// assumes Init parameters have been set up correctly
STATIC bool can_init(pyb_can_obj_t *can_obj) {
CAN_TypeDef *CANx = NULL;
uint32_t sce_irq = 0;
const pin_obj_t *pins[2];
switch (can_obj->can_id) {
#if defined(MICROPY_HW_CAN1_TX)
case PYB_CAN_1:
CANx = CAN1;
sce_irq = CAN1_SCE_IRQn;
pins[0] = MICROPY_HW_CAN1_TX;
pins[1] = MICROPY_HW_CAN1_RX;
__CAN1_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_CAN2_TX)
case PYB_CAN_2:
CANx = CAN2;
sce_irq = CAN2_SCE_IRQn;
pins[0] = MICROPY_HW_CAN2_TX;
pins[1] = MICROPY_HW_CAN2_RX;
__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
__CAN2_CLK_ENABLE();
break;
#endif
default:
return false;
}
// init GPIO
uint32_t mode = MP_HAL_PIN_MODE_ALT;
uint32_t pull = MP_HAL_PIN_PULL_UP;
for (int i = 0; i < 2; i++) {
if (!mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_CAN, can_obj->can_id)) {
return false;
}
}
// init CANx
can_obj->can.Instance = CANx;
HAL_CAN_Init(&can_obj->can);
can_obj->is_enabled = true;
can_obj->num_error_warning = 0;
can_obj->num_error_passive = 0;
can_obj->num_bus_off = 0;
__HAL_CAN_ENABLE_IT(&can_obj->can, CAN_IT_ERR | CAN_IT_BOF | CAN_IT_EPV | CAN_IT_EWG);
HAL_NVIC_SetPriority(sce_irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN);
HAL_NVIC_EnableIRQ(sce_irq);
return true;
}
void sdcard_init(void) {
// invalidate the sd_handle
sd_handle.Instance = NULL;
// configure SD GPIO
// we do this here an not in HAL_SD_MspInit because it apparently
// makes it more robust to have the pins always pulled high
// Note: the mp_hal_pin_config function will configure the GPIO in
// fast mode which can do up to 50MHz. This should be plenty for SDIO
// which clocks up to 25MHz maximum.
#if defined(MICROPY_HW_SDMMC2_CK)
// Use SDMMC2 peripheral with pins provided by the board's config
mp_hal_pin_config_alt(MICROPY_HW_SDMMC2_CK, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, AF_FN_SDMMC, 2);
mp_hal_pin_config_alt(MICROPY_HW_SDMMC2_CMD, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, AF_FN_SDMMC, 2);
mp_hal_pin_config_alt(MICROPY_HW_SDMMC2_D0, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, AF_FN_SDMMC, 2);
mp_hal_pin_config_alt(MICROPY_HW_SDMMC2_D1, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, AF_FN_SDMMC, 2);
mp_hal_pin_config_alt(MICROPY_HW_SDMMC2_D2, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, AF_FN_SDMMC, 2);
mp_hal_pin_config_alt(MICROPY_HW_SDMMC2_D3, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, AF_FN_SDMMC, 2);
#else
// Default SDIO/SDMMC1 config
mp_hal_pin_config(MICROPY_HW_SDMMC_D0, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, GPIO_AF12_SDIO);
mp_hal_pin_config(MICROPY_HW_SDMMC_D1, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, GPIO_AF12_SDIO);
mp_hal_pin_config(MICROPY_HW_SDMMC_D2, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, GPIO_AF12_SDIO);
