ch->polarity == PYBTIMER_POLARITY_POS) { |
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polarity = TIMER_EVENT_POS_EDGE; |
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} |
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else if (ch->polarity == PYBTIMER_POLARITY_NEG) { |
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polarity = TIMER_EVENT_NEG_EDGE; |
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} |
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MAP_TimerControlEvent(ch->timer->timer, ch->channel, polarity); |
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} |
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#ifdef DEBUG |
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// stall the timer when the processor is halted while debugging
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MAP_TimerControlStall(ch->timer->timer, ch->channel, true); |
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#endif |
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// now enable the timer channel
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MAP_TimerEnable(ch->timer->timer, ch->channel); |
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} |
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/******************************************************************************/ |
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/* Micro Python bindings */ |
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STATIC void pyb_timer_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { |
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pyb_timer_obj_t *tim = self_in; |
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uint32_t mode = tim->config & 0xFF; |
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// timer mode
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qstr mode_qst = MP_QSTR_PWM; |
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switch(mode) { |
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case TIMER_CFG_A_ONE_SHOT: |
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mode_qst = MP_QSTR_ONE_SHOT; |
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break; |
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case TIMER_CFG_A_PERIODIC: |
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mode_qst = MP_QSTR_PERIODIC; |
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break; |
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case TIMER_CFG_A_CAP_COUNT: |
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mode_qst = MP_QSTR_EDGE_COUNT; |
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break; |
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case TIMER_CFG_A_CAP_TIME: |
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mode_qst = MP_QSTR_EDGE_TIME; |
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break; |
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default: |
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break; |
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} |
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mp_printf(print, "<Timer%u, mode=Timer.%q>", tim->id, mode_qst); |
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} |
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/// \method init(mode, *, width)
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/// Initialise the timer. Initialisation must give the desired mode
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/// and an optional timer width
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///
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/// tim.init(mode=Timer.PERIODIC) # configure in free running periodic mode
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/// tim.init(mode=Timer.ONE_SHOT, width=16) # one shot mode splitted into two 16-bit independent timers
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///
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/// Keyword arguments:
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///
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/// - `width` - specifies the width of the timer. Default is 32 bit mode. When in 16 bit mode
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/// the timer is splitted into 2 independent channels.
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///
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STATIC mp_obj_t pyb_timer_init_helper(pyb_timer_obj_t *tim, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
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static const mp_arg_t allowed_args[] = { |
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{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, }, |
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{ MP_QSTR_width, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 32} }, |
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}; |
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; |
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); |
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// check the mode
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uint32_t _mode = args[0].u_int; |
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if (_mode != TIMER_CFG_A_ONE_SHOT && _mode != TIMER_CFG_A_PERIODIC && _mode != TIMER_CFG_A_CAP_COUNT && |
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_mode != TIMER_CFG_A_CAP_TIME && _mode != TIMER_CFG_A_PWM) { |
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goto error; |
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} |
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// check the width
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if (args[1].u_int != 16 && args[1].u_int != 32) { |
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goto error; |
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} |
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bool is16bit = (args[1].u_int == 16); |
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if (!is16bit && (_mode != TIMER_CFG_A_ONE_SHOT && _mode != TIMER_CFG_A_PERIODIC)) { |
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// 32-bit mode is only available when in free running modes
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goto error; |
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} |
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tim->config = is16bit ? ((_mode | (_mode << 8)) | TIMER_CFG_SPLIT_PAIR) : _mode; |
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timer_init(tim); |
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// register it with the sleep module
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pybsleep_add ((const mp_obj_t)tim, (WakeUpCB_t)timer_channel_init); |
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return mp_const_none; |
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error: |
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nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, mpexception_value_invalid_arguments)); |
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} |
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/// \classmethod \constructor(id, ...)
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/// Construct a new timer object of the given id. If additional
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/// arguments are given, then the timer is initialised by `init(...)`.
