typehints/pyboard/pyb.pyi (912 lines of code) (raw):
"""
functions related to the board.
Descriptions taken from:
https://raw.githubusercontent.com/micropython/micropython/master/docs/library/pyb.rst.
=============================================
Hardware Note
-------------
The accelerometer uses I2C bus 1 to communicate with the processor. Consequently
when readings are being taken pins X9 and X10 should be unused (other than for
I2C). Other devices using those pins, and which therefore cannot be used
concurrently, are UART 1 and Timer 4 channels 1 and 2.
Hardware Note
-------------
On boards with external spiflash (e.g. Pyboard D), the MicroPython firmware will
be configured to use that as the primary flash storage. On all other boards, the
internal flash inside the :term:`MCU` will be used.
Flow Control
------------
On Pyboards V1 and V1.1 ``UART(2)`` and ``UART(3)`` support RTS/CTS hardware flow control
using the following pins:
- ``UART(2)`` is on: ``(TX, RX, nRTS, nCTS) = (X3, X4, X2, X1) = (PA2, PA3, PA1, PA0)``
- ``UART(3)`` is on :``(TX, RX, nRTS, nCTS) = (Y9, Y10, Y7, Y6) = (PB10, PB11, PB14, PB13)``
On the Pyboard Lite only ``UART(2)`` supports flow control on these pins:
``(TX, RX, nRTS, nCTS) = (X1, X2, X4, X3) = (PA2, PA3, PA1, PA0)``
In the following paragraphs the term "target" refers to the device connected to
the UART.
When the UART's ``init()`` method is called with ``flow`` set to one or both of
``UART.RTS`` and ``UART.CTS`` the relevant flow control pins are configured.
``nRTS`` is an active low output, ``nCTS`` is an active low input with pullup
enabled. To achieve flow control the Pyboard's ``nCTS`` signal should be connected
to the target's ``nRTS`` and the Pyboard's ``nRTS`` to the target's ``nCTS``.
CTS: target controls Pyboard transmitter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If CTS flow control is enabled the write behaviour is as follows:
If the Pyboard's ``UART.write(buf)`` method is called, transmission will stall for
any periods when ``nCTS`` is ``False``. This will result in a timeout if the entire
buffer was not transmitted in the timeout period. The method returns the number of
bytes written, enabling the user to write the remainder of the data if required. In
the event of a timeout, a character will remain in the UART pending ``nCTS``. The
number of bytes composing this character will be included in the return value.
If ``UART.writechar()`` is called when ``nCTS`` is ``False`` the method will time
out unless the target asserts ``nCTS`` in time. If it times out ``OSError 116``
will be raised. The character will be transmitted as soon as the target asserts ``nCTS``.
RTS: Pyboard controls target's transmitter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If RTS flow control is enabled, behaviour is as follows:
If buffered input is used (``read_buf_len`` > 0), incoming characters are buffered.
If the buffer becomes full, the next character to arrive will cause ``nRTS`` to go
``False``: the target should cease transmission. ``nRTS`` will go ``True`` when
characters are read from the buffer.
Note that the ``any()`` method returns the number of bytes in the buffer. Assume a
buffer length of ``N`` bytes. If the buffer becomes full, and another character arrives,
``nRTS`` will be set False, and ``any()`` will return the count ``N``. When
characters are read the additional character will be placed in the buffer and will
be included in the result of a subsequent ``any()`` call.
If buffered input is not used (``read_buf_len`` == 0) the arrival of a character will
cause ``nRTS`` to go ``False`` until the character is read.
"""
__author__ = "Howard C Lovatt"
__copyright__ = "Howard C Lovatt, 2020 onwards."
__license__ = "MIT https://opensource.org/licenses/MIT (as used by MicroPython)."
__version__ = "7.3.0" # Version set by https://github.com/hlovatt/tag2ver
from abc import ABC, abstractmethod
from typing import NoReturn, overload, Sequence, runtime_checkable, Protocol
from typing import Callable, Dict, Any, ClassVar, Final
from uarray import array
from uio import AnyReadableBuf, AnyWritableBuf
from uos import AbstractBlockDev
@runtime_checkable
class _OldAbstractReadOnlyBlockDev(Protocol):
"""
A `Protocol` (structurally typed) with the defs needed by
`mount` argument `device` for read-only devices.
"""
__slots__ = ()
@abstractmethod
def readblocks(self, blocknum: int, buf: bytearray, /) -> None: ...
@abstractmethod
def count(self) -> int: ...
@runtime_checkable
class _OldAbstractBlockDev(_OldAbstractReadOnlyBlockDev, Protocol):
"""
A `Protocol` (structurally typed) with the defs needed by
`mount` argument `device` for read-write devices.
"""
__slots__ = ()
@abstractmethod
def writeblocks(self, blocknum: int, buf: bytes | bytearray, /) -> None: ...
@abstractmethod
def sync(self) -> None: ...
hid_mouse: Final[tuple[int, int, int, int, bytes]] = ...
"""
Mouse human interface device (hid), see `hid` argument of `usb_mode`.
"""
hid_keyboard: Final[tuple[int, int, int, int, bytes]] = ...
"""
Keyboard human interface device (hid), see `hid` argument of `usb_mode`.
"""
@overload
def country() -> str:
"""Return the current ISO 3166-1, Alpha-2, country code, eg US, GB, DE, AU."""
@overload
def country(alpha_2_code: str) -> None:
"""Set the ISO 3166-1, Alpha-2, country code, eg US, GB, DE, AU."""
def delay(ms: int, /) -> None:
"""
Delay for the given number of milliseconds.
"""
def udelay(us: int, /) -> None:
"""
Delay for the given number of microseconds.
"""
def millis() -> int:
"""
Returns the number of milliseconds since the board was last reset.
The result is always a MicroPython smallint (31-bit signed number), so
after 2^30 milliseconds (about 12.4 days) this will start to return
negative numbers.
Note that if :meth:`pyb.stop()` is issued the hardware counter supporting this
function will pause for the duration of the "sleeping" state. This
will affect the outcome of :meth:`pyb.elapsed_millis()`.
"""
def micros() -> int:
"""
Returns the number of microseconds since the board was last reset.
The result is always a MicroPython smallint (31-bit signed number), so
after 2^30 microseconds (about 17.8 minutes) this will start to return
negative numbers.
Note that if :meth:`pyb.stop()` is issued the hardware counter supporting this
function will pause for the duration of the "sleeping" state. This
will affect the outcome of :meth:`pyb.elapsed_micros()`.
"""
def elapsed_millis(start: int, /) -> int:
"""
Returns the number of milliseconds which have elapsed since ``start``.
This function takes care of counter wrap, and always returns a positive
number. This means it can be used to measure periods up to about 12.4 days.
Example::
start = pyb.millis()
while pyb.elapsed_millis(start) < 1000:
# Perform some operation
"""
def elapsed_micros(start: int, /) -> int:
"""
Returns the number of microseconds which have elapsed since ``start``.
This function takes care of counter wrap, and always returns a positive
number. This means it can be used to measure periods up to about 17.8 minutes.
Example::
start = pyb.micros()
while pyb.elapsed_micros(start) < 1000:
# Perform some operation
pass
"""
def hard_reset() -> NoReturn:
"""
Resets the pyboard in a manner similar to pushing the external RESET
button.
"""
def bootloader() -> NoReturn:
"""
Activate the bootloader without BOOT\* pins.
"""
def fault_debug(value: bool = False) -> None:
"""
Enable or disable hard-fault debugging. A hard-fault is when there is a fatal
error in the underlying system, like an invalid memory access.
If the *value* argument is ``False`` then the board will automatically reset if
there is a hard fault.
If *value* is ``True`` then, when the board has a hard fault, it will print the
registers and the stack trace, and then cycle the LEDs indefinitely.
The default value is disabled, i.e. to automatically reset.
"""
def disable_irq() -> bool:
"""
Disable interrupt requests.
Returns the previous IRQ state: ``False``/``True`` for disabled/enabled IRQs
respectively. This return value can be passed to enable_irq to restore
the IRQ to its original state.
"""
def enable_irq(state: bool = True, /) -> None:
"""
Enable interrupt requests.
If ``state`` is ``True`` (the default value) then IRQs are enabled.
If ``state`` is ``False`` then IRQs are disabled. The most common use of
this function is to pass it the value returned by ``disable_irq`` to
exit a critical section.
"""
@overload
def freq() -> tuple[int, int, int, int]:
"""
If given no arguments, returns a tuple of clock frequencies:
(sysclk, hclk, pclk1, pclk2).
These correspond to:
- sysclk: frequency of the CPU
- hclk: frequency of the AHB bus, core memory and DMA
- pclk1: frequency of the APB1 bus
- pclk2: frequency of the APB2 bus
If given any arguments then the function sets the frequency of the CPU,
and the buses if additional arguments are given. Frequencies are given in
Hz. Eg freq(120000000) sets sysclk (the CPU frequency) to 120MHz. Note that
not all values are supported and the largest supported frequency not greater
than the given value will be selected.
Supported sysclk frequencies are (in MHz): 8, 16, 24, 30, 32, 36, 40, 42, 48,
54, 56, 60, 64, 72, 84, 96, 108, 120, 144, 168.
The maximum frequency of hclk is 168MHz, of pclk1 is 42MHz, and of pclk2 is
84MHz. Be sure not to set frequencies above these values.
The hclk, pclk1 and pclk2 frequencies are derived from the sysclk frequency
using a prescaler (divider). Supported prescalers for hclk are: 1, 2, 4, 8,
16, 64, 128, 256, 512. Supported prescalers for pclk1 and pclk2 are: 1, 2,
4, 8. A prescaler will be chosen to best match the requested frequency.
A sysclk frequency of
8MHz uses the HSE (external crystal) directly and 16MHz uses the HSI
(internal oscillator) directly. The higher frequencies use the HSE to
drive the PLL (phase locked loop), and then use the output of the PLL.
Note that if you change the frequency while the USB is enabled then
the USB may become unreliable. It is best to change the frequency
in boot.py, before the USB peripheral is started. Also note that sysclk
frequencies below 36MHz do not allow the USB to function correctly.
"""
@overload
def freq(sysclk: int, /) -> None:
"""
If given no arguments, returns a tuple of clock frequencies:
(sysclk, hclk, pclk1, pclk2).
These correspond to:
- sysclk: frequency of the CPU
- hclk: frequency of the AHB bus, core memory and DMA
- pclk1: frequency of the APB1 bus
- pclk2: frequency of the APB2 bus
If given any arguments then the function sets the frequency of the CPU,
and the buses if additional arguments are given. Frequencies are given in
Hz. Eg freq(120000000) sets sysclk (the CPU frequency) to 120MHz. Note that
not all values are supported and the largest supported frequency not greater
than the given value will be selected.
Supported sysclk frequencies are (in MHz): 8, 16, 24, 30, 32, 36, 40, 42, 48,
54, 56, 60, 64, 72, 84, 96, 108, 120, 144, 168.
The maximum frequency of hclk is 168MHz, of pclk1 is 42MHz, and of pclk2 is
84MHz. Be sure not to set frequencies above these values.
The hclk, pclk1 and pclk2 frequencies are derived from the sysclk frequency
using a prescaler (divider). Supported prescalers for hclk are: 1, 2, 4, 8,
16, 64, 128, 256, 512. Supported prescalers for pclk1 and pclk2 are: 1, 2,
4, 8. A prescaler will be chosen to best match the requested frequency.
A sysclk frequency of
8MHz uses the HSE (external crystal) directly and 16MHz uses the HSI
(internal oscillator) directly. The higher frequencies use the HSE to
drive the PLL (phase locked loop), and then use the output of the PLL.
Note that if you change the frequency while the USB is enabled then
the USB may become unreliable. It is best to change the frequency
in boot.py, before the USB peripheral is started. Also note that sysclk
frequencies below 36MHz do not allow the USB to function correctly.
"""
@overload
def freq(sysclk: int, hclk: int, /) -> None:
"""
If given no arguments, returns a tuple of clock frequencies:
(sysclk, hclk, pclk1, pclk2).
These correspond to:
- sysclk: frequency of the CPU
- hclk: frequency of the AHB bus, core memory and DMA
- pclk1: frequency of the APB1 bus
- pclk2: frequency of the APB2 bus
If given any arguments then the function sets the frequency of the CPU,
and the buses if additional arguments are given. Frequencies are given in
Hz. Eg freq(120000000) sets sysclk (the CPU frequency) to 120MHz. Note that
not all values are supported and the largest supported frequency not greater
than the given value will be selected.
Supported sysclk frequencies are (in MHz): 8, 16, 24, 30, 32, 36, 40, 42, 48,
54, 56, 60, 64, 72, 84, 96, 108, 120, 144, 168.
The maximum frequency of hclk is 168MHz, of pclk1 is 42MHz, and of pclk2 is
84MHz. Be sure not to set frequencies above these values.
The hclk, pclk1 and pclk2 frequencies are derived from the sysclk frequency
using a prescaler (divider). Supported prescalers for hclk are: 1, 2, 4, 8,
16, 64, 128, 256, 512. Supported prescalers for pclk1 and pclk2 are: 1, 2,
4, 8. A prescaler will be chosen to best match the requested frequency.
A sysclk frequency of
8MHz uses the HSE (external crystal) directly and 16MHz uses the HSI
(internal oscillator) directly. The higher frequencies use the HSE to
drive the PLL (phase locked loop), and then use the output of the PLL.
Note that if you change the frequency while the USB is enabled then
the USB may become unreliable. It is best to change the frequency
in boot.py, before the USB peripheral is started. Also note that sysclk
frequencies below 36MHz do not allow the USB to function correctly.
"""
@overload
def freq(sysclk: int, hclk: int, pclk1: int, /) -> None:
"""
If given no arguments, returns a tuple of clock frequencies:
(sysclk, hclk, pclk1, pclk2).
These correspond to:
- sysclk: frequency of the CPU
- hclk: frequency of the AHB bus, core memory and DMA
- pclk1: frequency of the APB1 bus
- pclk2: frequency of the APB2 bus
If given any arguments then the function sets the frequency of the CPU,
and the buses if additional arguments are given. Frequencies are given in
Hz. Eg freq(120000000) sets sysclk (the CPU frequency) to 120MHz. Note that
not all values are supported and the largest supported frequency not greater
than the given value will be selected.
Supported sysclk frequencies are (in MHz): 8, 16, 24, 30, 32, 36, 40, 42, 48,
54, 56, 60, 64, 72, 84, 96, 108, 120, 144, 168.
The maximum frequency of hclk is 168MHz, of pclk1 is 42MHz, and of pclk2 is
84MHz. Be sure not to set frequencies above these values.
The hclk, pclk1 and pclk2 frequencies are derived from the sysclk frequency
using a prescaler (divider). Supported prescalers for hclk are: 1, 2, 4, 8,
16, 64, 128, 256, 512. Supported prescalers for pclk1 and pclk2 are: 1, 2,
4, 8. A prescaler will be chosen to best match the requested frequency.