mp_hal_pin_config(MICROPY_HW_SDMMC_D3, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, GPIO_AF12_SDIO);
mp_hal_pin_config(MICROPY_HW_SDMMC_CK, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, GPIO_AF12_SDIO);
mp_hal_pin_config(MICROPY_HW_SDMMC_CMD, MP_HAL_PIN_MODE_ALT, MP_HAL_PIN_PULL_UP, GPIO_AF12_SDIO);
#endif
// configure the SD card detect pin
// we do this here so we can detect if the SD card is inserted before powering it on
mp_hal_pin_config(MICROPY_HW_SDCARD_DETECT_PIN, MP_HAL_PIN_MODE_INPUT, MICROPY_HW_SDCARD_DETECT_PULL, 0);
}
void i2c_init(I2C_HandleTypeDef *i2c) {
int i2c_unit;
const pin_obj_t *scl_pin;
const pin_obj_t *sda_pin;
if (0) {
#if defined(MICROPY_HW_I2C1_SCL)
} else if (i2c == &I2CHandle1) {
i2c_unit = 1;
scl_pin = &MICROPY_HW_I2C1_SCL;
sda_pin = &MICROPY_HW_I2C1_SDA;
__I2C1_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_I2C2_SCL)
} else if (i2c == &I2CHandle2) {
i2c_unit = 2;
scl_pin = &MICROPY_HW_I2C2_SCL;
sda_pin = &MICROPY_HW_I2C2_SDA;
__I2C2_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_I2C3_SCL)
} else if (i2c == &I2CHandle3) {
i2c_unit = 3;
scl_pin = &MICROPY_HW_I2C3_SCL;
sda_pin = &MICROPY_HW_I2C3_SDA;
__I2C3_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_I2C4_SCL)
} else if (i2c == &I2CHandle4) {
i2c_unit = 4;
scl_pin = &MICROPY_HW_I2C4_SCL;
sda_pin = &MICROPY_HW_I2C4_SDA;
__I2C3_CLK_ENABLE();
#endif
} else {
// I2C does not exist for this board (shouldn't get here, should be checked by caller)
return;
}
// init the GPIO lines
uint32_t mode = MP_HAL_PIN_MODE_ALT_OPEN_DRAIN;
uint32_t pull = MP_HAL_PIN_PULL_NONE; // have external pull-up resistors on both lines
mp_hal_pin_config_alt(scl_pin, mode, pull, AF_FN_I2C, i2c_unit);
mp_hal_pin_config_alt(sda_pin, mode, pull, AF_FN_I2C, i2c_unit);
// init the I2C device
if (HAL_I2C_Init(i2c) != HAL_OK) {
// init error
// TODO should raise an exception, but this function is not necessarily going to be
// called via Python, so may not be properly wrapped in an NLR handler
printf("OSError: HAL_I2C_Init failed\n");
return;
}
// invalidate the DMA channels so they are initialised on first use
const pyb_i2c_obj_t *self = &pyb_i2c_obj[i2c_unit - 1];
dma_invalidate_channel(self->tx_dma_descr);
dma_invalidate_channel(self->rx_dma_descr);
if (0) {
#if defined(MICROPY_HW_I2C1_SCL)
} else if (i2c->Instance == I2C1) {
HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
HAL_NVIC_EnableIRQ(I2C1_ER_IRQn);
#endif
#if defined(MICROPY_HW_I2C2_SCL)
} else if (i2c->Instance == I2C2) {
HAL_NVIC_EnableIRQ(I2C2_EV_IRQn);
HAL_NVIC_EnableIRQ(I2C2_ER_IRQn);
#endif
#if defined(MICROPY_HW_I2C3_SCL)
} else if (i2c->Instance == I2C3) {
HAL_NVIC_EnableIRQ(I2C3_EV_IRQn);
HAL_NVIC_EnableIRQ(I2C3_ER_IRQn);
#endif
#if defined(MICROPY_HW_I2C4_SCL)
} else if (i2c->Instance == I2C4) {
HAL_NVIC_EnableIRQ(I2C4_EV_IRQn);
HAL_NVIC_EnableIRQ(I2C4_ER_IRQn);
#endif
}
}
// assumes Init parameters have been set up correctly