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/// `id` can be 0 to 3
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STATIC mp_obj_t pyb_timer_make_new(mp_obj_t type_in, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args) { |
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// check arguments
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true); |
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// create a new Timer object
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uint32_t timer_idx = mp_obj_get_int(args[0]); |
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if (timer_idx < 0 || timer_idx > (PYBTIMER_NUM_TIMERS - 1)) { |
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nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, mpexception_os_resource_not_avaliable)); |
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} |
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pyb_timer_obj_t *tim = &pyb_timer_obj[timer_idx]; |
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tim->base.type = &pyb_timer_type; |
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tim->id = timer_idx; |
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if (n_args > 1 || n_kw > 0) { |
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// start the peripheral
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mp_map_t kw_args; |
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); |
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pyb_timer_init_helper(tim, n_args - 1, args + 1, &kw_args); |
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} |
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return (mp_obj_t)tim; |
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} |
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// \method init()
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/// initializes the timer
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STATIC mp_obj_t pyb_timer_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { |
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return pyb_timer_init_helper(args[0], n_args - 1, args + 1, kw_args); |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_init_obj, 1, pyb_timer_init); |
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// \method deinit()
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/// disables the timer
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STATIC mp_obj_t pyb_timer_deinit(mp_obj_t self_in) { |
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pyb_timer_obj_t *self = self_in; |
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timer_disable(self); |
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return mp_const_none; |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit); |
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/// \method channel(channel, *, freq, polarity, duty_cycle)
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/// Initialise the timer channel. Initialization requires at least a frequency param. With no
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/// extra params given besides the channel id, the channel is returned with the previous configuration
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/// os 'None', if it hasn't been initialized before.
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///
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/// tim1.channel(Timer.A, freq=1000) # set channel A frequency to 1KHz
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/// tim2.channel(Timer.AB, freq=10) # both channels (because it's a 32 bit timer) combined to create a 10Hz timer
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///