A sysclk frequency of
8MHz uses the HSE (external crystal) directly and 16MHz uses the HSI
(internal oscillator) directly. The higher frequencies use the HSE to
drive the PLL (phase locked loop), and then use the output of the PLL.
Note that if you change the frequency while the USB is enabled then
the USB may become unreliable. It is best to change the frequency
in boot.py, before the USB peripheral is started. Also note that sysclk
frequencies below 36MHz do not allow the USB to function correctly.
"""
@overload
def freq(sysclk: int, hclk: int, pclk1: int, pclk2: int, /) -> None:
"""
If given no arguments, returns a tuple of clock frequencies:
(sysclk, hclk, pclk1, pclk2).
These correspond to:
- sysclk: frequency of the CPU
- hclk: frequency of the AHB bus, core memory and DMA
- pclk1: frequency of the APB1 bus
- pclk2: frequency of the APB2 bus
If given any arguments then the function sets the frequency of the CPU,
and the buses if additional arguments are given. Frequencies are given in
Hz. Eg freq(120000000) sets sysclk (the CPU frequency) to 120MHz. Note that
not all values are supported and the largest supported frequency not greater
than the given value will be selected.
Supported sysclk frequencies are (in MHz): 8, 16, 24, 30, 32, 36, 40, 42, 48,
54, 56, 60, 64, 72, 84, 96, 108, 120, 144, 168.
The maximum frequency of hclk is 168MHz, of pclk1 is 42MHz, and of pclk2 is
84MHz. Be sure not to set frequencies above these values.
The hclk, pclk1 and pclk2 frequencies are derived from the sysclk frequency
using a prescaler (divider). Supported prescalers for hclk are: 1, 2, 4, 8,
16, 64, 128, 256, 512. Supported prescalers for pclk1 and pclk2 are: 1, 2,
4, 8. A prescaler will be chosen to best match the requested frequency.
A sysclk frequency of
8MHz uses the HSE (external crystal) directly and 16MHz uses the HSI
(internal oscillator) directly. The higher frequencies use the HSE to
drive the PLL (phase locked loop), and then use the output of the PLL.
Note that if you change the frequency while the USB is enabled then
the USB may become unreliable. It is best to change the frequency
in boot.py, before the USB peripheral is started. Also note that sysclk
frequencies below 36MHz do not allow the USB to function correctly.
"""
def wfi() -> None:
"""
Wait for an internal or external interrupt.
This executes a ``wfi`` instruction which reduces power consumption
of the MCU until any interrupt occurs (be it internal or external),
at which point execution continues. Note that the system-tick interrupt
occurs once every millisecond (1000Hz) so this function will block for
at most 1ms.
"""
def stop() -> None:
"""
Put the pyboard in a "sleeping" state.
This reduces power consumption to less than 500 uA. To wake from this
sleep state requires an external interrupt or a real-time-clock event.
Upon waking execution continues where it left off.
See :meth:`rtc.wakeup` to configure a real-time-clock wakeup event.
"""
def standby() -> None:
"""
Put the pyboard into a "deep sleep" state.
This reduces power consumption to less than 50 uA. To wake from this
sleep state requires a real-time-clock event, or an external interrupt
on X1 (PA0=WKUP) or X18 (PC13=TAMP1).
Upon waking the system undergoes a hard reset.
See :meth:`rtc.wakeup` to configure a real-time-clock wakeup event.
"""
def have_cdc() -> bool:
"""
Return True if USB is connected as a serial device, False otherwise.
.. note:: This function is deprecated. Use pyb.USB_VCP().isconnected() instead.
"""
@overload
def hid(data: tuple[int, int, int, int], /) -> None:
"""
Takes a 4-tuple (or list) and sends it to the USB host (the PC) to
signal a HID mouse-motion event.
.. note:: This function is deprecated. Use :meth:`pyb.USB_HID.send()` instead.
"""
@overload
def hid(data: Sequence[int], /) -> None:
"""
Takes a 4-tuple (or list) and sends it to the USB host (the PC) to
signal a HID mouse-motion event.
.. note:: This function is deprecated. Use :meth:`pyb.USB_HID.send()` instead.
"""
@overload
def info() -> None:
"""
Print out lots of information about the board.
"""
@overload
def info(dump_alloc_table: bytes, /) -> None:
"""
Print out lots of information about the board.
"""
def main(filename: str, /) -> None:
"""
Set the filename of the main script to run after boot.py is finished. If
this function is not called then the default file main.py will be executed.
It only makes sense to call this function from within boot.py.
"""
@overload
def mount(
device: _OldAbstractReadOnlyBlockDev,
mountpoint: str,
/,
*,
readonly: bool = False,
mkfs: bool = False,
) -> None:
"""
.. note:: This function is deprecated. Mounting and unmounting devices should
be performed by :meth:`os.mount` and :meth:`os.umount` instead.
Mount a block device and make it available as part of the filesystem.
``device`` must be an object that provides the block protocol. (The
following is also deprecated. See :class:`os.AbstractBlockDev` for the
correct way to create a block device.)
- ``readblocks(self, blocknum, buf)``
- ``writeblocks(self, blocknum, buf)`` (optional)
- ``count(self)``
- ``sync(self)`` (optional)
``readblocks`` and ``writeblocks`` should copy data between ``buf`` and
the block device, starting from block number ``blocknum`` on the device.
``buf`` will be a bytearray with length a multiple of 512. If
``writeblocks`` is not defined then the device is mounted read-only.
The return value of these two functions is ignored.
``count`` should return the number of blocks available on the device.
``sync``, if implemented, should sync the data on the device.
The parameter ``mountpoint`` is the location in the root of the filesystem
to mount the device. It must begin with a forward-slash.
If ``readonly`` is ``True``, then the device is mounted read-only,
otherwise it is mounted read-write.
If ``mkfs`` is ``True``, then a new filesystem is created if one does not
already exist.
"""
@overload
def mount(
device: _OldAbstractBlockDev,
mountpoint: str,
/,
*,
readonly: bool = False,
mkfs: bool = False,
) -> None:
"""
.. note:: This function is deprecated. Mounting and unmounting devices should
be performed by :meth:`os.mount` and :meth:`os.umount` instead.
Mount a block device and make it available as part of the filesystem.
``device`` must be an object that provides the block protocol. (The
following is also deprecated. See :class:`os.AbstractBlockDev` for the
correct way to create a block device.)
- ``readblocks(self, blocknum, buf)``
- ``writeblocks(self, blocknum, buf)`` (optional)
- ``count(self)``
- ``sync(self)`` (optional)
``readblocks`` and ``writeblocks`` should copy data between ``buf`` and
the block device, starting from block number ``blocknum`` on the device.
``buf`` will be a bytearray with length a multiple of 512. If
``writeblocks`` is not defined then the device is mounted read-only.
The return value of these two functions is ignored.
``count`` should return the number of blocks available on the device.
``sync``, if implemented, should sync the data on the device.
The parameter ``mountpoint`` is the location in the root of the filesystem
to mount the device. It must begin with a forward-slash.
If ``readonly`` is ``True``, then the device is mounted read-only,
otherwise it is mounted read-write.
If ``mkfs`` is ``True``, then a new filesystem is created if one does not
already exist.
"""
@overload
def repl_uart() -> UART | None:
"""
Get or set the UART object where the REPL is repeated on.
"""
@overload
def repl_uart(uart: UART, /) -> None:
"""
Get or set the UART object where the REPL is repeated on.
"""
def rng() -> int:
"""
Return a 30-bit hardware generated random number.
"""
def sync() -> None:
"""
Sync all file systems.
"""
def unique_id() -> bytes:
"""
Returns a string of 12 bytes (96 bits), which is the unique ID of the MCU.
"""
# noinspection PyShadowingNames
@overload
def usb_mode() -> str:
"""
If called with no arguments, return the current USB mode as a string.
If called with *modestr* provided, attempts to configure the USB mode.
The following values of *modestr* are understood:
- ``None``: disables USB
- ``'VCP'``: enable with VCP (Virtual COM Port) interface
- ``'MSC'``: enable with MSC (mass storage device class) interface
- ``'VCP+MSC'``: enable with VCP and MSC
- ``'VCP+HID'``: enable with VCP and HID (human interface device)
- ``'VCP+MSC+HID'``: enabled with VCP, MSC and HID (only available on PYBD boards)
For backwards compatibility, ``'CDC'`` is understood to mean
``'VCP'`` (and similarly for ``'CDC+MSC'`` and ``'CDC+HID'``).
The *port* parameter should be an integer (0, 1, ...) and selects which
USB port to use if the board supports multiple ports. A value of -1 uses
the default or automatically selected port.
The *vid* and *pid* parameters allow you to specify the VID (vendor id)
and PID (product id). A *pid* value of -1 will select a PID based on the
value of *modestr*.
If enabling MSC mode, the *msc* parameter can be used to specify a list
of SCSI LUNs to expose on the mass storage interface. For example
``msc=(pyb.Flash(), pyb.SDCard())``.
If enabling HID mode, you may also specify the HID details by
passing the *hid* keyword parameter. It takes a tuple of
(subclass, protocol, max packet length, polling interval, report
descriptor). By default it will set appropriate values for a USB
mouse. There is also a ``pyb.hid_keyboard`` constant, which is an
appropriate tuple for a USB keyboard.
The *high_speed* parameter, when set to ``True``, enables USB HS mode if
it is supported by the hardware.
"""
# noinspection PyShadowingNames
@overload
def usb_mode(
modestr: str,
/,
*,
port: int = -1,
vid: int = 0xF055,
pid: int = -1,
msc: Sequence[AbstractBlockDev] = (),
hid: tuple[int, int, int, int, bytes] = hid_mouse,
high_speed: bool = False,
) -> None:
"""
If called with no arguments, return the current USB mode as a string.
If called with *modestr* provided, attempts to configure the USB mode.
The following values of *modestr* are understood:
- ``None``: disables USB
- ``'VCP'``: enable with VCP (Virtual COM Port) interface
- ``'MSC'``: enable with MSC (mass storage device class) interface
- ``'VCP+MSC'``: enable with VCP and MSC
- ``'VCP+HID'``: enable with VCP and HID (human interface device)
- ``'VCP+MSC+HID'``: enabled with VCP, MSC and HID (only available on PYBD boards)
For backwards compatibility, ``'CDC'`` is understood to mean
``'VCP'`` (and similarly for ``'CDC+MSC'`` and ``'CDC+HID'``).
The *port* parameter should be an integer (0, 1, ...) and selects which
USB port to use if the board supports multiple ports. A value of -1 uses
the default or automatically selected port.
The *vid* and *pid* parameters allow you to specify the VID (vendor id)
and PID (product id). A *pid* value of -1 will select a PID based on the
value of *modestr*.
If enabling MSC mode, the *msc* parameter can be used to specify a list
of SCSI LUNs to expose on the mass storage interface. For example
``msc=(pyb.Flash(), pyb.SDCard())``.
If enabling HID mode, you may also specify the HID details by
passing the *hid* keyword parameter. It takes a tuple of
(subclass, protocol, max packet length, polling interval, report
descriptor). By default it will set appropriate values for a USB
mouse. There is also a ``pyb.hid_keyboard`` constant, which is an
appropriate tuple for a USB keyboard.
The *high_speed* parameter, when set to ``True``, enables USB HS mode if
it is supported by the hardware.
"""
class Accel:
"""
Accel is an object that controls the accelerometer. Example usage::
accel = pyb.Accel()
for i in range(10):
print(accel.x(), accel.y(), accel.z())
Raw values are between -32 and 31.
"""
def __init__(self):
"""
Create and return an accelerometer object.
"""
def filtered_xyz(self) -> tuple[int, int, int]:
"""
Get a 3-tuple of filtered x, y and z values.
Implementation note: this method is currently implemented as taking the
sum of 4 samples, sampled from the 3 previous calls to this function along
with the sample from the current call. Returned values are therefore 4
times the size of what they would be from the raw x(), y() and z() calls.
"""
def tilt(self) -> int:
"""
Get the tilt register.
"""
def x(self) -> int:
"""
Get the x-axis value.
"""
def y(self) -> int:
"""
Get the y-axis value.
"""
def z(self) -> int:
"""
Get the z-axis value.
"""
class ADC:
"""
Usage::
import pyb
adc = pyb.ADC(pin) # create an analog object from a pin
val = adc.read() # read an analog value
adc = pyb.ADCAll(resolution) # create an ADCAll object
adc = pyb.ADCAll(resolution, mask) # create an ADCAll object for selected analog channels
val = adc.read_channel(channel) # read the given channel
val = adc.read_core_temp() # read MCU temperature
val = adc.read_core_vbat() # read MCU VBAT
val = adc.read_core_vref() # read MCU VREF
val = adc.read_vref() # read MCU supply voltage
"""
def __init__(self, pin: int | Pin, /):
"""
Create an ADC object associated with the given pin.
This allows you to then read analog values on that pin.
"""
def read(self) -> int:
"""
Read the value on the analog pin and return it. The returned value
will be between 0 and 4095.
"""
def read_timed(self, buf: AnyWritableBuf, timer: Timer | int, /) -> None:
"""
Read analog values into ``buf`` at a rate set by the ``timer`` object.
``buf`` can be bytearray or array.array for example. The ADC values have
12-bit resolution and are stored directly into ``buf`` if its element size is
16 bits or greater. If ``buf`` has only 8-bit elements (eg a bytearray) then
the sample resolution will be reduced to 8 bits.
``timer`` should be a Timer object, and a sample is read each time the timer
triggers. The timer must already be initialised and running at the desired
sampling frequency.
To support previous behaviour of this function, ``timer`` can also be an
integer which specifies the frequency (in Hz) to sample at. In this case
Timer(6) will be automatically configured to run at the given frequency.
Example using a Timer object (preferred way)::
adc = pyb.ADC(pyb.Pin.board.X19) # create an ADC on pin X19
tim = pyb.Timer(6, freq=10) # create a timer running at 10Hz
buf = bytearray(100) # creat a buffer to store the samples
adc.read_timed(buf, tim) # sample 100 values, taking 10s
Example using an integer for the frequency::
adc = pyb.ADC(pyb.Pin.board.X19) # create an ADC on pin X19
buf = bytearray(100) # create a buffer of 100 bytes
adc.read_timed(buf, 10) # read analog values into buf at 10Hz
# this will take 10 seconds to finish
for val in buf: # loop over all values
print(val) # print the value out
This function does not allocate any heap memory. It has blocking behaviour:
it does not return to the calling program until the buffer is full.
"""
@staticmethod
def read_timed_multi(
adcs: tuple[ADC, ...], bufs: tuple[AnyWritableBuf, ...], timer: Timer, /
) -> bool:
"""
This is a static method. It can be used to extract relative timing or
phase data from multiple ADC's.
