void store()
{
exti_disable();
left_count(425);
backward_count(1000);
put_down();
up();
backward_count(300);
right_count(425);
forward_count(900);
right_count(850);
exti_init();
}
static mp_obj_t exti_obj_disable(mp_obj_t self_in) {
exti_obj_t *self = self_in;
exti_disable(self->line);
return mp_const_none;
}
// NOTE: param is for C callers. Python can use closure to get an object bound
// with the function.
uint exti_register(mp_obj_t pin_obj, mp_obj_t mode_obj, mp_obj_t trigger_obj, mp_obj_t callback_obj, void *param) {
const pin_obj_t *pin = NULL;
uint v_line;
if (MP_OBJ_IS_INT(pin_obj)) {
// If an integer is passed in, then use it to identify lines 16 thru 22
// We expect lines 0 thru 15 to be passed in as a pin, so that we can
// get both the port number and line number.
v_line = mp_obj_get_int(pin_obj);
if (v_line < 16) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "EXTI vector %d < 16, use a Pin object", v_line));
}
if (v_line >= EXTI_NUM_VECTORS) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "EXTI vector %d >= max of %d", v_line, EXTI_NUM_VECTORS));
}
} else {
pin = pin_map_user_obj(pin_obj);
v_line = pin->pin;
}
int mode = mp_obj_get_int(mode_obj);
if (!IS_EXTI_MODE(mode)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid EXTI Mode: %d", mode));
}
int trigger = mp_obj_get_int(trigger_obj);
if (!IS_EXTI_TRIGGER(trigger)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Invalid EXTI Trigger: %d", trigger));
}
exti_vector_t *v = &exti_vector[v_line];
if (v->callback_obj != mp_const_none && callback_obj != mp_const_none) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "EXTI vector %d is already in use", v_line));
}
// We need to update callback and param atomically, so we disable the line
// before we update anything.
exti_disable(v_line);
if (pin && callback_obj) {
// Enable SYSCFG clock
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
// For EXTI lines 0 thru 15, we need to configure which port controls
// the line.
SYSCFG_EXTILineConfig(pin->port, v_line);
}
v->callback_obj = callback_obj;
v->param = param;
v->mode = mode;
if (v->callback_obj != mp_const_none) {
// The EXTI_Init function isn't atomic. It uses |= and &=.
// We use bit band operations to make it atomic.
EXTI_EDGE_BB(EXTI_Trigger_Rising, v_line) =
trigger == EXTI_Trigger_Rising || trigger == EXTI_Trigger_Rising_Falling;
EXTI_EDGE_BB(EXTI_Trigger_Falling, v_line) =
trigger == EXTI_Trigger_Falling || trigger == EXTI_Trigger_Rising_Falling;
exti_enable(v_line);
/* Enable and set NVIC Interrupt to the lowest priority */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = nvic_irq_channel[v_line];
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
return v_line;
}