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/// when initialiazing the channel of a 32-bit timer, channel ID MUST be = Timer.AB
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///
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/// Keyword arguments:
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///
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/// - `freq` - specifies the frequency in Hz
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///
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/// - `polarity` - in PWM specifies the polarity of the pulse. In capture mode specifies the edge to capture.
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/// in order to capture on both negative and positive edges, make it = Timer.POSITIVE | Timer.NEGATIVE.
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///
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STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
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static const mp_arg_t allowed_args[] = { |
|||
{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, |
|||
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = PYBTIMER_POLARITY_POS} }, |
|||
{ MP_QSTR_duty_cycle, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, |
|||
}; |
|||
|
|||
pyb_timer_obj_t *tim = pos_args[0]; |
|||
mp_int_t channel_n = mp_obj_get_int(pos_args[1]); |
|||
|
|||
// verify that the timer has been already initialized
|
|||
if (!tim->config) { |
|||
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, mpexception_os_request_not_possible)); |
|||
} |
|||
|
|||
if (channel_n != TIMER_A && channel_n != TIMER_B && channel_n != (TIMER_A | TIMER_B)) { |
|||
// invalid channel
|
|||
goto error; |
|||
} |
|||
if (channel_n == (TIMER_A | TIMER_B) && (tim->config & TIMER_CFG_SPLIT_PAIR)) { |
|||
// 32-bit channel selected when the timer is in 16-bit mode
|
|||
goto error; |
|||
} |
|||
|
|||
// if only the channel number is given return the previously
|
|||
// allocated channel (or None if no previous channel)
|
|||
if (n_args == 2 && kw_args->used == 0) { |
|||
pyb_timer_channel_obj_t *ch; |
|||
if ((ch = pyb_timer_channel_find(tim->timer, channel_n))) { |
|||
return ch; |
|||
} |
|||
return mp_const_none; |
|||
} |
|||
|
|||
// parse the arguments
|
|||
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; |
|||
mp_arg_parse_all(n_args - 2, pos_args + 2, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); |
|||
|
|||
// check the frequency
|
|||
if (args[0].u_int <= 0) { |
|||
goto error; |
|||
} |
|||
// check that the polarity is not both in pwm mode
|
|||
if ((tim->config & TIMER_A) == TIMER_CFG_A_PWM && args[1].u_int == (PYBTIMER_POLARITY_POS | PYBTIMER_POLARITY_NEG)) { |
|||
goto error; |
|||
} |
|||
// check the range of the duty cycle
|
|||
if (args[2].u_int < 0 || args[2].u_int > 100) { |
|||
goto error; |
|||
} |
|||
|
|||
// allocate a new timer channel
|
|||
pyb_timer_channel_obj_t *ch = m_new_obj(pyb_timer_channel_obj_t); |
|||
ch->base.type = &pyb_timer_channel_type; |
|||
ch->timer = tim; |
|||
ch->channel = channel_n; |
|||
|
|||
// get the frequency the polarity and the duty cycle
|
|||
ch->frequency = args[0].u_int; |
|||
ch->polarity = args[1].u_int; |
|||
ch->duty_cycle = args[2].u_int; |
|||
|
|||
timer_channel_init(ch); |
|||
|
|||
// add the timer to the list
|
|||
pyb_timer_channel_add(ch); |
|||
|
|||
return ch; |
|||
|
|||
error: |
|||
nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, mpexception_value_invalid_arguments)); |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_channel_obj, 2, pyb_timer_channel); |
|||
|
|||
STATIC const mp_map_elem_t pyb_timer_locals_dict_table[] = { |
|||
// instance methods
|