It reads analog values from multiple ADC's into buffers at a rate set by
the *timer* object. Each time the timer triggers a sample is rapidly
read from each ADC in turn.
ADC and buffer instances are passed in tuples with each ADC having an
associated buffer. All buffers must be of the same type and length and
the number of buffers must equal the number of ADC's.
Buffers can be ``bytearray`` or ``array.array`` for example. The ADC values
have 12-bit resolution and are stored directly into the buffer if its element
size is 16 bits or greater. If buffers have only 8-bit elements (eg a
``bytearray``) then the sample resolution will be reduced to 8 bits.
*timer* must be a Timer object. The timer must already be initialised
and running at the desired sampling frequency.
Example reading 3 ADC's::
adc0 = pyb.ADC(pyb.Pin.board.X1) # Create ADC's
adc1 = pyb.ADC(pyb.Pin.board.X2)
adc2 = pyb.ADC(pyb.Pin.board.X3)
tim = pyb.Timer(8, freq=100) # Create timer
rx0 = array.array('H', (0 for i in range(100))) # ADC buffers of
rx1 = array.array('H', (0 for i in range(100))) # 100 16-bit words
rx2 = array.array('H', (0 for i in range(100)))
# read analog values into buffers at 100Hz (takes one second)
pyb.ADC.read_timed_multi((adc0, adc1, adc2), (rx0, rx1, rx2), tim)
for n in range(len(rx0)):
print(rx0[n], rx1[n], rx2[n])
This function does not allocate any heap memory. It has blocking behaviour:
it does not return to the calling program until the buffers are full.
The function returns ``True`` if all samples were acquired with correct
timing. At high sample rates the time taken to acquire a set of samples
can exceed the timer period. In this case the function returns ``False``,
indicating a loss of precision in the sample interval. In extreme cases
samples may be missed.
The maximum rate depends on factors including the data width and the
number of ADC's being read. In testing two ADC's were sampled at a timer
rate of 210kHz without overrun. Samples were missed at 215kHz. For three
ADC's the limit is around 140kHz, and for four it is around 110kHz.
At high sample rates disabling interrupts for the duration can reduce the
risk of sporadic data loss.
"""
class ADCAll:
"""
Instantiating this changes all masked ADC pins to analog inputs. The preprocessed MCU temperature,
VREF and VBAT data can be accessed on ADC channels 16, 17 and 18 respectively.
Appropriate scaling is handled according to reference voltage used (usually 3.3V).
The temperature sensor on the chip is factory calibrated and allows to read the die temperature
to +/- 1 degree centigrade. Although this sounds pretty accurate, don't forget that the MCU's internal
temperature is measured. Depending on processing loads and I/O subsystems active the die temperature
may easily be tens of degrees above ambient temperature. On the other hand a pyboard woken up after a
long standby period will show correct ambient temperature within limits mentioned above.
The ``ADCAll`` ``read_core_vbat()``, ``read_vref()`` and ``read_core_vref()`` methods read
the backup battery voltage, reference voltage and the (1.21V nominal) reference voltage using the
actual supply as a reference. All results are floating point numbers giving direct voltage values.
``read_core_vbat()`` returns the voltage of the backup battery. This voltage is also adjusted according
to the actual supply voltage. To avoid analog input overload the battery voltage is measured
via a voltage divider and scaled according to the divider value. To prevent excessive loads
to the backup battery, the voltage divider is only active during ADC conversion.
``read_vref()`` is evaluated by measuring the internal voltage reference and backscale it using
factory calibration value of the internal voltage reference. In most cases the reading would be close
to 3.3V. If the pyboard is operated from a battery, the supply voltage may drop to values below 3.3V.
The pyboard will still operate fine as long as the operating conditions are met. With proper settings
of MCU clock, flash access speed and programming mode it is possible to run the pyboard down to
2 V and still get useful ADC conversion.
It is very important to make sure analog input voltages never exceed actual supply voltage.
Other analog input channels (0..15) will return unscaled integer values according to the selected
precision.
To avoid unwanted activation of analog inputs (channel 0..15) a second parameter can be specified.
This parameter is a binary pattern where each requested analog input has the corresponding bit set.
The default value is 0xffffffff which means all analog inputs are active. If just the internal
channels (16..18) are required, the mask value should be 0x70000.
Example::
adcall = pyb.ADCAll(12, 0x70000) # 12 bit resolution, internal channels
temp = adcall.read_core_temp()
"""
def __init__(self, resolution: int, mask: int = 0xFFFFFFFF, /):
"""
Create a multi-channel ADC instance.
``resolution`` is the number of bits for all the ADCs (even those not enabled); one of:
14, 12, 10, or 8 bits.
To avoid unwanted activation of analog inputs (channel 0..15) a second parameter, ``mask``,
can be specified.
This parameter is a binary pattern where each requested analog input has the corresponding bit set.
The default value is 0xffffffff which means all analog inputs are active. If just the internal
channels (16..18) are required, the mask value should be 0x70000.
"""
def read_channel(self, channel: int, /) -> int:
"""
Read the given channel.
"""
def read_core_temp(self) -> float:
"""
Read MCU temperature (centigrade).
"""
def read_core_vbat(self) -> float:
"""
Read MCU VBAT (volts).
"""
def read_core_vref(self) -> float:
"""
Read MCU VREF (volts).
"""
def read_vref(self) -> float:
"""
Read MCU supply voltage (volts).
"""
class CAN:
"""
CAN implements the standard CAN communications protocol. At
the physical level it consists of 2 lines: RX and TX. Note that
to connect the pyboard to a CAN bus you must use a CAN transceiver
to convert the CAN logic signals from the pyboard to the correct
voltage levels on the bus.
Example usage (works without anything connected)::
from pyb import CAN
can = CAN(1, CAN.LOOPBACK)
can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126)) # set a filter to receive messages with id=123, 124, 125 and 126
can.send('message!', 123) # send a message with id 123
can.recv(0) # receive message on FIFO 0
"""
NORMAL: ClassVar[int] = ...
"""
The mode of the CAN bus used in :meth:`~CAN.init()`.
"""
LOOPBACK: ClassVar[int] = ...
"""
The mode of the CAN bus used in :meth:`~CAN.init()`.
"""
SILENT: ClassVar[int] = ...
"""
The mode of the CAN bus used in :meth:`~CAN.init()`.
"""
SILENT_LOOPBACK: ClassVar[int] = ...
"""
The mode of the CAN bus used in :meth:`~CAN.init()`.
"""
STOPPED: ClassVar[int] = ...
"""
Possible states of the CAN controller returned from :meth:`~CAN.state()`.
"""
ERROR_ACTIVE: ClassVar[int] = ...
"""
Possible states of the CAN controller returned from :meth:`~CAN.state()`.
"""
ERROR_WARNING: ClassVar[int] = ...
"""
Possible states of the CAN controller returned from :meth:`~CAN.state()`.
"""
ERROR_PASSIVE: ClassVar[int] = ...
"""
Possible states of the CAN controller returned from :meth:`~CAN.state()`.
"""
BUS_OFF: ClassVar[int] = ...
"""
Possible states of the CAN controller returned from :meth:`~CAN.state()`.
"""
LIST16: ClassVar[int] = ...
"""
The operation mode of a filter used in :meth:`~CAN.setfilter()`.
"""
MASK16: ClassVar[int] = ...
"""
The operation mode of a filter used in :meth:`~CAN.setfilter()`.
"""
LIST32: ClassVar[int] = ...
"""
The operation mode of a filter used in :meth:`~CAN.setfilter()`.
"""
MASK32: ClassVar[int] = ...
"""
The operation mode of a filter used in :meth:`~CAN.setfilter()`.
"""
def __init__(
self,
bus: int | str,
mode: int,
/,
extframe: bool = False,
prescaler: int = 100,
*,
sjw: int = 1,
bs1: int = 6,
bs2: int = 8,
auto_restart: bool = False,
):
"""
Construct a CAN object on the given bus. *bus* can be 1-2, or ``'YA'`` or ``'YB'``.
With no additional parameters, the CAN object is created but not
initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See :meth:`CAN.init` for parameters of initialisation.
The physical pins of the CAN buses are:
- ``CAN(1)`` is on ``YA``: ``(RX, TX) = (Y3, Y4) = (PB8, PB9)``
- ``CAN(2)`` is on ``YB``: ``(RX, TX) = (Y5, Y6) = (PB12, PB13)``
"""
@staticmethod
def initfilterbanks(nr: int, /) -> None:
"""
Reset and disable all filter banks and assign how many banks should be available for CAN(1).
STM32F405 has 28 filter banks that are shared between the two available CAN bus controllers.
This function configures how many filter banks should be assigned to each. *nr* is the number of banks
that will be assigned to CAN(1), the rest of the 28 are assigned to CAN(2).
At boot, 14 banks are assigned to each controller.
"""
def init(
self,
mode: int,
/,
extframe: bool = False,
prescaler: int = 100,
*,
sjw: int = 1,
bs1: int = 6,
bs2: int = 8,
auto_restart: bool = False,
baudrate: int = 0,
sample_point: int = 75,
) -> None:
"""
Initialise the CAN bus with the given parameters:
- *mode* is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
- if *extframe* is True then the bus uses extended identifiers in the frames
(29 bits); otherwise it uses standard 11 bit identifiers
- *prescaler* is used to set the duration of 1 time quanta; the time quanta
will be the input clock (PCLK1, see :meth:`pyb.freq()`) divided by the prescaler
- *sjw* is the resynchronisation jump width in units of the time quanta;
it can be 1, 2, 3, 4
- *bs1* defines the location of the sample point in units of the time quanta;
it can be between 1 and 1024 inclusive
- *bs2* defines the location of the transmit point in units of the time quanta;
it can be between 1 and 16 inclusive
- *auto_restart* sets whether the controller will automatically try and restart
communications after entering the bus-off state; if this is disabled then
:meth:`~CAN.restart()` can be used to leave the bus-off state
- *baudrate* if a baudrate other than 0 is provided, this function will try to automatically
calculate a CAN bit-timing (overriding *prescaler*, *bs1* and *bs2*) that satisfies both
the baudrate and the desired *sample_point*.
- *sample_point* given in a percentage of the bit time, the *sample_point* specifies the position
of the last bit sample with respect to the whole bit time. The default *sample_point* is 75%.
The time quanta tq is the basic unit of time for the CAN bus. tq is the CAN
prescaler value divided by PCLK1 (the frequency of internal peripheral bus 1);
see :meth:`pyb.freq()` to determine PCLK1.
A single bit is made up of the synchronisation segment, which is always 1 tq.
Then follows bit segment 1, then bit segment 2. The sample point is after bit
segment 1 finishes. The transmit point is after bit segment 2 finishes.
The baud rate will be 1/bittime, where the bittime is 1 + BS1 + BS2 multiplied
by the time quanta tq.
For example, with PCLK1=42MHz, prescaler=100, sjw=1, bs1=6, bs2=8, the value of
tq is 2.38 microseconds. The bittime is 35.7 microseconds, and the baudrate
is 28kHz.
See page 680 of the STM32F405 datasheet for more details.
"""
def deinit(self) -> None:
"""
Turn off the CAN bus.
"""
def restart(self) -> None:
"""
Force a software restart of the CAN controller without resetting its
configuration.
If the controller enters the bus-off state then it will no longer participate
in bus activity. If the controller is not configured to automatically restart
(see :meth:`~CAN.init()`) then this method can be used to trigger a restart,
and the controller will follow the CAN protocol to leave the bus-off state and
go into the error active state.
"""
def state(self) -> int:
"""
Return the state of the controller. The return value can be one of:
- ``CAN.STOPPED`` -- the controller is completely off and reset;
- ``CAN.ERROR_ACTIVE`` -- the controller is on and in the Error Active state
(both TEC and REC are less than 96);
- ``CAN.ERROR_WARNING`` -- the controller is on and in the Error Warning state
(at least one of TEC or REC is 96 or greater);
- ``CAN.ERROR_PASSIVE`` -- the controller is on and in the Error Passive state
(at least one of TEC or REC is 128 or greater);
- ``CAN.BUS_OFF`` -- the controller is on but not participating in bus activity
(TEC overflowed beyond 255).
"""
@overload
def info(self) -> list[int]:
"""
Get information about the controller's error states and TX and RX buffers.
If *list* is provided then it should be a list object with at least 8 entries,
which will be filled in with the information. Otherwise a new list will be
created and filled in. In both cases the return value of the method is the
populated list.
The values in the list are:
- TEC value
- REC value
- number of times the controller enterted the Error Warning state (wrapped
around to 0 after 65535)
- number of times the controller enterted the Error Passive state (wrapped
around to 0 after 65535)
- number of times the controller enterted the Bus Off state (wrapped
around to 0 after 65535)
- number of pending TX messages
- number of pending RX messages on fifo 0
- number of pending RX messages on fifo 1
"""
@overload
def info(self, list: list[int], /) -> list[int]:
"""
Get information about the controller's error states and TX and RX buffers.
If *list* is provided then it should be a list object with at least 8 entries,
which will be filled in with the information. Otherwise a new list will be
created and filled in. In both cases the return value of the method is the
populated list.
The values in the list are:
- TEC value
- REC value
- number of times the controller enterted the Error Warning state (wrapped
around to 0 after 65535)
- number of times the controller enterted the Error Passive state (wrapped
around to 0 after 65535)
- number of times the controller enterted the Bus Off state (wrapped
around to 0 after 65535)
- number of pending TX messages
- number of pending RX messages on fifo 0
- number of pending RX messages on fifo 1
"""
@overload
def setfilter(
self, bank: int, mode: int, fifo: int, params: Sequence[int], /
) -> None:
"""
Configure a filter bank:
- *bank* is the filter bank that is to be configured.
- *mode* is the mode the filter should operate in.
- *fifo* is which fifo (0 or 1) a message should be stored in, if it is accepted by this filter.
- *params* is an array of values the defines the filter. The contents of the array depends on the *mode* argument.
+-----------+---------------------------------------------------------+
|*mode* |contents of *params* array |
+===========+=========================================================+
|CAN.LIST16 |Four 16 bit ids that will be accepted |
+-----------+---------------------------------------------------------+
|CAN.LIST32 |Two 32 bit ids that will be accepted |
+-----------+---------------------------------------------------------+
|CAN.MASK16 |Two 16 bit id/mask pairs. E.g. (1, 3, 4, 4) |
| | | The first pair, 1 and 3 will accept all ids |
| | | that have bit 0 = 1 and bit 1 = 0. |
| | | The second pair, 4 and 4, will accept all ids |
| | | that have bit 2 = 1. |
+-----------+---------------------------------------------------------+
|CAN.MASK32 |As with CAN.MASK16 but with only one 32 bit id/mask pair.|
+-----------+---------------------------------------------------------+
- *rtr* is an array of booleans that states if a filter should accept a
remote transmission request message. If this argument is not given
then it defaults to ``False`` for all entries. The length of the array
depends on the *mode* argument.
