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LibrePilot/flight/Libraries/PyMite/lib/avr.py

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# This file is Copyright 2007, 2009, 2010 Dean Hall.
#
# This file is part of the Python-on-a-Chip program.
# Python-on-a-Chip is free software: you can redistribute it and/or modify
# it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1.
#
# Python-on-a-Chip is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
# A copy of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1
# is seen in the file COPYING in this directory.
## @file
# @copybrief avr
## @package avr
# @brief AVR Access Module
#
# Provides generic access to the AVR microcontroller
#
# Note that to save RAM when the module is imported, many of the
# port & ddr methods below are commented out. Uncomment and recompile
# in order to use!
#
# <b>USAGE</b>
#
# \code
# import avr
# avr.ddrA(0) # Set all pins as input
# a = avr.portA()
# avr.ddrA(0xFF) # Set all pins as output
# avr.portA(42)
#
# avr.delay(500) # Half second pause
#
# if avr.digitalRead('A', 3):
# avr.digitalWrite('D', 0, True)
# \endcode
"""__NATIVE__
#include <avr/io.h>
#include <util/delay.h>
/*
* Common method for all port register operations
*/
PmReturn_t
_portX(volatile uint8_t *port,
volatile uint8_t *direction,
volatile uint8_t *pin)
{
pPmObj_t pa;
PmReturn_t retval = PM_RET_OK;
switch (NATIVE_GET_NUM_ARGS())
{
/* If no argument is present, return PIN reg value */
case 0:
/* Read port and create a Python integer from its value */
retval = int_new(*pin, &pa);
/* Return the integer on the stack */
NATIVE_SET_TOS(pa);
break;
/* If one argument is present, set port to that value */
case 1:
pa = NATIVE_GET_LOCAL(0);
/* If the arg is not an integer, raise TypeError */
if (OBJ_GET_TYPE(pa) != OBJ_TYPE_INT)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
break;
}
NATIVE_SET_TOS(PM_NONE);
/* Set PORT to the low byte of the integer value */
*port = ((pPmInt_t)pa)->val;
break;
/* If an invalid number of args are present, raise TypeError */
default:
PM_RAISE(retval, PM_RET_EX_TYPE);
break;
}
return retval;
}
/*
* Set a DDR register to the first Python argument
*/
PmReturn_t _ddrX(volatile uint8_t *direction)
{
PmReturn_t retval = PM_RET_OK;
pPmObj_t pa;
if(NATIVE_GET_NUM_ARGS() != 1)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
pa = NATIVE_GET_LOCAL(0);
if (OBJ_GET_TYPE(pa) != OBJ_TYPE_INT)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
*direction = (uint8_t) ((pPmInt_t)pa)->val;
NATIVE_SET_TOS(PM_NONE);
return retval;
}
/*
* Loads the correct AVR port registers & direction address from the first
* Python argument, and integer pin number (0-7) from second argument.
* Port name argument is expected to be a single-character string with the port
* letter ([a-dA-D])
*
* Both port_reg & port_reg arguments are optional.
*
* TODO: Look into putting this into a table in PROGMEM instead of a switch
* statement
*/
PmReturn_t _get_port_register(volatile uint8_t **pin_reg,
volatile uint8_t **port_reg,
volatile uint8_t **direction,
uint8_t *pin)
{
pPmObj_t pa;
pPmObj_t pb;
PmReturn_t retval = PM_RET_OK;
pa = NATIVE_GET_LOCAL(0);
if (OBJ_GET_TYPE(pa) != OBJ_TYPE_STR)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
pb = NATIVE_GET_LOCAL(1);
if (OBJ_GET_TYPE(pb) != OBJ_TYPE_INT)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
// Only single-character strings for the port number
if ((((pPmString_t)pa)->length) != 1)
{
PM_RAISE(retval, PM_RET_EX_VAL);
return retval;
}
// Find port & direction regs (TODO: Possibly make a PROGMEM lookup table)
switch(((pPmString_t)pa)->val[0])
{
case 'a':
case 'A':
if(port_reg) *port_reg = &PORTA;
if(pin_reg) *pin_reg = &PINA;
*direction = &DDRA;
break;
case 'b':
case 'B':
if(port_reg) *port_reg = &PORTB;
if(pin_reg) *pin_reg = &PINB;
*direction = &DDRB;
break;
case 'c':
case 'C':
#if defined(PORTC) && defined(PINC) && defined(DDRC)
if(port_reg) *port_reg = &PORTC;
if(pin_reg) *pin_reg = &PINC;
*direction = &DDRC;
#endif
break;
case 'd':
case 'D':
#if defined(PORTD) && defined(PIND) && defined(DDRD)
if(port_reg) *port_reg = &PORTD;
if(pin_reg) *pin_reg = &PIND;
*direction = &DDRD;
#endif
break;
case 'e':
case 'E':
#if defined(PORTE) && defined(PINE) && defined(DDRE)
if(port_reg) *port_reg = &PORTE;
if(pin_reg) *pin_reg = &PINE;
*direction = &DDRE;
#endif
break;
case 'f':
case 'F':
#if defined(PORTF) && defined(PINF) && defined(DDRF)
if(port_reg) *port_reg = &PORTF;
if(pin_reg) *pin_reg = &PINF;
*direction = &DDRF;
#endif
break;
default:
PM_RAISE(retval, PM_RET_EX_VAL);
return retval;
}
// Check pin is in range
if(((pPmInt_t)pb)->val < 0 || ((pPmInt_t)pb)->val > 7)
{
PM_RAISE(retval, PM_RET_EX_VAL);
return retval;
}
*pin = ((pPmInt_t)pb)->val;
return retval;
}
"""