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_timer_init_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_timer_deinit_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_channel), (mp_obj_t)&pyb_timer_channel_obj }, |
|||
|
|||
// class constants
|
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_A), MP_OBJ_NEW_SMALL_INT(TIMER_A) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_B), MP_OBJ_NEW_SMALL_INT(TIMER_B) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_AB), MP_OBJ_NEW_SMALL_INT(TIMER_A | TIMER_B) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_ONE_SHOT), MP_OBJ_NEW_SMALL_INT(TIMER_CFG_A_ONE_SHOT) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_PERIODIC), MP_OBJ_NEW_SMALL_INT(TIMER_CFG_A_PERIODIC) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_EDGE_COUNT), MP_OBJ_NEW_SMALL_INT(TIMER_CFG_A_CAP_COUNT) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_EDGE_TIME), MP_OBJ_NEW_SMALL_INT(TIMER_CFG_A_CAP_TIME) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_PWM), MP_OBJ_NEW_SMALL_INT(TIMER_CFG_A_PWM) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_POSITIVE), MP_OBJ_NEW_SMALL_INT(PYBTIMER_POLARITY_POS) }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_NEGATIVE), MP_OBJ_NEW_SMALL_INT(PYBTIMER_POLARITY_NEG) }, |
|||
}; |
|||
STATIC MP_DEFINE_CONST_DICT(pyb_timer_locals_dict, pyb_timer_locals_dict_table); |
|||
|
|||
const mp_obj_type_t pyb_timer_type = { |
|||
{ &mp_type_type }, |
|||
.name = MP_QSTR_Timer, |
|||
.print = pyb_timer_print, |
|||
.make_new = pyb_timer_make_new, |
|||
.locals_dict = (mp_obj_t)&pyb_timer_locals_dict, |
|||
}; |
|||
|
|||
STATIC const mp_cb_methods_t pyb_timer_channel_cb_methods = { |
|||
.init = pyb_timer_channel_callback, |
|||
.enable = pyb_timer_channel_callback_enable, |
|||
.disable = pyb_timer_channel_callback_disable, |
|||
}; |
|||
|
|||
STATIC void TIMERGenericIntHandler(uint32_t timer, uint16_t channel) { |
|||
pyb_timer_channel_obj_t *self; |
|||
uint32_t status; |
|||
|
|||
if ((self = pyb_timer_channel_find(timer, channel))) { |
|||
status = MAP_TimerIntStatus(self->timer->timer, true) & self->channel; |
|||
MAP_TimerIntClear(self->timer->timer, status); |
|||
mp_obj_t _callback = mpcallback_find(self); |
|||
mpcallback_handler(_callback); |
|||
} |
|||
} |
|||
|
|||
STATIC void TIMER0AIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA0_BASE, TIMER_A); |
|||
} |
|||
|
|||
STATIC void TIMER0BIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA0_BASE, TIMER_B); |
|||
} |
|||
|
|||
STATIC void TIMER1AIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA1_BASE, TIMER_A); |
|||
} |
|||
|
|||
STATIC void TIMER1BIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA1_BASE, TIMER_B); |
|||
} |
|||
|
|||
STATIC void TIMER2AIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA2_BASE, TIMER_A); |
|||
} |
|||
|
|||
STATIC void TIMER2BIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA2_BASE, TIMER_B); |
|||
} |
|||
|
|||
STATIC void TIMER3AIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA3_BASE, TIMER_A); |
|||
} |
|||
|
|||
STATIC void TIMER3BIntHandler(void) { |
|||
TIMERGenericIntHandler(TIMERA3_BASE, TIMER_B); |
|||
} |
|||
|
|||
STATIC void pyb_timer_channel_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { |
|||
pyb_timer_channel_obj_t *ch = self_in; |
|||
char *ch_id = "AB"; |
|||
// timer channel
|
|||
if (ch->channel == TIMER_A) { |
|||
ch_id = "A"; |
|||
} |
|||
else if (ch->channel == TIMER_B) { |
|||
ch_id = "B"; |
|||
} |
|||
|
|||
mp_printf(print, "<%q %s, timer=%u, %q=%u", MP_QSTR_TimerChannel, |
|||
ch_id, ch->timer->id, MP_QSTR_freq, ch->frequency); |
|||
|
|||
uint32_t mode = ch->timer->config & 0xFF; |
|||
if (mode == TIMER_CFG_A_CAP_COUNT || mode == TIMER_CFG_A_CAP_TIME || mode == TIMER_CFG_A_PWM) { |
|||
mp_printf(print, ", %q=Timer.", MP_QSTR_polarity); |
|||
switch (ch->polarity) { |