+-----------+----------------------+
|*mode* |length of *rtr* array |
+===========+======================+
|CAN.LIST16 |4 |
+-----------+----------------------+
|CAN.LIST32 |2 |
+-----------+----------------------+
|CAN.MASK16 |2 |
+-----------+----------------------+
|CAN.MASK32 |1 |
+-----------+----------------------+
"""
@overload
def setfilter(
self,
bank: int,
mode: int,
fifo: int,
params: Sequence[int],
/,
*,
rtr: Sequence[bool],
) -> None:
"""
Configure a filter bank:
- *bank* is the filter bank that is to be configured.
- *mode* is the mode the filter should operate in.
- *fifo* is which fifo (0 or 1) a message should be stored in, if it is accepted by this filter.
- *params* is an array of values the defines the filter. The contents of the array depends on the *mode* argument.
+-----------+---------------------------------------------------------+
|*mode* |contents of *params* array |
+===========+=========================================================+
|CAN.LIST16 |Four 16 bit ids that will be accepted |
+-----------+---------------------------------------------------------+
|CAN.LIST32 |Two 32 bit ids that will be accepted |
+-----------+---------------------------------------------------------+
|CAN.MASK16 |Two 16 bit id/mask pairs. E.g. (1, 3, 4, 4) |
| | | The first pair, 1 and 3 will accept all ids |
| | | that have bit 0 = 1 and bit 1 = 0. |
| | | The second pair, 4 and 4, will accept all ids |
| | | that have bit 2 = 1. |
+-----------+---------------------------------------------------------+
|CAN.MASK32 |As with CAN.MASK16 but with only one 32 bit id/mask pair.|
+-----------+---------------------------------------------------------+
- *rtr* is an array of booleans that states if a filter should accept a
remote transmission request message. If this argument is not given
then it defaults to ``False`` for all entries. The length of the array
depends on the *mode* argument.
+-----------+----------------------+
|*mode* |length of *rtr* array |
+===========+======================+
|CAN.LIST16 |4 |
+-----------+----------------------+
|CAN.LIST32 |2 |
+-----------+----------------------+
|CAN.MASK16 |2 |
+-----------+----------------------+
|CAN.MASK32 |1 |
+-----------+----------------------+
"""
def clearfilter(self, bank: int, /) -> None:
"""
Clear and disables a filter bank:
- *bank* is the filter bank that is to be cleared.
"""
def any(self, fifo: int, /) -> bool:
"""
Return ``True`` if any message waiting on the FIFO, else ``False``.
"""
@overload
def recv(
self, fifo: int, /, *, timeout: int = 5000
) -> tuple[int, bool, int, memoryview]:
"""
Receive data on the bus:
- *fifo* is an integer, which is the FIFO to receive on
- *list* is an optional list object to be used as the return value
- *timeout* is the timeout in milliseconds to wait for the receive.
Return value: A tuple containing four values.
- The id of the message.
- A boolean that indicates if the message is an RTR message.
- The FMI (Filter Match Index) value.
- An array containing the data.
If *list* is ``None`` then a new tuple will be allocated, as well as a new
bytes object to contain the data (as the fourth element in the tuple).
If *list* is not ``None`` then it should be a list object with a least four
elements. The fourth element should be a memoryview object which is created
from either a bytearray or an array of type 'B' or 'b', and this array must
have enough room for at least 8 bytes. The list object will then be
populated with the first three return values above, and the memoryview object
will be resized inplace to the size of the data and filled in with that data.
The same list and memoryview objects can be reused in subsequent calls to
this method, providing a way of receiving data without using the heap.
For example::
buf = bytearray(8)
lst = [0, 0, 0, memoryview(buf)]
# No heap memory is allocated in the following call
can.recv(0, lst)
"""
@overload
def recv(
self, fifo: int, list: None, /, *, timeout: int = 5000
) -> tuple[int, bool, int, memoryview]:
"""
Receive data on the bus:
- *fifo* is an integer, which is the FIFO to receive on
- *list* is an optional list object to be used as the return value
- *timeout* is the timeout in milliseconds to wait for the receive.
Return value: A tuple containing four values.
- The id of the message.
- A boolean that indicates if the message is an RTR message.
- The FMI (Filter Match Index) value.
- An array containing the data.
If *list* is ``None`` then a new tuple will be allocated, as well as a new
bytes object to contain the data (as the fourth element in the tuple).
If *list* is not ``None`` then it should be a list object with a least four
elements. The fourth element should be a memoryview object which is created
from either a bytearray or an array of type 'B' or 'b', and this array must
have enough room for at least 8 bytes. The list object will then be
populated with the first three return values above, and the memoryview object
will be resized inplace to the size of the data and filled in with that data.
The same list and memoryview objects can be reused in subsequent calls to
this method, providing a way of receiving data without using the heap.
For example::
buf = bytearray(8)
lst = [0, 0, 0, memoryview(buf)]
# No heap memory is allocated in the following call
can.recv(0, lst)
"""
@overload
def recv(
self, fifo: int, list: list[int | bool | memoryview], /, *, timeout: int = 5000
) -> None:
"""
Receive data on the bus:
- *fifo* is an integer, which is the FIFO to receive on
- *list* is an optional list object to be used as the return value
- *timeout* is the timeout in milliseconds to wait for the receive.
Return value: A tuple containing four values.
- The id of the message.
- A boolean that indicates if the message is an RTR message.
- The FMI (Filter Match Index) value.
- An array containing the data.
If *list* is ``None`` then a new tuple will be allocated, as well as a new
bytes object to contain the data (as the fourth element in the tuple).
If *list* is not ``None`` then it should be a list object with a least four
elements. The fourth element should be a memoryview object which is created
from either a bytearray or an array of type 'B' or 'b', and this array must
have enough room for at least 8 bytes. The list object will then be
populated with the first three return values above, and the memoryview object
will be resized inplace to the size of the data and filled in with that data.
The same list and memoryview objects can be reused in subsequent calls to
this method, providing a way of receiving data without using the heap.
For example::
buf = bytearray(8)
lst = [0, 0, 0, memoryview(buf)]
# No heap memory is allocated in the following call
can.recv(0, lst)
"""
def send(
self,
data: int | AnyWritableBuf,
id: int,
/,
*,
timeout: int = 0,
rtr: bool = False,
) -> None:
"""
Send a message on the bus:
- *data* is the data to send (an integer to send, or a buffer object).
- *id* is the id of the message to be sent.
- *timeout* is the timeout in milliseconds to wait for the send.
- *rtr* is a boolean that specifies if the message shall be sent as
a remote transmission request. If *rtr* is True then only the length
of *data* is used to fill in the DLC slot of the frame; the actual
bytes in *data* are unused.
If timeout is 0 the message is placed in a buffer in one of three hardware
buffers and the method returns immediately. If all three buffers are in use
an exception is thrown. If timeout is not 0, the method waits until the
message is transmitted. If the message can't be transmitted within the
specified time an exception is thrown.
Return value: ``None``.
"""
def rxcallback(self, fifo: int, fun: Callable[[CAN], None], /) -> None:
"""
Register a function to be called when a message is accepted into a empty fifo:
- *fifo* is the receiving fifo.
- *fun* is the function to be called when the fifo becomes non empty.
The callback function takes two arguments the first is the can object it self the second is
a integer that indicates the reason for the callback.
+--------+------------------------------------------------+
| Reason | |
+========+================================================+
| 0 | A message has been accepted into a empty FIFO. |
+--------+------------------------------------------------+
| 1 | The FIFO is full |
+--------+------------------------------------------------+
| 2 | A message has been lost due to a full FIFO |
+--------+------------------------------------------------+
Example use of rxcallback::
def cb0(bus, reason):
print('cb0')
if reason == 0:
print('pending')
if reason == 1:
print('full')
if reason == 2:
print('overflow')
can = CAN(1, CAN.LOOPBACK)
can.rxcallback(0, cb0)
"""
# noinspection PyShadowingNames
class DAC:
"""
The DAC is used to output analog values (a specific voltage) on pin X5 or pin X6.
The voltage will be between 0 and 3.3V.
*This module will undergo changes to the API.*
Example usage::
from pyb import DAC
dac = DAC(1) # create DAC 1 on pin X5
dac.write(128) # write a value to the DAC (makes X5 1.65V)
dac = DAC(1, bits=12) # use 12 bit resolution
dac.write(4095) # output maximum value, 3.3V
To output a continuous sine-wave::
import math
from pyb import DAC
# create a buffer containing a sine-wave
buf = bytearray(100)
for i in range(len(buf)):
buf[i] = 128 + int(127 * math.sin(2 * math.pi * i / len(buf)))
# output the sine-wave at 400Hz
dac = DAC(1)
dac.write_timed(buf, 400 * len(buf), mode=DAC.CIRCULAR)
To output a continuous sine-wave at 12-bit resolution::
import math
from array import array
from pyb import DAC
# create a buffer containing a sine-wave, using half-word samples
buf = array('H', 2048 + int(2047 * math.sin(2 * math.pi * i / 128)) for i in range(128))
# output the sine-wave at 400Hz
dac = DAC(1, bits=12)
dac.write_timed(buf, 400 * len(buf), mode=DAC.CIRCULAR)
"""
NORMAL: ClassVar[int] = ...
"""
Normal mode (output buffer once) for `mode` argument of `write_timed`.
"""
CIRCULAR: ClassVar[int] = ...
"""
Circular mode (output buffer continuously) for `mode` argument of `write_timed`.
"""
def __init__(
self, port: int | Pin, /, bits: int = 8, *, buffering: bool | None = None
):
"""
Construct a new DAC object.
``port`` can be a pin object, or an integer (1 or 2).
DAC(1) is on pin X5 and DAC(2) is on pin X6.
``bits`` is an integer specifying the resolution, and can be 8 or 12.
The maximum value for the write and write_timed methods will be
2\*\*``bits``-1.
The *buffering* parameter selects the behaviour of the DAC op-amp output
buffer, whose purpose is to reduce the output impedance. It can be
``None`` to select the default (buffering enabled for :meth:`DAC.noise`,
:meth:`DAC.triangle` and :meth:`DAC.write_timed`, and disabled for
:meth:`DAC.write`), ``False`` to disable buffering completely, or ``True``
to enable output buffering.
When buffering is enabled the DAC pin can drive loads down to 5KΩ.
Otherwise it has an output impedance of 15KΩ maximum: consequently
to achieve a 1% accuracy without buffering requires the applied load
to be less than 1.5MΩ. Using the buffer incurs a penalty in accuracy,
especially near the extremes of range.
"""
def init(self, bits: int = 8, *, buffering: bool | None = None) -> None:
"""
Reinitialise the DAC. *bits* can be 8 or 12. *buffering* can be
``None``, ``False`` or ``True``; see above constructor for the meaning
of this parameter.
"""
def deinit(self) -> None:
"""
De-initialise the DAC making its pin available for other uses.
"""
def noise(self, freq: int, /) -> None:
"""
Generate a pseudo-random noise signal. A new random sample is written
to the DAC output at the given frequency.
"""
def triangle(self, freq: int, /) -> None:
"""
Generate a triangle wave. The value on the DAC output changes at the given
frequency and ramps through the full 12-bit range (up and down). Therefore
the frequency of the repeating triangle wave itself is 8192 times smaller.
"""
def write(self, value: int, /) -> None:
"""
Direct access to the DAC output. The minimum value is 0. The maximum
value is 2\*\*``bits``-1, where ``bits`` is set when creating the DAC
object or by using the ``init`` method.
"""
def write_timed(
self, data: AnyWritableBuf, freq: int | Timer, /, *, mode: int = NORMAL
) -> None:
"""
Initiates a burst of RAM to DAC using a DMA transfer.
The input data is treated as an array of bytes in 8-bit mode, and
an array of unsigned half-words (array typecode 'H') in 12-bit mode.
``freq`` can be an integer specifying the frequency to write the DAC
samples at, using Timer(6). Or it can be an already-initialised
Timer object which is used to trigger the DAC sample. Valid timers
are 2, 4, 5, 6, 7 and 8.
``mode`` can be ``DAC.NORMAL`` or ``DAC.CIRCULAR``.
Example using both DACs at the same time::
dac1 = DAC(1)
dac2 = DAC(2)
dac1.write_timed(buf1, pyb.Timer(6, freq=100), mode=DAC.CIRCULAR)
dac2.write_timed(buf2, pyb.Timer(7, freq=200), mode=DAC.CIRCULAR)
"""
class ExtInt:
"""
There are a total of 22 interrupt lines. 16 of these can come from GPIO pins
and the remaining 6 are from internal sources.
For lines 0 through 15, a given line can map to the corresponding line from an
arbitrary port. So line 0 can map to Px0 where x is A, B, C, ... and
line 1 can map to Px1 where x is A, B, C, ... ::
def callback(line):
print("line =", line)
Note: ExtInt will automatically configure the gpio line as an input. ::
extint = pyb.ExtInt(pin, pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, callback)
Now every time a falling edge is seen on the X1 pin, the callback will be
called. Caution: mechanical pushbuttons have "bounce" and pushing or
releasing a switch will often generate multiple edges.
See: http://www.eng.utah.edu/~cs5780/debouncing.pdf for a detailed
explanation, along with various techniques for debouncing.
Trying to register 2 callbacks onto the same pin will throw an exception.
If pin is passed as an integer, then it is assumed to map to one of the
internal interrupt sources, and must be in the range 16 through 22.
All other pin objects go through the pin mapper to come up with one of the
gpio pins. ::
extint = pyb.ExtInt(pin, mode, pull, callback)
Valid modes are pyb.ExtInt.IRQ_RISING, pyb.ExtInt.IRQ_FALLING,
pyb.ExtInt.IRQ_RISING_FALLING, pyb.ExtInt.EVT_RISING,
pyb.ExtInt.EVT_FALLING, and pyb.ExtInt.EVT_RISING_FALLING.
Only the IRQ_xxx modes have been tested. The EVT_xxx modes have
something to do with sleep mode and the WFE instruction.
Valid pull values are pyb.Pin.PULL_UP, pyb.Pin.PULL_DOWN, pyb.Pin.PULL_NONE.
There is also a C API, so that drivers which require EXTI interrupt lines
can also use this code. See extint.h for the available functions and
usrsw.h for an example of using this.
"""
IRQ_FALLING: ClassVar[int] = ...
"""
interrupt on a falling edge
"""
IRQ_RISING: ClassVar[int] = ...
"""
interrupt on a rising edge
"""
IRQ_RISING_FALLING: ClassVar[int] = ...
"""
interrupt on a rising or falling edge
"""
def __init__(
self,
pin: int | str | Pin,
mode: int,
pull: int,
callback: Callable[[int], None],
):
"""
Create an ExtInt object:
- ``pin`` is the pin on which to enable the interrupt (can be a pin object or any valid pin name).