# Port methods are commented out by default because of the amount of RAM
# used when the module is loaded. Uncomment the ones you need...
def portA(a):
"""__NATIVE__
return _portX(&PORTA, &DDRA, &PINA);
"""
pass
# def portB(a):
# """__NATIVE__
# return _portX(&PORTB, &DDRB, &PINB);
# """
# pass
# def portC(a):
# """__NATIVE__
# return _portX(&PORTC, &DDRC, &PINC);
# """
# pass
# def portD(a):
# """__NATIVE__
# return _portX(&PORTD, &DDRD, &PIND);
# """
# pass
# def portE(a):
# """__NATIVE__
# return _portX(&PORTE, &DDRE, &PINE);
# """
# pass
# def portF(a):
# """__NATIVE__
# return _portX(&PORTF, &DDRF, &PINF);
# """
# pass
def ddrA(a):
"""__NATIVE__
return _ddrX(&DDRA);
"""
pass
# def ddrB(a):
# """__NATIVE__
# return _ddrX(&DDRB);
# """
# pass
# def ddrC(a):
# """__NATIVE__
# return _ddrX(&DDRC);
# """
# pass
# def ddrD(a):
# """__NATIVE__
# return _ddrX(&DDRD);
# """
# pass
# def ddrE(a):
# """__NATIVE__
# return _ddrX(&DDRE);
# """
# pass
# def ddrF(a):
# """__NATIVE__
# return _ddrX(&DDRF);
# """
# pass
# Reads a single pin of a particular AVR port
#
# Port is specified as a single-character string, A-F.
# Pin is specified as an integer, 0-7
#
# Return value is boolean True/False, can be treated as 1/0
def digitalRead(port, pin):
"""__NATIVE__
volatile uint8_t *port;
volatile uint8_t *direction;
uint8_t pin;
PmReturn_t retval = PM_RET_OK;
if(NATIVE_GET_NUM_ARGS() != 2)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
retval = _get_port_register(&port, NULL, &direction, &pin);
if(retval != PM_RET_OK)
return retval;
*direction &= ~(1<<pin); // Set pin to input
pPmObj_t pa = (*port & (1<<pin)) ? PM_TRUE : PM_FALSE;
NATIVE_SET_TOS(pa); // Push our result object onto the stack
return retval;
"""
pass
# Writes a single pin of a particular AVR port
#
# Port is specified as a single-character string, A-F.
# Pin is specified as an integer, 0-7
# Value is either boolean True/False or Integer 0 or non-zero.
#
def digitalWrite(port, pin, value):
"""__NATIVE__
volatile uint8_t *port;
volatile uint8_t *direction;
uint8_t pin;
pPmObj_t pc;
PmReturn_t retval = PM_RET_OK;
NATIVE_SET_TOS(PM_NONE);
if(NATIVE_GET_NUM_ARGS() != 3)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
retval = _get_port_register(NULL, &port, &direction, &pin);
if(retval != PM_RET_OK)
return retval;
pc = NATIVE_GET_LOCAL(2);
/* If the arg is not an integer, raise TypeError */
if (OBJ_GET_TYPE(pc) != OBJ_TYPE_INT && OBJ_GET_TYPE(pc) != OBJ_TYPE_BOOL)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
*direction |= (1<<pin); // Set pin to output
if(((pPmInt_t)pc)->val)
*port |= 1<<pin;
else
*port &= ~(1<<pin);
return retval;
"""
pass
def delay(ms):
"""__NATIVE__
PmReturn_t retval = PM_RET_OK;
if(NATIVE_GET_NUM_ARGS() != 1)
{
PM_RAISE(retval, PM_RET_EX_TYPE);
return retval;
}
pPmObj_t pa = NATIVE_GET_LOCAL(0);
if (OBJ_GET_TYPE(pa) == OBJ_TYPE_INT)
{
_delay_ms((double) ((pPmInt_t)pa)->val);
}
else if (OBJ_GET_TYPE(pa) == OBJ_TYPE_FLT)
{
_delay_ms((double) ((pPmFloat_t)pa)->val);
}
else
{
PM_RAISE(retval, PM_RET_EX_TYPE);
}
NATIVE_SET_TOS(PM_NONE);
return retval;
"""
pass
# :mode=c:
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