|||
case PYBTIMER_POLARITY_POS: |
|||
mp_printf(print, "POSITIVE"); |
|||
break; |
|||
case PYBTIMER_POLARITY_NEG: |
|||
mp_printf(print, "NEGATIVE"); |
|||
break; |
|||
default: |
|||
mp_printf(print, "BOTH"); |
|||
break; |
|||
} |
|||
if (mode == TIMER_CFG_A_PWM) { |
|||
mp_printf(print, ", %q=%u", MP_QSTR_duty_cycle, ch->duty_cycle); |
|||
} |
|||
} |
|||
mp_printf(print, ">"); |
|||
} |
|||
|
|||
/// \method freq([value])
|
|||
/// get or set the frequency of the timer channel
|
|||
STATIC mp_obj_t pyb_timer_channel_freq(mp_uint_t n_args, const mp_obj_t *args) { |
|||
pyb_timer_channel_obj_t *ch = args[0]; |
|||
if (n_args == 1) { |
|||
// get
|
|||
return mp_obj_new_int(ch->frequency); |
|||
} else { |
|||
// set
|
|||
ch->frequency = mp_obj_get_int(args[1]); |
|||
timer_channel_init(ch); |
|||
return mp_const_none; |
|||
} |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_freq_obj, 1, 2, pyb_timer_channel_freq); |
|||
|
|||
/// \method time([value])
|
|||
/// get or set the value of the timer channel in microseconds
|
|||
STATIC mp_obj_t pyb_timer_channel_time(mp_uint_t n_args, const mp_obj_t *args) { |
|||
pyb_timer_channel_obj_t *ch = args[0]; |
|||
uint32_t value; |
|||
// calculate the period, the prescaler and the match value
|
|||
uint32_t period; |
|||
uint32_t match; |
|||
(void)compute_prescaler_period_and_match_value(ch, &period, &match); |
|||
if (n_args == 1) { |
|||
// get
|
|||
value = (ch->channel == TIMER_B) ? HWREG(ch->timer->timer + TIMER_O_TBV) : HWREG(ch->timer->timer + TIMER_O_TAV); |
|||
// return the current timer value in microseconds
|
|||
// substract value to period since we are always operating in count-down mode
|
|||
uint32_t time_t = (1000 * (period - value)) / period; |
|||
return mp_obj_new_int((time_t * 1000) / ch->frequency); |
|||
} |
|||
else { |
|||
// set
|
|||
value = (mp_obj_get_int(args[1]) * ((ch->frequency * period) / 1000)) / 1000; |
|||
if ((value > 0xFFFF) && (ch->timer->config & TIMER_CFG_SPLIT_PAIR)) { |
|||
// this exceeds the maximum value of a 16-bit timer
|
|||
nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, mpexception_value_invalid_arguments)); |
|||
} |
|||
// write period minus value since we are always operating in count-down mode
|
|||
TimerValueSet (ch->timer->timer, ch->channel, (period - value)); |
|||
return mp_const_none; |
|||
} |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_time_obj, 1, 2, pyb_timer_channel_time); |
|||
|
|||
/// \method event_count()
|
|||
/// get the number of events triggered by the configured edge
|
|||
STATIC mp_obj_t pyb_timer_channel_event_count(mp_obj_t self_in) { |
|||
pyb_timer_channel_obj_t *ch = self_in; |
|||
return mp_obj_new_int(MAP_TimerValueGet(ch->timer->timer, ch->channel == (TIMER_A | TIMER_B) ? TIMER_A : ch->channel)); |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_channel_event_count_obj, pyb_timer_channel_event_count); |
|||
|
|||
/// \method event_time()
|
|||
/// get the time at which the last event was triggered
|
|||
STATIC mp_obj_t pyb_timer_channel_event_time(mp_obj_t self_in) { |
|||
pyb_timer_channel_obj_t *ch = self_in; |
|||
// calculate the period, the prescaler and the match value
|
|||
uint32_t period; |
|||
uint32_t match; |
|||
(void)compute_prescaler_period_and_match_value(ch, &period, &match); |
|||
uint32_t value = MAP_TimerValueGet(ch->timer->timer, ch->channel == (TIMER_A | TIMER_B) ? TIMER_A : ch->channel); |
|||
// substract value to period since we are always operating in count-down mode
|
|||
uint32_t time_t = (1000 * (period - value)) / period; |
|||
return mp_obj_new_int((time_t * 1000) / ch->frequency); |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_channel_event_time_obj, pyb_timer_channel_event_time); |
|||
|
|||
/// \method duty_cycle()