- ``mode`` can be one of:
- ``ExtInt.IRQ_RISING`` - trigger on a rising edge;
- ``ExtInt.IRQ_FALLING`` - trigger on a falling edge;
- ``ExtInt.IRQ_RISING_FALLING`` - trigger on a rising or falling edge.
- ``pull`` can be one of:
- ``pyb.Pin.PULL_NONE`` - no pull up or down resistors;
- ``pyb.Pin.PULL_UP`` - enable the pull-up resistor;
- ``pyb.Pin.PULL_DOWN`` - enable the pull-down resistor.
- ``callback`` is the function to call when the interrupt triggers. The
callback function must accept exactly 1 argument, which is the line that
triggered the interrupt.
"""
@staticmethod
def regs() -> None:
"""
Dump the values of the EXTI registers.
"""
def disable(self) -> None:
"""
Disable the interrupt associated with the ExtInt object.
This could be useful for debouncing.
"""
def enable(self) -> None:
"""
Enable a disabled interrupt.
"""
def line(self) -> int:
"""
Return the line number that the pin is mapped to.
"""
def swint(self) -> None:
"""
Trigger the callback from software.
"""
class Flash(AbstractBlockDev):
"""
The Flash class allows direct access to the primary flash device on the pyboard.
In most cases, to store persistent data on the device, you'll want to use a
higher-level abstraction, for example the filesystem via Python's standard file
API, but this interface is useful to :ref:`customise the filesystem
configuration <filesystem>` or implement a low-level storage system for your
application.
"""
@overload
def __init__(self):
"""
Create and return a block device that represents the flash device presented
to the USB mass storage interface.
It includes a virtual partition table at the start, and the actual flash
starts at block ``0x100``.
This constructor is deprecated and will be removed in a future version of MicroPython.
"""
@overload
def __init__(self, *, start: int = -1, len: int = -1):
"""
Create and return a block device that accesses the flash at the specified offset. The length defaults to the remaining size of the device.
The *start* and *len* offsets are in bytes, and must be a multiple of the block size (typically 512 for internal flash).
"""
def readblocks(self, blocknum: int, buf: bytes, offset: int = 0, /) -> None:
"""
These methods implement the simple and :ref:`extended
<block-device-interface>` block protocol defined by
:class:`os.AbstractBlockDev`.
"""
def writeblocks(self, blocknum: int, buf: bytes, offset: int = 0, /) -> None:
"""
These methods implement the simple and :ref:`extended
<block-device-interface>` block protocol defined by
:class:`os.AbstractBlockDev`.
"""
def ioctl(self, op: int, arg: int) -> int | None:
"""
These methods implement the simple and :ref:`extended
<block-device-interface>` block protocol defined by
:class:`os.AbstractBlockDev`.
"""
class I2C:
"""
I2C is a two-wire protocol for communicating between devices. At the physical
level it consists of 2 wires: SCL and SDA, the clock and data lines respectively.
I2C objects are created attached to a specific bus. They can be initialised
when created, or initialised later on.
Example::
from pyb import I2C
i2c = I2C(1) # create on bus 1
i2c = I2C(1, I2C.CONTROLLER) # create and init as a controller
i2c.init(I2C.CONTROLLER, baudrate=20000) # init as a controller
i2c.init(I2C.PERIPHERAL, addr=0x42) # init as a peripheral with given address
i2c.deinit() # turn off the I2C unit
Printing the i2c object gives you information about its configuration.
The basic methods are send and recv::
i2c.send('abc') # send 3 bytes
i2c.send(0x42) # send a single byte, given by the number
data = i2c.recv(3) # receive 3 bytes
To receive inplace, first create a bytearray::
data = bytearray(3) # create a buffer
i2c.recv(data) # receive 3 bytes, writing them into data
You can specify a timeout (in ms)::
i2c.send(b'123', timeout=2000) # timeout after 2 seconds
A controller must specify the recipient's address::
i2c.init(I2C.CONTROLLER)
i2c.send('123', 0x42) # send 3 bytes to peripheral with address 0x42
i2c.send(b'456', addr=0x42) # keyword for address
Master also has other methods::
i2c.is_ready(0x42) # check if peripheral 0x42 is ready
i2c.scan() # scan for peripherals on the bus, returning
# a list of valid addresses
i2c.mem_read(3, 0x42, 2) # read 3 bytes from memory of peripheral 0x42,
# starting at address 2 in the peripheral
i2c.mem_write('abc', 0x42, 2, timeout=1000) # write 'abc' (3 bytes) to memory of peripheral 0x42
# starting at address 2 in the peripheral, timeout after 1 second
"""
CONTROLLER: ClassVar[int] = ...
"""
for initialising the bus to controller mode
"""
PERIPHERAL: ClassVar[int] = ...
"""
for initialising the bus to peripheral mode
"""
def __init__(
self,
bus: int | str,
mode: str,
/,
*,
addr: int = 0x12,
baudrate: int = 400_000,
gencall: bool = False,
dma: bool = False,
):
"""
Construct an I2C object on the given bus. ``bus`` can be 1 or 2, 'X' or
'Y'. With no additional parameters, the I2C object is created but not
initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See ``init`` for parameters of initialisation.
The physical pins of the I2C buses on Pyboards V1.0 and V1.1 are:
- ``I2C(1)`` is on the X position: ``(SCL, SDA) = (X9, X10) = (PB6, PB7)``
- ``I2C(2)`` is on the Y position: ``(SCL, SDA) = (Y9, Y10) = (PB10, PB11)``
On the Pyboard Lite:
- ``I2C(1)`` is on the X position: ``(SCL, SDA) = (X9, X10) = (PB6, PB7)``
- ``I2C(3)`` is on the Y position: ``(SCL, SDA) = (Y9, Y10) = (PA8, PB8)``
Calling the constructor with 'X' or 'Y' enables portability between Pyboard
types.
"""
def deinit(self) -> None:
"""
Turn off the I2C bus.
"""
def init(
self,
bus: int | str,
mode: str,
/,
*,
addr: int = 0x12,
baudrate: int = 400_000,
gencall: bool = False,
dma: bool = False,
) -> None:
"""
Initialise the I2C bus with the given parameters:
- ``mode`` must be either ``I2C.CONTROLLER`` or ``I2C.PERIPHERAL``
- ``addr`` is the 7-bit address (only sensible for a peripheral)
- ``baudrate`` is the SCL clock rate (only sensible for a controller)
- ``gencall`` is whether to support general call mode
- ``dma`` is whether to allow the use of DMA for the I2C transfers (note
that DMA transfers have more precise timing but currently do not handle bus
errors properly)
"""
def is_ready(self, addr: int, /) -> bool:
"""
Check if an I2C device responds to the given address. Only valid when in controller mode.
"""
@overload
def mem_read(
self,
data: int,
addr: int,
memaddr: int,
/,
*,
timeout: int = 5000,
addr_size: int = 8,
) -> bytes:
"""
Read from the memory of an I2C device:
- ``data`` can be an integer (number of bytes to read) or a buffer to read into
- ``addr`` is the I2C device address
- ``memaddr`` is the memory location within the I2C device
- ``timeout`` is the timeout in milliseconds to wait for the read
- ``addr_size`` selects width of memaddr: 8 or 16 bits
Returns the read data.
This is only valid in controller mode.
"""
@overload
def mem_read(
self,
data: AnyWritableBuf,
addr: int,
memaddr: int,
/,
*,
timeout: int = 5000,
addr_size: int = 8,
) -> AnyWritableBuf:
"""
Read from the memory of an I2C device:
- ``data`` can be an integer (number of bytes to read) or a buffer to read into
- ``addr`` is the I2C device address
- ``memaddr`` is the memory location within the I2C device
- ``timeout`` is the timeout in milliseconds to wait for the read
- ``addr_size`` selects width of memaddr: 8 or 16 bits
Returns the read data.
This is only valid in controller mode.
"""
def mem_write(
self,
data: int | AnyWritableBuf,
addr: int,
memaddr: int,
/,
*,
timeout: int = 5000,
addr_size: int = 8,
) -> None:
"""
Write to the memory of an I2C device:
- ``data`` can be an integer or a buffer to write from
- ``addr`` is the I2C device address
- ``memaddr`` is the memory location within the I2C device
- ``timeout`` is the timeout in milliseconds to wait for the write
- ``addr_size`` selects width of memaddr: 8 or 16 bits
Returns ``None``.
This is only valid in controller mode.
"""
@overload
def recv(self, recv: int, addr: int = 0x00, /, *, timeout: int = 5000,) -> bytes:
"""
Receive data on the bus:
- ``recv`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes
- ``addr`` is the address to receive from (only required in controller mode)
- ``timeout`` is the timeout in milliseconds to wait for the receive
Return value: if ``recv`` is an integer then a new buffer of the bytes received,
otherwise the same buffer that was passed in to ``recv``.
"""
@overload
def recv(
self, recv: AnyWritableBuf, addr: int = 0x00, /, *, timeout: int = 5000,
) -> AnyWritableBuf:
"""
Receive data on the bus:
- ``recv`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes
- ``addr`` is the address to receive from (only required in controller mode)
- ``timeout`` is the timeout in milliseconds to wait for the receive
Return value: if ``recv`` is an integer then a new buffer of the bytes received,
otherwise the same buffer that was passed in to ``recv``.
"""
def send(self, addr: int = 0x00, /, *, timeout: int = 5000,) -> None:
"""
Send data on the bus:
- ``send`` is the data to send (an integer to send, or a buffer object)
- ``addr`` is the address to send to (only required in controller mode)
- ``timeout`` is the timeout in milliseconds to wait for the send
Return value: ``None``.
"""
def scan(self) -> list[int]:
"""
Scan all I2C addresses from 0x01 to 0x7f and return a list of those that respond.
Only valid when in controller mode.
"""
class LCD:
"""
The LCD class is used to control the LCD on the LCD touch-sensor pyskin,
LCD32MKv1.0. The LCD is a 128x32 pixel monochrome screen, part NHD-C12832A1Z.
The pyskin must be connected in either the X or Y positions, and then
an LCD object is made using::
lcd = pyb.LCD('X') # if pyskin is in the X position
lcd = pyb.LCD('Y') # if pyskin is in the Y position
Then you can use::
lcd.light(True) # turn the backlight on
lcd.write('Hello world!\n') # print text to the screen
This driver implements a double buffer for setting/getting pixels.
For example, to make a bouncing dot, try::
x = y = 0
dx = dy = 1
while True:
# update the dot's position
x += dx
y += dy
# make the dot bounce of the edges of the screen
if x <= 0 or x >= 127: dx = -dx
if y <= 0 or y >= 31: dy = -dy
lcd.fill(0) # clear the buffer
lcd.pixel(x, y, 1) # draw the dot
lcd.show() # show the buffer
pyb.delay(50) # pause for 50ms
"""
def __init__(self, skin_position: str, /):
"""
Construct an LCD object in the given skin position. ``skin_position`` can be 'X' or 'Y', and
should match the position where the LCD pyskin is plugged in.
"""
def command(self, inst_data: int, buf: bytes, /) -> None:
"""
Send an arbitrary command to the LCD. Pass 0 for ``instr_data`` to send an
instruction, otherwise pass 1 to send data. ``buf`` is a buffer with the
instructions/data to send.
"""
def contrast(self, value: int, /) -> None:
"""
Set the contrast of the LCD. Valid values are between 0 and 47.
"""
def fill(self, colour: int, /) -> None:
"""
Fill the screen with the given colour (0 or 1 for white or black).
This method writes to the hidden buffer. Use ``show()`` to show the buffer.
"""
def get(self, x: int, y: int, /) -> int:
"""
Get the pixel at the position ``(x, y)``. Returns 0 or 1.
This method reads from the visible buffer.
"""
def light(self, value: bool | int, /) -> None:
"""
Turn the backlight on/off. True or 1 turns it on, False or 0 turns it off.
"""
def pixel(self, x: int, y: int, colour: int, /) -> None:
"""
Set the pixel at ``(x, y)`` to the given colour (0 or 1).
This method writes to the hidden buffer. Use ``show()`` to show the buffer.
"""
def show(self) -> None:
"""
Show the hidden buffer on the screen.
"""
def text(self, str: str, x: int, y: int, colour: int, /) -> None:
"""
Draw the given text to the position ``(x, y)`` using the given colour (0 or 1).
This method writes to the hidden buffer. Use ``show()`` to show the buffer.
"""
def write(self, str: str, /) -> None:
"""
Write the string ``str`` to the screen. It will appear immediately.
"""
class LED:
"""
The LED object controls an individual LED (Light Emitting Diode).
"""
def __init__(self, id: int, /):
"""
Create an LED object associated with the given LED:
- ``id`` is the LED number, 1-4.
"""
@overload
def intensity(self) -> int:
"""
Get or set the LED intensity. Intensity ranges between 0 (off) and 255 (full on).
If no argument is given, return the LED intensity.
If an argument is given, set the LED intensity and return ``None``.
*Note:* Only LED(3) and LED(4) can have a smoothly varying intensity, and
they use timer PWM to implement it. LED(3) uses Timer(2) and LED(4) uses
Timer(3). These timers are only configured for PWM if the intensity of the
relevant LED is set to a value between 1 and 254. Otherwise the timers are
free for general purpose use.
"""
@overload
def intensity(self, value: int, /) -> None:
"""
Get or set the LED intensity. Intensity ranges between 0 (off) and 255 (full on).
If no argument is given, return the LED intensity.
If an argument is given, set the LED intensity and return ``None``.
*Note:* Only LED(3) and LED(4) can have a smoothly varying intensity, and
they use timer PWM to implement it. LED(3) uses Timer(2) and LED(4) uses
Timer(3). These timers are only configured for PWM if the intensity of the
relevant LED is set to a value between 1 and 254. Otherwise the timers are
free for general purpose use.
"""
def off(self) -> None:
"""
Turn the LED off.
"""
def on(self) -> None:
"""
Turn the LED on, to maximum intensity.
"""
def toggle(self) -> None:
"""
Toggle the LED between on (maximum intensity) and off. If the LED is at
non-zero intensity then it is considered "on" and toggle will turn it off.
"""
# noinspection PyNestedDecorators
class Pin:
"""
A pin is the basic object to control I/O pins. It has methods to set
the mode of the pin (input, output, etc) and methods to get and set the
digital logic level. For analog control of a pin, see the ADC class.
Usage Model:
All Board Pins are predefined as pyb.Pin.board.Name::
x1_pin = pyb.Pin.board.X1
g = pyb.Pin(pyb.Pin.board.X1, pyb.Pin.IN)
CPU pins which correspond to the board pins are available
as ``pyb.Pin.cpu.Name``. For the CPU pins, the names are the port letter
followed by the pin number. On the PYBv1.0, ``pyb.Pin.board.X1`` and
``pyb.Pin.cpu.A0`` are the same pin.