STATIC bool uart_init2(pyb_uart_obj_t *uart_obj) {
USART_TypeDef *UARTx;
IRQn_Type irqn;
int uart_unit;
const pin_obj_t *pins[4] = {0};
switch (uart_obj->uart_id) {
#if defined(MICROPY_HW_UART1_TX) && defined(MICROPY_HW_UART1_RX)
case PYB_UART_1:
uart_unit = 1;
UARTx = USART1;
irqn = USART1_IRQn;
pins[0] = &MICROPY_HW_UART1_TX;
pins[1] = &MICROPY_HW_UART1_RX;
__USART1_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART2_TX) && defined(MICROPY_HW_UART2_RX)
case PYB_UART_2:
uart_unit = 2;
UARTx = USART2;
irqn = USART2_IRQn;
pins[0] = &MICROPY_HW_UART2_TX;
pins[1] = &MICROPY_HW_UART2_RX;
#if defined(MICROPY_HW_UART2_RTS)
if (uart_obj->uart.Init.HwFlowCtl & UART_HWCONTROL_RTS) {
pins[2] = &MICROPY_HW_UART2_RTS;
}
#endif
#if defined(MICROPY_HW_UART2_CTS)
if (uart_obj->uart.Init.HwFlowCtl & UART_HWCONTROL_CTS) {
pins[3] = &MICROPY_HW_UART2_CTS;
}
#endif
__USART2_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART3_TX) && defined(MICROPY_HW_UART3_RX)
case PYB_UART_3:
uart_unit = 3;
UARTx = USART3;
irqn = USART3_IRQn;
pins[0] = &MICROPY_HW_UART3_TX;
pins[1] = &MICROPY_HW_UART3_RX;
#if defined(MICROPY_HW_UART3_RTS)
if (uart_obj->uart.Init.HwFlowCtl & UART_HWCONTROL_RTS) {
pins[2] = &MICROPY_HW_UART3_RTS;
}
#endif
#if defined(MICROPY_HW_UART3_CTS)
if (uart_obj->uart.Init.HwFlowCtl & UART_HWCONTROL_CTS) {
pins[3] = &MICROPY_HW_UART3_CTS;
}
#endif
__USART3_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART4_TX) && defined(MICROPY_HW_UART4_RX)
case PYB_UART_4:
uart_unit = 4;
UARTx = UART4;
irqn = UART4_IRQn;
pins[0] = &MICROPY_HW_UART4_TX;
pins[1] = &MICROPY_HW_UART4_RX;
__UART4_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART5_TX) && defined(MICROPY_HW_UART5_RX)
case PYB_UART_5:
uart_unit = 5;
UARTx = UART5;
irqn = UART5_IRQn;
pins[0] = &MICROPY_HW_UART5_TX;
pins[1] = &MICROPY_HW_UART5_RX;
__UART5_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART6_TX) && defined(MICROPY_HW_UART6_RX)
case PYB_UART_6:
uart_unit = 6;
UARTx = USART6;
irqn = USART6_IRQn;
pins[0] = &MICROPY_HW_UART6_TX;
pins[1] = &MICROPY_HW_UART6_RX;
#if defined(MICROPY_HW_UART6_RTS)
if (uart_obj->uart.Init.HwFlowCtl & UART_HWCONTROL_RTS) {
pins[2] = &MICROPY_HW_UART6_RTS;
}
#endif
#if defined(MICROPY_HW_UART6_CTS)
if (uart_obj->uart.Init.HwFlowCtl & UART_HWCONTROL_CTS) {
pins[3] = &MICROPY_HW_UART6_CTS;
}
#endif
__USART6_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART7_TX) && defined(MICROPY_HW_UART7_RX)
case PYB_UART_7:
uart_unit = 7;
UARTx = UART7;
irqn = UART7_IRQn;
pins[0] = &MICROPY_HW_UART7_TX;
pins[1] = &MICROPY_HW_UART7_RX;
__UART7_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART8_TX) && defined(MICROPY_HW_UART8_RX)
case PYB_UART_8:
uart_unit = 8;
UARTx = UART8;
irqn = UART8_IRQn;
pins[0] = &MICROPY_HW_UART8_TX;
pins[1] = &MICROPY_HW_UART8_RX;
__UART8_CLK_ENABLE();
break;
#endif
default:
// UART does not exist or is not configured for this board
return false;
}
uint32_t mode = MP_HAL_PIN_MODE_ALT;
uint32_t pull = MP_HAL_PIN_PULL_UP;
for (uint i = 0; i < 4; i++) {
if (pins[i] != NULL) {
bool ret = mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_UART, uart_unit);
if (!ret) {
return false;
}
}
}
uart_obj->irqn = irqn;
uart_obj->uart.Instance = UARTx;
// init UARTx
HAL_UART_Init(&uart_obj->uart);
uart_obj->is_enabled = true;
return true;
}
// assumes Init parameters have been set up correctly
bool uart_init(pyb_uart_obj_t *uart_obj,
uint32_t baudrate, uint32_t bits, uint32_t parity, uint32_t stop, uint32_t flow) {
USART_TypeDef *UARTx;
IRQn_Type irqn;
int uart_unit;
const pin_obj_t *pins[4] = {0};
switch (uart_obj->uart_id) {
#if defined(MICROPY_HW_UART1_TX) && defined(MICROPY_HW_UART1_RX)
case PYB_UART_1:
uart_unit = 1;
UARTx = USART1;
irqn = USART1_IRQn;
pins[0] = MICROPY_HW_UART1_TX;
pins[1] = MICROPY_HW_UART1_RX;
__HAL_RCC_USART1_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART2_TX) && defined(MICROPY_HW_UART2_RX)
case PYB_UART_2:
uart_unit = 2;
UARTx = USART2;
irqn = USART2_IRQn;
pins[0] = MICROPY_HW_UART2_TX;
pins[1] = MICROPY_HW_UART2_RX;
#if defined(MICROPY_HW_UART2_RTS)
if (flow & UART_HWCONTROL_RTS) {
pins[2] = MICROPY_HW_UART2_RTS;
}
#endif
#if defined(MICROPY_HW_UART2_CTS)
if (flow & UART_HWCONTROL_CTS) {
pins[3] = MICROPY_HW_UART2_CTS;
}
#endif
__HAL_RCC_USART2_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART3_TX) && defined(MICROPY_HW_UART3_RX)
case PYB_UART_3:
uart_unit = 3;
UARTx = USART3;
#if defined(STM32F0)
irqn = USART3_8_IRQn;
#else
irqn = USART3_IRQn;
#endif
pins[0] = MICROPY_HW_UART3_TX;
pins[1] = MICROPY_HW_UART3_RX;
#if defined(MICROPY_HW_UART3_RTS)
if (flow & UART_HWCONTROL_RTS) {
pins[2] = MICROPY_HW_UART3_RTS;
}
#endif
#if defined(MICROPY_HW_UART3_CTS)
if (flow & UART_HWCONTROL_CTS) {
pins[3] = MICROPY_HW_UART3_CTS;
}
#endif
__HAL_RCC_USART3_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART4_TX) && defined(MICROPY_HW_UART4_RX)
case PYB_UART_4:
uart_unit = 4;
#if defined(STM32F0)
UARTx = USART4;
irqn = USART3_8_IRQn;
__HAL_RCC_USART4_CLK_ENABLE();
#else
UARTx = UART4;
irqn = UART4_IRQn;
__HAL_RCC_UART4_CLK_ENABLE();
#endif
pins[0] = MICROPY_HW_UART4_TX;
pins[1] = MICROPY_HW_UART4_RX;
break;
#endif
#if defined(MICROPY_HW_UART5_TX) && defined(MICROPY_HW_UART5_RX)
case PYB_UART_5:
uart_unit = 5;
#if defined(STM32F0)
UARTx = USART5;
irqn = USART3_8_IRQn;
__HAL_RCC_USART5_CLK_ENABLE();
#else
UARTx = UART5;
irqn = UART5_IRQn;
__HAL_RCC_UART5_CLK_ENABLE();
#endif
pins[0] = MICROPY_HW_UART5_TX;
pins[1] = MICROPY_HW_UART5_RX;
break;
#endif
#if defined(MICROPY_HW_UART6_TX) && defined(MICROPY_HW_UART6_RX)
case PYB_UART_6:
uart_unit = 6;
UARTx = USART6;
#if defined(STM32F0)
irqn = USART3_8_IRQn;
#else
irqn = USART6_IRQn;
#endif
pins[0] = MICROPY_HW_UART6_TX;