|
|||
/// get or set the duty cycle when in PWM mode
|
|||
STATIC mp_obj_t pyb_timer_channel_duty_cycle(mp_uint_t n_args, const mp_obj_t *args) { |
|||
pyb_timer_channel_obj_t *ch = args[0]; |
|||
if (n_args == 1) { |
|||
// get
|
|||
return mp_obj_new_int(ch->duty_cycle); |
|||
} |
|||
else { |
|||
// duty cycle must be converted from percentage to ticks
|
|||
// calculate the period, the prescaler and the match value
|
|||
uint32_t period; |
|||
uint32_t match; |
|||
ch->duty_cycle = mp_obj_get_int(args[1]); |
|||
compute_prescaler_period_and_match_value(ch, &period, &match); |
|||
if (n_args == 3) { |
|||
// set the new polarity if requested
|
|||
ch->polarity = mp_obj_get_int(args[2]); |
|||
MAP_TimerControlLevel(ch->timer->timer, ch->channel, (ch->polarity == PYBTIMER_POLARITY_NEG) ? true : false); |
|||
} |
|||
MAP_TimerMatchSet(ch->timer->timer, ch->channel, match); |
|||
return mp_const_none; |
|||
} |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_timer_channel_duty_cycle_obj, 1, 3, pyb_timer_channel_duty_cycle); |
|||
|
|||
/// \method callback(handler, value, priority)
|
|||
/// create a callback object associated with the timer channel
|
|||
STATIC mp_obj_t pyb_timer_channel_callback (mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
|||
mp_arg_val_t args[mpcallback_INIT_NUM_ARGS]; |
|||
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, mpcallback_INIT_NUM_ARGS, mpcallback_init_args, args); |
|||
|
|||
pyb_timer_channel_obj_t *ch = pos_args[0]; |
|||
mp_obj_t _callback = mpcallback_find(ch); |
|||
if (kw_args->used > 0 || !_callback) { |
|||
// convert the priority to the correct value
|
|||
uint priority = mpcallback_translate_priority (args[2].u_int); |
|||
|
|||
// validate the power mode
|
|||
uint pwrmode = args[4].u_int; |
|||
if (pwrmode != PYB_PWR_MODE_ACTIVE) { |
|||
goto invalid_args; |
|||
} |
|||
|
|||
// disable the callback first
|
|||
pyb_timer_channel_callback_disable(ch); |
|||
|
|||
uint32_t _config = (ch->channel == TIMER_B) ? ((ch->timer->config & TIMER_B) >> 8) : (ch->timer->config & TIMER_A); |
|||
uint8_t shift = (ch->channel == TIMER_B) ? 8 : 0; |
|||
switch (_config) { |
|||
case TIMER_CFG_A_ONE_SHOT: |
|||
case TIMER_CFG_A_PERIODIC: |
|||
ch->timer->intflags |= TIMER_TIMA_TIMEOUT << shift; |
|||
break; |
|||
case TIMER_CFG_A_CAP_COUNT: |
|||
ch->timer->intflags |= TIMER_CAPA_MATCH << shift; |
|||
break; |
|||
case TIMER_CFG_A_CAP_TIME: |
|||
ch->timer->intflags |= TIMER_CAPA_EVENT << shift; |
|||
break; |
|||
case TIMER_CFG_A_PWM: |
|||
// special case for the match interrupt
|
|||
ch->timer->intflags |= ((ch->channel & TIMER_A) == TIMER_A) ? TIMER_TIMA_MATCH : TIMER_TIMB_MATCH; |
|||
break; |
|||
default: |
|||
break; |
|||
} |
|||
if (ch->channel == (TIMER_A | TIMER_B)) { |
|||
// again a special case for the match interrupt
|
|||
if (_config == TIMER_CFG_A_PWM) { |
|||
ch->timer->intflags |= TIMER_TIMB_MATCH; |
|||
} else { |
|||
ch->timer->intflags |= (ch->timer->intflags << 8); |
|||
} |
|||
} |
|||
|
|||
void (*pfnHandler)(void); |
|||
uint32_t intregister; |
|||
switch (ch->timer->timer) { |
|||
case TIMERA0_BASE: |
|||
if (ch->channel == TIMER_B) { |
|||
pfnHandler = &TIMER0BIntHandler; |
|||
intregister = INT_TIMERA0B; |
|||
} else { |
|||
pfnHandler = &TIMER0AIntHandler; |
|||
intregister = INT_TIMERA0A; |
|||
} |
|||
break; |
|||
case TIMERA1_BASE: |
|||
if (ch->channel == TIMER_B) { |
|||
pfnHandler = &TIMER1BIntHandler; |
|||
intregister = INT_TIMERA1B; |
|||
} else { |
|||
pfnHandler = &TIMER1AIntHandler; |
|||
intregister = INT_TIMERA1A; |
|||
} |
|||
break; |
|||
case TIMERA2_BASE: |
|||
if (ch->channel == TIMER_B) { |
|||
pfnHandler = &TIMER2BIntHandler; |
|||
intregister = INT_TIMERA2B; |
|||
} else { |
|||
pfnHandler = &TIMER2AIntHandler; |