You can also use strings::
g = pyb.Pin('X1', pyb.Pin.OUT_PP)
Users can add their own names::
MyMapperDict = { 'LeftMotorDir' : pyb.Pin.cpu.C12 }
pyb.Pin.dict(MyMapperDict)
g = pyb.Pin("LeftMotorDir", pyb.Pin.OUT_OD)
and can query mappings::
pin = pyb.Pin("LeftMotorDir")
Users can also add their own mapping function::
def MyMapper(pin_name):
if pin_name == "LeftMotorDir":
return pyb.Pin.cpu.A0
pyb.Pin.mapper(MyMapper)
So, if you were to call: ``pyb.Pin("LeftMotorDir", pyb.Pin.OUT_PP)``
then ``"LeftMotorDir"`` is passed directly to the mapper function.
To summarise, the following order determines how things get mapped into
an ordinal pin number:
1. Directly specify a pin object
2. User supplied mapping function
3. User supplied mapping (object must be usable as a dictionary key)
4. Supply a string which matches a board pin
5. Supply a string which matches a CPU port/pin
You can set ``pyb.Pin.debug(True)`` to get some debug information about
how a particular object gets mapped to a pin.
When a pin has the ``Pin.PULL_UP`` or ``Pin.PULL_DOWN`` pull-mode enabled,
that pin has an effective 40k Ohm resistor pulling it to 3V3 or GND
respectively (except pin Y5 which has 11k Ohm resistors).
Now every time a falling edge is seen on the gpio pin, the callback will be
executed. Caution: mechanical push buttons have "bounce" and pushing or
releasing a switch will often generate multiple edges.
See: http://www.eng.utah.edu/~cs5780/debouncing.pdf for a detailed
explanation, along with various techniques for debouncing.
All pin objects go through the pin mapper to come up with one of the
gpio pins.
"""
AF1_TIM1: ClassVar[PinAF] = ...
"""
Alternate def_ 1, timer 1.
"""
AF1_TIM2: ClassVar[PinAF] = ...
"""
Alternate def_ 1, timer 2.
"""
AF2_TIM3: ClassVar[PinAF] = ...
"""
Alternate def_ 2, timer 3.
"""
AF2_TIM4: ClassVar[PinAF] = ...
"""
Alternate def_ 2, timer 4.
"""
AF2_TIM5: ClassVar[PinAF] = ...
"""
Alternate def_ 2, timer 5.
"""
AF3_TIM10: ClassVar[PinAF] = ...
"""
Alternate def_ 3, timer 10.
"""
AF3_TIM11: ClassVar[PinAF] = ...
"""
Alternate def_ 3, timer 11.
"""
AF3_TIM8: ClassVar[PinAF] = ...
"""
Alternate def_ 3, timer 8.
"""
AF3_TIM9: ClassVar[PinAF] = ...
"""
Alternate def_ 3, timer 9.
"""
AF4_I2C1: ClassVar[PinAF] = ...
"""
Alternate def_ 4, I2C 1.
"""
AF4_I2C2: ClassVar[PinAF] = ...
"""
Alternate def_ 4, I2C 2.
"""
AF5_SPI1: ClassVar[PinAF] = ...
"""
Alternate def_ 5, SPI 1.
"""
AF5_SPI2: ClassVar[PinAF] = ...
"""
Alternate def_ 5, SPI 2.
"""
AF7_USART1: ClassVar[PinAF] = ...
"""
Alternate def_ 7, USART 1.
"""
AF7_USART2: ClassVar[PinAF] = ...
"""
Alternate def_ 7, USART 2.
"""
AF7_USART3: ClassVar[PinAF] = ...
"""
Alternate def_ 7, USART 3.
"""
AF8_UART4: ClassVar[PinAF] = ...
"""
Alternate def_ 8, USART 4.
"""
AF8_USART6: ClassVar[PinAF] = ...
"""
Alternate def_ 8, USART 6.
"""
AF9_CAN1: ClassVar[PinAF] = ...
"""
Alternate def_ 9, CAN 1.
"""
AF9_CAN2: ClassVar[PinAF] = ...
"""
Alternate def_ 9, CAN 2.
"""
AF9_TIM12: ClassVar[PinAF] = ...
"""
Alternate def_ 9, timer 12.
"""
AF9_TIM13: ClassVar[PinAF] = ...
"""
Alternate def_ 9, timer 13.
"""
AF9_TIM14: ClassVar[PinAF] = ...
"""
Alternate def_ 9, timer 14.
"""
ALT: ClassVar[int] = ...
"""
Initialise the pin to alternate-def_ mode with a push-pull drive (same as `AF_PP`).
"""
ALT_OPEN_DRAIN: ClassVar[int] = ...
"""
Initialise the pin to alternate-def_ mode with an open-drain drive (same as `AF_OD`).
"""
IRQ_FALLING: ClassVar[int] = ...
"""
Initialise the pin to generate an interrupt on a falling edge.
"""
IRQ_RISING: ClassVar[int] = ...
"""
Initialise the pin to generate an interrupt on a rising edge.
"""
OPEN_DRAIN: ClassVar[int] = ...
"""
Initialise the pin to output mode with an open-drain drive (same as `OUT_OD`).
"""
# noinspection PyPep8Naming
class board:
"""
The board pins (board nomenclature, e.g. `X1`) that are bought out onto pads on a PyBoard.
"""
LED_BLUE: ClassVar[Pin] = ...
"""
The blue LED.
"""
LED_GREEN: ClassVar[Pin] = ...
"""
The green LED.
"""
LED_RED: ClassVar[Pin] = ...
"""
The red LED.
"""
LED_YELLOW: ClassVar[Pin] = ...
"""
The yellow LED.
"""
MMA_AVDD: ClassVar[Pin] = ...
"""
Accelerometer (MMA7660) analogue power (AVDD) pin.
"""
MMA_INT: ClassVar[Pin] = ...
"""
Accelerometer (MMA7660) interrupt (\INT) pin.
"""
SD: ClassVar[Pin] = ...
"""
SD card present switch (0 for card inserted, 1 for no card) (same as SD_SW).
"""
SD_CK: ClassVar[Pin] = ...
"""
SD card clock.
"""
SD_CMD: ClassVar[Pin] = ...
"""
SD card command.
"""
SD_D0: ClassVar[Pin] = ...
"""
SD card serial data 0.
"""
SD_D1: ClassVar[Pin] = ...
"""
SD card serial data 1.
"""
SD_D2: ClassVar[Pin] = ...
"""
SD card serial data 2.
"""
SD_D3: ClassVar[Pin] = ...
"""
SD card serial data 3.
"""
SD_SW: ClassVar[Pin] = ...
"""
SD card present switch (0 for card inserted, 1 for no card) (same as SD).
"""
SW: ClassVar[Pin] = ...
"""
Usr switch (0 = pressed, 1 = not pressed).
"""
USB_DM: ClassVar[Pin] = ...
"""
USB data -.
"""
USB_DP: ClassVar[Pin] = ...
"""
USB data +.
"""
USB_ID: ClassVar[Pin] = ...
"""
USB OTG (on-the-go) ID.
"""
USB_VBUS: ClassVar[Pin] = ...
"""
USB VBUS (power) monitoring pin.
"""
X1: ClassVar[Pin] = ...
"""
X1 pin.
"""
X10: ClassVar[Pin] = ...
"""
X10 pin.
"""
X11: ClassVar[Pin] = ...
"""
X11 pin.
"""
X12: ClassVar[Pin] = ...
"""
X12 pin.
"""
X17: ClassVar[Pin] = ...
"""
X17 pin.
"""
X18: ClassVar[Pin] = ...
"""
X18 pin.
"""
X19: ClassVar[Pin] = ...
"""
X19 pin.
"""
X2: ClassVar[Pin] = ...
"""
X2 pin.
"""
X20: ClassVar[Pin] = ...
"""
X20 pin.
"""
X21: ClassVar[Pin] = ...
"""
X21 pin.
"""
X22: ClassVar[Pin] = ...
"""
X22 pin.
"""
X3: ClassVar[Pin] = ...
"""
X3 pin.
"""
X4: ClassVar[Pin] = ...
"""
X4 pin.
"""
X5: ClassVar[Pin] = ...
"""
X5 pin.
"""
X6: ClassVar[Pin] = ...
"""
X6 pin.
"""
X7: ClassVar[Pin] = ...
"""
X7 pin.
"""
X8: ClassVar[Pin] = ...
"""
X8 pin.
"""
X9: ClassVar[Pin] = ...
"""
X9 pin.
"""
Y1: ClassVar[Pin] = ...
"""
Y1 pin.
"""
Y10: ClassVar[Pin] = ...
"""
Y10 pin.
"""
Y11: ClassVar[Pin] = ...
"""
Y11 pin.
"""
Y12: ClassVar[Pin] = ...
"""
Y12 pin.
"""
Y2: ClassVar[Pin] = ...
"""
Y2 pin.
"""
Y3: ClassVar[Pin] = ...
"""
Y3 pin.
"""
Y4: ClassVar[Pin] = ...
"""
Y4 pin.
"""
Y5: ClassVar[Pin] = ...
"""
Y5 pin.
"""
Y6: ClassVar[Pin] = ...
"""
Y6 pin.
"""
Y7: ClassVar[Pin] = ...
"""
Y7 pin.
"""
Y8: ClassVar[Pin] = ...
"""
Y8 pin.
"""
Y9: ClassVar[Pin] = ...
"""
Y9 pin.
"""
# noinspection PyPep8Naming
class cpu:
"""
The CPU pins (CPU nomenclature, e.g. `A0`) that are bought out onto pads on a PyBoard.
"""
A0: ClassVar[Pin] = ...
"""
A0 pin.
"""
A1: ClassVar[Pin] = ...
"""
A1 pin.
"""
A10: ClassVar[Pin] = ...
"""
A10 pin.
"""
A11: ClassVar[Pin] = ...
"""
A11 pin.
"""
A12: ClassVar[Pin] = ...
"""
A12 pin.
"""
A13: ClassVar[Pin] = ...
"""
A13 pin.
"""
A14: ClassVar[Pin] = ...
"""
A14 pin.
"""
A15: ClassVar[Pin] = ...
"""
A15 pin.
"""
A2: ClassVar[Pin] = ...
"""
A2 pin.
"""
A3: ClassVar[Pin] = ...
"""
A3 pin.
"""
A4: ClassVar[Pin] = ...
"""
A4 pin.
"""
A5: ClassVar[Pin] = ...
"""
A5 pin.
"""
A6: ClassVar[Pin] = ...
"""
A6 pin.
"""
A7: ClassVar[Pin] = ...
"""
A7 pin.
"""
A8: ClassVar[Pin] = ...
"""
A8 pin.
"""
A9: ClassVar[Pin] = ...
"""
A9 pin.
"""
B0: ClassVar[Pin] = ...
"""
B0 pin.
"""
B1: ClassVar[Pin] = ...
"""
B1 pin.
"""
B10: ClassVar[Pin] = ...
"""
B10 pin.
"""
B11: ClassVar[Pin] = ...
"""
B11 pin.
"""
B12: ClassVar[Pin] = ...
"""
B12 pin.
"""
B13: ClassVar[Pin] = ...
"""
B13 pin.
"""
B14: ClassVar[Pin] = ...
"""
B14 pin.
"""
B15: ClassVar[Pin] = ...
"""
B15 pin.
"""
B2: ClassVar[Pin] = ...
"""
B2 pin.
"""
B3: ClassVar[Pin] = ...
"""
B3 pin.
"""
B4: ClassVar[Pin] = ...
"""
B4 pin.
"""
B5: ClassVar[Pin] = ...
"""
B5 pin.
"""
B6: ClassVar[Pin] = ...
"""
B6 pin.
"""
B7: ClassVar[Pin] = ...
"""
B7 pin.
"""
B8: ClassVar[Pin] = ...
"""
B8 pin.
"""
B9: ClassVar[Pin] = ...
"""
B9 pin.
"""
C0: ClassVar[Pin] = ...
"""
C0 pin.
"""
C1: ClassVar[Pin] = ...
"""
C1 pin.
"""
C10: ClassVar[Pin] = ...
"""
C10 pin.
"""
C11: ClassVar[Pin] = ...
"""
C11 pin.
"""
C12: ClassVar[Pin] = ...
"""
C12 pin.
"""
C13: ClassVar[Pin] = ...
"""
C13 pin.
"""
C2: ClassVar[Pin] = ...
"""
C2 pin.
"""
C3: ClassVar[Pin] = ...
"""
C3 pin.
"""
C4: ClassVar[Pin] = ...
"""
C4 pin.
"""
C5: ClassVar[Pin] = ...
"""
C5 pin.
"""
C6: ClassVar[Pin] = ...
"""
C6 pin.
"""
C7: ClassVar[Pin] = ...
"""
C7 pin.
"""
C8: ClassVar[Pin] = ...
"""
C8 pin.
"""
C9: ClassVar[Pin] = ...
"""
C9 pin.
"""
D2: ClassVar[Pin] = ...
"""
D2 pin.
"""
AF_OD: ClassVar[int] = ...
"""
initialise the pin to alternate-function mode with an open-drain drive
"""
AF_PP: ClassVar[int] = ...
"""
initialise the pin to alternate-function mode with a push-pull drive
"""
ANALOG: ClassVar[int] = ...
"""
initialise the pin to analog mode
"""
IN: ClassVar[int] = ...
"""
initialise the pin to input mode
"""
OUT_OD: ClassVar[int] = ...
"""
initialise the pin to output mode with an open-drain drive
"""
OUT_PP: ClassVar[int] = ...
"""
initialise the pin to output mode with a push-pull drive
"""
PULL_DOWN: ClassVar[int] = ...
"""
enable the pull-down resistor on the pin
"""
PULL_NONE: ClassVar[int] = ...
"""
don't enable any pull up or down resistors on the pin
"""
PULL_UP: ClassVar[int] = ...
"""
enable the pull-up resistor on the pin
"""
def __init__(
self,
id: Pin | str,
/,
mode: int = IN,
pull: int = PULL_NONE,
*,
value: Any = None,
alt: str | int = -1,
):
"""
Create a new Pin object associated with the id. If additional arguments are given,
they are used to initialise the pin. See :meth:`pin.init`.
"""
@overload
@staticmethod
def debug() -> bool:
"""
Get or set the debugging state (``True`` or ``False`` for on or off).
"""
@overload
@staticmethod
def debug(state: bool, /) -> None:
"""
Get or set the debugging state (``True`` or ``False`` for on or off).
"""
@overload
@staticmethod
def dict() -> Dict[str, Pin]:
"""
Get or set the pin mapper dictionary.
"""
@overload
@staticmethod
def dict(dict: Dict[str, Pin], /) -> None:
"""
Get or set the pin mapper dictionary.
"""
@overload
@staticmethod
def mapper() -> Callable[[str], Pin]:
"""
Get or set the pin mapper function.