pins[1] = MICROPY_HW_UART6_RX;
#if defined(MICROPY_HW_UART6_RTS)
if (flow & UART_HWCONTROL_RTS) {
pins[2] = MICROPY_HW_UART6_RTS;
}
#endif
#if defined(MICROPY_HW_UART6_CTS)
if (flow & UART_HWCONTROL_CTS) {
pins[3] = MICROPY_HW_UART6_CTS;
}
#endif
__HAL_RCC_USART6_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_UART7_TX) && defined(MICROPY_HW_UART7_RX)
case PYB_UART_7:
uart_unit = 7;
#if defined(STM32F0)
UARTx = USART7;
irqn = USART3_8_IRQn;
__HAL_RCC_USART7_CLK_ENABLE();
#else
UARTx = UART7;
irqn = UART7_IRQn;
__HAL_RCC_UART7_CLK_ENABLE();
#endif
pins[0] = MICROPY_HW_UART7_TX;
pins[1] = MICROPY_HW_UART7_RX;
break;
#endif
#if defined(MICROPY_HW_UART8_TX) && defined(MICROPY_HW_UART8_RX)
case PYB_UART_8:
uart_unit = 8;
#if defined(STM32F0)
UARTx = USART8;
irqn = USART3_8_IRQn;
__HAL_RCC_USART8_CLK_ENABLE();
#else
UARTx = UART8;
irqn = UART8_IRQn;
__HAL_RCC_UART8_CLK_ENABLE();
#endif
pins[0] = MICROPY_HW_UART8_TX;
pins[1] = MICROPY_HW_UART8_RX;
break;
#endif
#if defined(MICROPY_HW_UART9_TX) && defined(MICROPY_HW_UART9_RX)
case PYB_UART_9:
uart_unit = 9;
UARTx = UART9;
irqn = UART9_IRQn;
__HAL_RCC_UART9_CLK_ENABLE();
pins[0] = MICROPY_HW_UART9_TX;
pins[1] = MICROPY_HW_UART9_RX;
break;
#endif
#if defined(MICROPY_HW_UART10_TX) && defined(MICROPY_HW_UART10_RX)
case PYB_UART_10:
uart_unit = 10;
UARTx = UART10;
irqn = UART10_IRQn;
__HAL_RCC_UART10_CLK_ENABLE();
pins[0] = MICROPY_HW_UART10_TX;
pins[1] = MICROPY_HW_UART10_RX;
break;
#endif
default:
// UART does not exist or is not configured for this board
return false;
}
uint32_t mode = MP_HAL_PIN_MODE_ALT;
uint32_t pull = MP_HAL_PIN_PULL_UP;
for (uint i = 0; i < 4; i++) {
if (pins[i] != NULL) {
bool ret = mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_UART, uart_unit);
if (!ret) {
return false;
}
}
}
uart_obj->uartx = UARTx;
// init UARTx
UART_HandleTypeDef huart;
memset(&huart, 0, sizeof(huart));
huart.Instance = UARTx;
huart.Init.BaudRate = baudrate;
huart.Init.WordLength = bits;
huart.Init.StopBits = stop;
huart.Init.Parity = parity;
huart.Init.Mode = UART_MODE_TX_RX;
huart.Init.HwFlowCtl = flow;
huart.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart);
// Disable all individual UART IRQs, but enable the global handler
uart_obj->uartx->CR1 &= ~USART_CR1_IE_ALL;
uart_obj->uartx->CR2 &= ~USART_CR2_IE_ALL;
uart_obj->uartx->CR3 &= ~USART_CR3_IE_ALL;
NVIC_SetPriority(IRQn_NONNEG(irqn), IRQ_PRI_UART);
HAL_NVIC_EnableIRQ(irqn);
uart_obj->is_enabled = true;
uart_obj->attached_to_repl = false;
if (bits == UART_WORDLENGTH_9B && parity == UART_PARITY_NONE) {
uart_obj->char_mask = 0x1ff;
uart_obj->char_width = CHAR_WIDTH_9BIT;
} else {
if (bits == UART_WORDLENGTH_9B || parity == UART_PARITY_NONE) {
uart_obj->char_mask = 0xff;
} else {
uart_obj->char_mask = 0x7f;
}
uart_obj->char_width = CHAR_WIDTH_8BIT;
}
uart_obj->mp_irq_trigger = 0;
uart_obj->mp_irq_obj = NULL;
return true;
}