|||
intregister = INT_TIMERA2A; |
|||
} |
|||
break; |
|||
default: |
|||
if (ch->channel == TIMER_B) { |
|||
pfnHandler = &TIMER3BIntHandler; |
|||
intregister = INT_TIMERA3B; |
|||
} else { |
|||
pfnHandler = &TIMER3AIntHandler; |
|||
intregister = INT_TIMERA3A; |
|||
} |
|||
break; |
|||
} |
|||
|
|||
// register the interrupt and configure the priority
|
|||
MAP_IntPrioritySet(intregister, priority); |
|||
MAP_TimerIntRegister(ch->timer->timer, ch->channel, pfnHandler); |
|||
|
|||
// create the callback
|
|||
_callback = mpcallback_new (ch, args[1].u_obj, &pyb_timer_channel_cb_methods); |
|||
|
|||
// reload the timer
|
|||
uint32_t period; |
|||
uint32_t match; |
|||
compute_prescaler_period_and_match_value(ch, &period, &match); |
|||
MAP_TimerLoadSet(ch->timer->timer, ch->channel, period); |
|||
|
|||
// enable the callback before returning
|
|||
pyb_timer_channel_callback_enable(ch); |
|||
} |
|||
return _callback; |
|||
|
|||
invalid_args: |
|||
nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, mpexception_value_invalid_arguments)); |
|||
} |
|||
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_timer_channel_callback_obj, 1, pyb_timer_channel_callback); |
|||
|
|||
STATIC const mp_map_elem_t pyb_timer_channel_locals_dict_table[] = { |
|||
// instance methods
|
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_freq), (mp_obj_t)&pyb_timer_channel_freq_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_time), (mp_obj_t)&pyb_timer_channel_time_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_event_count), (mp_obj_t)&pyb_timer_channel_event_count_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_event_time), (mp_obj_t)&pyb_timer_channel_event_time_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_duty_cycle), (mp_obj_t)&pyb_timer_channel_duty_cycle_obj }, |
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_callback), (mp_obj_t)&pyb_timer_channel_callback_obj }, |
|||
}; |
|||
STATIC MP_DEFINE_CONST_DICT(pyb_timer_channel_locals_dict, pyb_timer_channel_locals_dict_table); |
|||
|
|||
STATIC const mp_obj_type_t pyb_timer_channel_type = { |
|||
{ &mp_type_type }, |
|||
.name = MP_QSTR_TimerChannel, |
|||
.print = pyb_timer_channel_print, |
|||
.locals_dict = (mp_obj_t)&pyb_timer_channel_locals_dict, |
|||
}; |
|||
|
|||
@ -0,0 +1,38 @@ |
|||
/*
|
|||
* This file is part of the Micro Python project, http://micropython.org/
|
|||
* |
|||
* The MIT License (MIT) |
|||
* |
|||
* Copyright (c) 2013, 2014 Damien P. George |
|||
* Copyright (c) 2015 Daniel Campora |
|||
* |
|||
* Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
* of this software and associated documentation files (the "Software"), to deal |
|||
* in the Software without restriction, including without limitation the rights |
|||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
* copies of the Software, and to permit persons to whom the Software is |
|||
* furnished to do so, subject to the following conditions: |
|||
* |
|||
* The above copyright notice and this permission notice shall be included in |
|||
* all copies or substantial portions of the Software. |
|||
* |
|||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
* THE SOFTWARE. |
|||
*/ |
|||
|
|||
/******************************************************************************
|
|||
DECLARE EXPORTED DATA |
|||
******************************************************************************/ |
|||
extern const mp_obj_type_t pyb_timer_type; |
|||
|
|||
/******************************************************************************
|
|||
DECLARE PUBLIC FUNCTIONS |
|||
******************************************************************************/ |
|||
void timer_init0 (void); |
|||
void timer_disable_all (void); |
|||
|
|||
Loading…
Reference in new issue