"""
@overload
@staticmethod
def mapper(fun: Callable[[str], Pin], /) -> None:
"""
Get or set the pin mapper function.
"""
def init(
self,
mode: int = IN,
pull: int = PULL_NONE,
*,
value: Any = None,
alt: str | int = -1,
) -> None:
"""
Initialise the pin:
- *mode* can be one of:
- ``Pin.IN`` - configure the pin for input;
- ``Pin.OUT_PP`` - configure the pin for output, with push-pull control;
- ``Pin.OUT_OD`` - configure the pin for output, with open-drain control;
- ``Pin.AF_PP`` - configure the pin for alternate function, pull-pull;
- ``Pin.AF_OD`` - configure the pin for alternate function, open-drain;
- ``Pin.ANALOG`` - configure the pin for analog.
- *pull* can be one of:
- ``Pin.PULL_NONE`` - no pull up or down resistors;
- ``Pin.PULL_UP`` - enable the pull-up resistor;
- ``Pin.PULL_DOWN`` - enable the pull-down resistor.
- *value* if not None will set the port output value before enabling the pin.
- *alt* can be used when mode is ``Pin.AF_PP`` or ``Pin.AF_OD`` to set the
index or name of one of the alternate functions associated with a pin.
This arg was previously called *af* which can still be used if needed.
Returns: ``None``.
"""
@overload
def value(self) -> int:
"""
Get or set the digital logic level of the pin:
- With no argument, return 0 or 1 depending on the logic level of the pin.
- With ``value`` given, set the logic level of the pin. ``value`` can be
anything that converts to a boolean. If it converts to ``True``, the pin
is set high, otherwise it is set low.
"""
@overload
def value(self, value: Any, /) -> None:
"""
Get or set the digital logic level of the pin:
- With no argument, return 0 or 1 depending on the logic level of the pin.
- With ``value`` given, set the logic level of the pin. ``value`` can be
anything that converts to a boolean. If it converts to ``True``, the pin
is set high, otherwise it is set low.
"""
def __str__(self) -> str:
"""
Return a string describing the pin object.
"""
def af(self) -> int:
"""
Returns the currently configured alternate-function of the pin. The
integer returned will match one of the allowed constants for the af
argument to the init function.
"""
def af_list(self) -> list[PinAF]:
"""
Returns an array of alternate functions available for this pin.
"""
def gpio(self) -> int:
"""
Returns the base address of the GPIO block associated with this pin.
"""
def mode(self) -> int:
"""
Returns the currently configured mode of the pin. The integer returned
will match one of the allowed constants for the mode argument to the init
function.
"""
def name(self) -> str:
"""
Get the pin name.
"""
def names(self) -> list[str]:
"""
Returns the cpu and board names for this pin.
"""
def pin(self) -> int:
"""
Get the pin number.
"""
def port(self) -> int:
"""
Get the pin port.
"""
def pull(self) -> int:
"""
Returns the currently configured pull of the pin. The integer returned
will match one of the allowed constants for the pull argument to the init
function.
"""
class PinAF(ABC):
"""
A Pin represents a physical pin on the microprocessor. Each pin
can have a variety of functions (GPIO, I2C SDA, etc). Each PinAF
object represents a particular function for a pin.
Usage Model::
x3 = pyb.Pin.board.X3
x3_af = x3.af_list()
x3_af will now contain an array of PinAF objects which are available on
pin X3.
For the pyboard, x3_af would contain:
[Pin.AF1_TIM2, Pin.AF2_TIM5, Pin.AF3_TIM9, Pin.AF7_USART2]
Normally, each peripheral would configure the af automatically, but sometimes
the same function is available on multiple pins, and having more control
is desired.
To configure X3 to expose TIM2_CH3, you could use::
pin = pyb.Pin(pyb.Pin.board.X3, mode=pyb.Pin.AF_PP, af=pyb.Pin.AF1_TIM2)
or::
pin = pyb.Pin(pyb.Pin.board.X3, mode=pyb.Pin.AF_PP, af=1)
"""
__slots__ = ()
@abstractmethod
def __str__(self) -> str:
"""
Return a string describing the alternate function.
"""
@abstractmethod
def index(self) -> int:
"""
Return the alternate function index.
"""
@abstractmethod
def name(self) -> str:
"""
Return the name of the alternate function.
"""
@abstractmethod
def reg(self) -> int:
"""
Return the base register associated with the peripheral assigned to this
alternate function. For example, if the alternate function were TIM2_CH3
this would return stm.TIM2
"""
class RTC:
"""
The RTC is an independent clock that keeps track of the date
and time.
Example usage::
rtc = pyb.RTC()
rtc.datetime((2014, 5, 1, 4, 13, 0, 0, 0))
print(rtc.datetime())
"""
def __init__(self):
"""
Create an RTC object.
"""
def datetime(
self, datetimetuple: tuple[int, int, int, int, int, int, int, int], /
) -> None:
"""
Get or set the date and time of the RTC.
With no arguments, this method returns an 8-tuple with the current
date and time. With 1 argument (being an 8-tuple) it sets the date
and time (and ``subseconds`` is reset to 255).
The 8-tuple has the following format:
(year, month, day, weekday, hours, minutes, seconds, subseconds)
``weekday`` is 1-7 for Monday through Sunday.
``subseconds`` counts down from 255 to 0
"""
def wakeup(
self, timeout: int, callback: Callable[[RTC], None] | None = None, /
) -> None:
"""
Set the RTC wakeup timer to trigger repeatedly at every ``timeout``
milliseconds. This trigger can wake the pyboard from both the sleep
states: :meth:`pyb.stop` and :meth:`pyb.standby`.
If ``timeout`` is ``None`` then the wakeup timer is disabled.
If ``callback`` is given then it is executed at every trigger of the
wakeup timer. ``callback`` must take exactly one argument.
"""
def info(self) -> int:
"""
Get information about the startup time and reset source.
- The lower 0xffff are the number of milliseconds the RTC took to
start up.
- Bit 0x10000 is set if a power-on reset occurred.
- Bit 0x20000 is set if an external reset occurred
"""
@overload
def calibration(self) -> int:
"""
Get or set RTC calibration.
With no arguments, ``calibration()`` returns the current calibration
value, which is an integer in the range [-511 : 512]. With one
argument it sets the RTC calibration.
The RTC Smooth Calibration mechanism adjusts the RTC clock rate by
adding or subtracting the given number of ticks from the 32768 Hz
clock over a 32 second period (corresponding to 2^20 clock ticks.)
Each tick added will speed up the clock by 1 part in 2^20, or 0.954
ppm; likewise the RTC clock it slowed by negative values. The
usable calibration range is:
(-511 * 0.954) ~= -487.5 ppm up to (512 * 0.954) ~= 488.5 ppm
"""
@overload
def calibration(self, cal: int, /) -> None:
"""
Get or set RTC calibration.
With no arguments, ``calibration()`` returns the current calibration
value, which is an integer in the range [-511 : 512]. With one
argument it sets the RTC calibration.
The RTC Smooth Calibration mechanism adjusts the RTC clock rate by
adding or subtracting the given number of ticks from the 32768 Hz
clock over a 32 second period (corresponding to 2^20 clock ticks.)
Each tick added will speed up the clock by 1 part in 2^20, or 0.954
ppm; likewise the RTC clock it slowed by negative values. The
usable calibration range is:
(-511 * 0.954) ~= -487.5 ppm up to (512 * 0.954) ~= 488.5 ppm
"""
class Servo:
"""
Servo objects control standard hobby servo motors with 3-wires (ground, power,
signal). There are 4 positions on the pyboard where these motors can be plugged
in: pins X1 through X4 are the signal pins, and next to them are 4 sets of power
and ground pins.
Example usage::
import pyb
s1 = pyb.Servo(1) # create a servo object on position X1
s2 = pyb.Servo(2) # create a servo object on position X2
s1.angle(45) # move servo 1 to 45 degrees
s2.angle(0) # move servo 2 to 0 degrees
# move servo1 and servo2 synchronously, taking 1500ms
s1.angle(-60, 1500)
s2.angle(30, 1500)
.. note:: The Servo objects use Timer(5) to produce the PWM output. You can
use Timer(5) for Servo control, or your own purposes, but not both at the
same time.
"""
def __init__(self, id: int, /):
"""
Create a servo object. ``id`` is 1-4, and corresponds to pins X1 through X4.
"""
@overload
def angle(self) -> int:
"""
If no arguments are given, this function returns the current angle.
If arguments are given, this function sets the angle of the servo:
- ``angle`` is the angle to move to in degrees.
- ``time`` is the number of milliseconds to take to get to the specified
angle. If omitted, then the servo moves as quickly as possible to its
new position.
"""
@overload
def angle(self, angle: int, time: int = 0, /) -> None:
"""
If no arguments are given, this function returns the current angle.
If arguments are given, this function sets the angle of the servo:
- ``angle`` is the angle to move to in degrees.
- ``time`` is the number of milliseconds to take to get to the specified
angle. If omitted, then the servo moves as quickly as possible to its
new position.
"""
@overload
def speed(self) -> int:
"""
If no arguments are given, this function returns the current speed.
If arguments are given, this function sets the speed of the servo:
- ``speed`` is the speed to change to, between -100 and 100.
- ``time`` is the number of milliseconds to take to get to the specified
speed. If omitted, then the servo accelerates as quickly as possible.
"""
@overload
def speed(self, speed: int, time: int = 0, /) -> None:
"""
If no arguments are given, this function returns the current speed.
If arguments are given, this function sets the speed of the servo:
- ``speed`` is the speed to change to, between -100 and 100.
- ``time`` is the number of milliseconds to take to get to the specified
speed. If omitted, then the servo accelerates as quickly as possible.
"""
@overload
def speed(self) -> int:
"""
If no arguments are given, this function returns the current raw pulse-width
value.
If an argument is given, this function sets the raw pulse-width value.
"""
@overload
def speed(self, value: int, /) -> None:
"""
If no arguments are given, this function returns the current raw pulse-width
value.
If an argument is given, this function sets the raw pulse-width value.
"""
@overload
def calibration(self) -> tuple[int, int, int, int, int]:
"""
If no arguments are given, this function returns the current calibration
data, as a 5-tuple.
If arguments are given, this function sets the timing calibration:
- ``pulse_min`` is the minimum allowed pulse width.
- ``pulse_max`` is the maximum allowed pulse width.
- ``pulse_centre`` is the pulse width corresponding to the centre/zero position.
- ``pulse_angle_90`` is the pulse width corresponding to 90 degrees.
- ``pulse_speed_100`` is the pulse width corresponding to a speed of 100.
"""
@overload
def calibration(self, pulse_min: int, pulse_max: int, pulse_centre: int, /) -> None:
"""
If no arguments are given, this function returns the current calibration
data, as a 5-tuple.
If arguments are given, this function sets the timing calibration:
- ``pulse_min`` is the minimum allowed pulse width.
- ``pulse_max`` is the maximum allowed pulse width.
- ``pulse_centre`` is the pulse width corresponding to the centre/zero position.
- ``pulse_angle_90`` is the pulse width corresponding to 90 degrees.
- ``pulse_speed_100`` is the pulse width corresponding to a speed of 100.
"""
@overload
def calibration(
self,
pulse_min: int,
pulse_max: int,
pulse_centre: int,
pulse_angle_90: int,
pulse_speed_100: int,
/,
) -> None:
"""
If no arguments are given, this function returns the current calibration
data, as a 5-tuple.
If arguments are given, this function sets the timing calibration:
- ``pulse_min`` is the minimum allowed pulse width.
- ``pulse_max`` is the maximum allowed pulse width.
- ``pulse_centre`` is the pulse width corresponding to the centre/zero position.
- ``pulse_angle_90`` is the pulse width corresponding to 90 degrees.
- ``pulse_speed_100`` is the pulse width corresponding to a speed of 100.
"""
class SPI:
"""
SPI is a serial protocol that is driven by a controller. At the physical level
there are 3 lines: SCK, MOSI, MISO.
See usage model of I2C; SPI is very similar. Main difference is
parameters to init the SPI bus::
from pyb import SPI
spi = SPI(1, SPI.CONTROLLER, baudrate=600000, polarity=1, phase=0, crc=0x7)
Only required parameter is mode, SPI.CONTROLLER or SPI.PERIPHERAL. Polarity can be
0 or 1, and is the level the idle clock line sits at. Phase can be 0 or 1
to sample data on the first or second clock edge respectively. Crc can be
None for no CRC, or a polynomial specifier.
Additional methods for SPI::
data = spi.send_recv(b'1234') # send 4 bytes and receive 4 bytes
buf = bytearray(4)
spi.send_recv(b'1234', buf) # send 4 bytes and receive 4 into buf
spi.send_recv(buf, buf) # send/recv 4 bytes from/to buf
"""
CONTROLLER: ClassVar[int] = ...
"""
for initialising the SPI bus to controller or peripheral mode
"""
PERIPHERAL: ClassVar[int] = ...
"""
for initialising the SPI bus to controller or peripheral mode
"""
LSB: ClassVar[int] = ...
"""
set the first bit to be the least or most significant bit
"""
MSB: ClassVar[int] = ...
"""
set the first bit to be the least or most significant bit
"""
@overload
def __init__(self, bus: int, /):
"""
Construct an SPI object on the given bus. ``bus`` can be 1 or 2, or
'X' or 'Y'. With no additional parameters, the SPI object is created but
not initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See ``init`` for parameters of initialisation.
The physical pins of the SPI buses are:
- ``SPI(1)`` is on the X position: ``(NSS, SCK, MISO, MOSI) = (X5, X6, X7, X8) = (PA4, PA5, PA6, PA7)``
- ``SPI(2)`` is on the Y position: ``(NSS, SCK, MISO, MOSI) = (Y5, Y6, Y7, Y8) = (PB12, PB13, PB14, PB15)``
At the moment, the NSS pin is not used by the SPI driver and is free
for other use.
"""
@overload
def __init__(
self,
bus: int,
/,
mode: int = CONTROLLER,
baudrate: int = 328125,
*,
polarity: int = 1,
phase: int = 0,
bits: int = 8,
firstbit: int = MSB,
ti: bool = False,
crc: int | None = None,
):
"""
Construct an SPI object on the given bus. ``bus`` can be 1 or 2, or
'X' or 'Y'. With no additional parameters, the SPI object is created but
not initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See ``init`` for parameters of initialisation.
The physical pins of the SPI buses are:
- ``SPI(1)`` is on the X position: ``(NSS, SCK, MISO, MOSI) = (X5, X6, X7, X8) = (PA4, PA5, PA6, PA7)``
- ``SPI(2)`` is on the Y position: ``(NSS, SCK, MISO, MOSI) = (Y5, Y6, Y7, Y8) = (PB12, PB13, PB14, PB15)``
At the moment, the NSS pin is not used by the SPI driver and is free
for other use.
"""
@overload
def __init__(
self,
bus: int,
/,
mode: int = CONTROLLER,
*,
prescaler: int = 256,
polarity: int = 1,
phase: int = 0,
bits: int = 8,
firstbit: int = MSB,
ti: bool = False,
crc: int | None = None,
):
"""
Construct an SPI object on the given bus. ``bus`` can be 1 or 2, or
'X' or 'Y'. With no additional parameters, the SPI object is created but
not initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See ``init`` for parameters of initialisation.
The physical pins of the SPI buses are:
- ``SPI(1)`` is on the X position: ``(NSS, SCK, MISO, MOSI) = (X5, X6, X7, X8) = (PA4, PA5, PA6, PA7)``
- ``SPI(2)`` is on the Y position: ``(NSS, SCK, MISO, MOSI) = (Y5, Y6, Y7, Y8) = (PB12, PB13, PB14, PB15)``
At the moment, the NSS pin is not used by the SPI driver and is free
for other use.
"""
def deinit(self) -> None:
"""
Turn off the SPI bus.
"""
@overload
def init(
self,
mode: int = CONTROLLER,
baudrate: int = 328125,
*,
polarity: int = 1,
phase: int = 0,
bits: int = 8,
firstbit: int = MSB,
ti: bool = False,
crc: int | None = None,
):
"""
Initialise the SPI bus with the given parameters:
- ``mode`` must be either ``SPI.CONTROLLER`` or ``SPI.PERIPHERAL``.
- ``baudrate`` is the SCK clock rate (only sensible for a controller).
- ``prescaler`` is the prescaler to use to derive SCK from the APB bus frequency;
use of ``prescaler`` overrides ``baudrate``.
- ``polarity`` can be 0 or 1, and is the level the idle clock line sits at.
- ``phase`` can be 0 or 1 to sample data on the first or second clock edge
respectively.
- ``bits`` can be 8 or 16, and is the number of bits in each transferred word.
- ``firstbit`` can be ``SPI.MSB`` or ``SPI.LSB``.
- ``ti`` True indicates Texas Instruments, as opposed to Motorola, signal conventions.
- ``crc`` can be None for no CRC, or a polynomial specifier.
Note that the SPI clock frequency will not always be the requested baudrate.
The hardware only supports baudrates that are the APB bus frequency
(see :meth:`pyb.freq`) divided by a prescaler, which can be 2, 4, 8, 16, 32,
64, 128 or 256. SPI(1) is on AHB2, and SPI(2) is on AHB1. For precise
control over the SPI clock frequency, specify ``prescaler`` instead of
``baudrate``.
Printing the SPI object will show you the computed baudrate and the chosen
prescaler.
"""
@overload
def init(
self,
mode: int = CONTROLLER,
*,
prescaler: int = 256,
polarity: int = 1,
phase: int = 0,
bits: int = 8,
firstbit: int = MSB,
ti: bool = False,
crc: int | None = None,
):
"""
Initialise the SPI bus with the given parameters:
- ``mode`` must be either ``SPI.CONTROLLER`` or ``SPI.PERIPHERAL``.
- ``baudrate`` is the SCK clock rate (only sensible for a controller).
- ``prescaler`` is the prescaler to use to derive SCK from the APB bus frequency;
use of ``prescaler`` overrides ``baudrate``.
- ``polarity`` can be 0 or 1, and is the level the idle clock line sits at.
- ``phase`` can be 0 or 1 to sample data on the first or second clock edge
respectively.
- ``bits`` can be 8 or 16, and is the number of bits in each transferred word.
- ``firstbit`` can be ``SPI.MSB`` or ``SPI.LSB``.
- ``ti`` True indicates Texas Instruments, as opposed to Motorola, signal conventions.
- ``crc`` can be None for no CRC, or a polynomial specifier.
Note that the SPI clock frequency will not always be the requested baudrate.
The hardware only supports baudrates that are the APB bus frequency
(see :meth:`pyb.freq`) divided by a prescaler, which can be 2, 4, 8, 16, 32,
64, 128 or 256. SPI(1) is on AHB2, and SPI(2) is on AHB1. For precise
control over the SPI clock frequency, specify ``prescaler`` instead of
``baudrate``.
Printing the SPI object will show you the computed baudrate and the chosen
prescaler.
"""
def recv(
self, recv: int | AnyWritableBuf, /, *, timeout: int = 5000
) -> AnyWritableBuf:
"""
Receive data on the bus:
- ``recv`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes.
- ``timeout`` is the timeout in milliseconds to wait for the receive.
Return value: if ``recv`` is an integer then a new buffer of the bytes received,
otherwise the same buffer that was passed in to ``recv``.
"""
def send(
self, send: int | AnyWritableBuf | bytes, /, *, timeout: int = 5000
) -> None:
"""
Send data on the bus:
- ``send`` is the data to send (an integer to send, or a buffer object).
- ``timeout`` is the timeout in milliseconds to wait for the send.
Return value: ``None``.
"""
def send_recv(
self,
send: int | bytearray | array | bytes,
recv: AnyWritableBuf | None = None,
/,
*,
timeout: int = 5000,
) -> AnyWritableBuf:
"""
Send and receive data on the bus at the same time:
- ``send`` is the data to send (an integer to send, or a buffer object).
- ``recv`` is a mutable buffer which will be filled with received bytes.
It can be the same as ``send``, or omitted. If omitted, a new buffer will
be created.
- ``timeout`` is the timeout in milliseconds to wait for the receive.
Return value: the buffer with the received bytes.
"""
class Switch:
"""
A Switch object is used to control a push-button switch.
Usage::
sw = pyb.Switch() # create a switch object
sw.value() # get state (True if pressed, False otherwise)
sw() # shorthand notation to get the switch state
sw.callback(f) # register a callback to be called when the
# switch is pressed down
sw.callback(None) # remove the callback
Example::
pyb.Switch().callback(lambda: pyb.LED(1).toggle())
"""
def __init__(self):
"""
Create and return a switch object.
"""
def __call__(self) -> bool:
"""
Call switch object directly to get its state: ``True`` if pressed down,
``False`` otherwise.
"""
def value(self) -> bool:
"""
Get the switch state. Returns ``True`` if pressed down, otherwise ``False``.
"""
def callback(self, fun: Callable[[], None] | None) -> None:
"""
Register the given function to be called when the switch is pressed down.
If ``fun`` is ``None``, then it disables the callback.
"""
# noinspection PyShadowingNames,PyUnresolvedReferences
class Timer:
"""
Timers can be used for a great variety of tasks. At the moment, only
the simplest case is implemented: that of calling a function periodically.
Each timer consists of a counter that counts up at a certain rate. The rate
at which it counts is the peripheral clock frequency (in Hz) divided by the
timer prescaler. When the counter reaches the timer period it triggers an
event, and the counter resets back to zero. By using the callback method,
the timer event can call a Python function.
Example usage to toggle an LED at a fixed frequency::
tim = pyb.Timer(4) # create a timer object using timer 4
tim.init(freq=2) # trigger at 2Hz
tim.callback(lambda t:pyb.LED(1).toggle())
Example using named function for the callback::
def tick(timer): # we will receive the timer object when being called
print(timer.counter()) # show current timer's counter value
tim = pyb.Timer(4, freq=1) # create a timer object using timer 4 - trigger at 1Hz
tim.callback(tick) # set the callback to our tick function
Further examples::
tim = pyb.Timer(4, freq=100) # freq in Hz
tim = pyb.Timer(4, prescaler=0, period=99)
tim.counter() # get counter (can also set)
tim.prescaler(2) # set prescaler (can also get)
tim.period(199) # set period (can also get)
tim.callback(lambda t: ...) # set callback for update interrupt (t=tim instance)
tim.callback(None) # clear callback
*Note:* Timer(2) and Timer(3) are used for PWM to set the intensity of LED(3)
and LED(4) respectively. But these timers are only configured for PWM if
the intensity of the relevant LED is set to a value between 1 and 254. If
the intensity feature of the LEDs is not used then these timers are free for
general purpose use. Similarly, Timer(5) controls the servo driver, and
Timer(6) is used for timed ADC/DAC reading/writing. It is recommended to
use the other timers in your programs.
*Note:* Memory can't be allocated during a callback (an interrupt) and so
exceptions raised within a callback don't give much information. See
:func:`micropython.alloc_emergency_exception_buf` for how to get around this
limitation.
"""
UP: ClassVar[int] = ...
"""
configures the timer to count from 0 to ARR (default).
"""
DOWN: ClassVar[int] = ...
"""
configures the timer to count from ARR down to 0.
"""
CENTER: ClassVar[int] = ...
"""
configures the timer to count from 0 to ARR and then back down to 0.
"""
PWM: ClassVar[int] = ...
"""
configure the timer in PWM mode (active high).
"""
PWM_INVERTED: ClassVar[int] = ...
"""
configure the timer in PWM mode (active low).
"""
OC_TIMING: ClassVar[int] = ...
"""
indicates that no pin is driven.
"""
OC_ACTIVE: ClassVar[int] = ...
"""
the pin will be made active when a compare match occurs (active is determined by polarity).
"""
OC_INACTIVE: ClassVar[int] = ...
"""
the pin will be made inactive when a compare match occurs.
"""
OC_TOGGLE: ClassVar[int] = ...
"""
the pin will be toggled when an compare match occurs.
"""
OC_FORCED_ACTIVE: ClassVar[int] = ...
"""
the pin is forced active (compare match is ignored).
"""
OC_FORCED_INACTIVE: ClassVar[int] = ...
"""
the pin is forced inactive (compare match is ignored).
"""
IC: ClassVar[int] = ...
"""
configure the timer in Input Capture mode.
"""
ENC_A: ClassVar[int] = ...
"""
configure the timer in Encoder mode. The counter only changes when CH1 changes.
"""
ENC_B: ClassVar[int] = ...
"""
configure the timer in Encoder mode. The counter only changes when CH2 changes.
"""
ENC_AB: ClassVar[int] = ...
"""
configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
"""
HIGH: ClassVar[int] = ...
"""
output is active high.
"""
LOW: ClassVar[int] = ...
"""
output is active low.
"""
RISING: ClassVar[int] = ...
"""
captures on rising edge.
"""
FALLING: ClassVar[int] = ...
"""
captures on falling edge.
"""
BOTH: ClassVar[int] = ...
"""
captures on both edges.
"""
@overload
def __init__(self, id: int, /):
"""
Construct a new timer object of the given id. If additional
arguments are given, then the timer is initialised by ``init(...)``.
``id`` can be 1 to 14.
"""
@overload
def __init__(
self,
id: int,
/,
*,
freq: int,
mode: int = UP,
div: int = 1,
callback: Callable[[Timer], None] | None = None,
deadtime: int = 0,
):
"""
Construct a new timer object of the given id. If additional
arguments are given, then the timer is initialised by ``init(...)``.
``id`` can be 1 to 14.
"""
@overload
def __init__(
self,
id: int,
/,
*,
prescaler: int,
period: int,
mode: int = UP,
div: int = 1,
callback: Callable[[Timer], None] | None = None,
deadtime: int = 0,
):
"""
Construct a new timer object of the given id. If additional
arguments are given, then the timer is initialised by ``init(...)``.
``id`` can be 1 to 14.
"""
@overload
def init(
self,
*,
freq: int,
mode: int = UP,
div: int = 1,
callback: Callable[[Timer], None] | None = None,
deadtime: int = 0,
) -> None:
"""
Initialise the timer. Initialisation must be either by frequency (in Hz)
or by prescaler and period::
tim.init(freq=100) # set the timer to trigger at 100Hz
tim.init(prescaler=83, period=999) # set the prescaler and period directly
Keyword arguments:
- ``freq`` --- specifies the periodic frequency of the timer. You might also
view this as the frequency with which the timer goes through one complete cycle.
- ``prescaler`` [0-0xffff] - specifies the value to be loaded into the
timer's Prescaler Register (PSC). The timer clock source is divided by
(``prescaler + 1``) to arrive at the timer clock. Timers 2-7 and 12-14
have a clock source of 84 MHz (pyb.freq()[2] \* 2), and Timers 1, and 8-11
have a clock source of 168 MHz (pyb.freq()[3] \* 2).
- ``period`` [0-0xffff] for timers 1, 3, 4, and 6-15. [0-0x3fffffff] for timers 2 & 5.
Specifies the value to be loaded into the timer's AutoReload
Register (ARR). This determines the period of the timer (i.e. when the
counter cycles). The timer counter will roll-over after ``period + 1``
timer clock cycles.
- ``mode`` can be one of:
- ``Timer.UP`` - configures the timer to count from 0 to ARR (default)
- ``Timer.DOWN`` - configures the timer to count from ARR down to 0.
- ``Timer.CENTER`` - configures the timer to count from 0 to ARR and
then back down to 0.
- ``div`` can be one of 1, 2, or 4. Divides the timer clock to determine
the sampling clock used by the digital filters.
- ``callback`` - as per Timer.callback()
- ``deadtime`` - specifies the amount of "dead" or inactive time between
transitions on complimentary channels (both channels will be inactive)
for this time). ``deadtime`` may be an integer between 0 and 1008, with
the following restrictions: 0-128 in steps of 1. 128-256 in steps of
2, 256-512 in steps of 8, and 512-1008 in steps of 16. ``deadtime``
measures ticks of ``source_freq`` divided by ``div`` clock ticks.
``deadtime`` is only available on timers 1 and 8.
You must either specify freq or both of period and prescaler.
"""
@overload
def init(
self,
*,
prescaler: int,
period: int,
mode: int = UP,
div: int = 1,
callback: Callable[[Timer], None] | None = None,
deadtime: int = 0,
) -> None:
"""
Initialise the timer. Initialisation must be either by frequency (in Hz)
or by prescaler and period::
tim.init(freq=100) # set the timer to trigger at 100Hz
tim.init(prescaler=83, period=999) # set the prescaler and period directly
Keyword arguments:
- ``freq`` --- specifies the periodic frequency of the timer. You might also
view this as the frequency with which the timer goes through one complete cycle.
- ``prescaler`` [0-0xffff] - specifies the value to be loaded into the
timer's Prescaler Register (PSC). The timer clock source is divided by
(``prescaler + 1``) to arrive at the timer clock. Timers 2-7 and 12-14
have a clock source of 84 MHz (pyb.freq()[2] \* 2), and Timers 1, and 8-11
have a clock source of 168 MHz (pyb.freq()[3] \* 2).
- ``period`` [0-0xffff] for timers 1, 3, 4, and 6-15. [0-0x3fffffff] for timers 2 & 5.
Specifies the value to be loaded into the timer's AutoReload
Register (ARR). This determines the period of the timer (i.e. when the
counter cycles). The timer counter will roll-over after ``period + 1``
timer clock cycles.
- ``mode`` can be one of:
- ``Timer.UP`` - configures the timer to count from 0 to ARR (default)
- ``Timer.DOWN`` - configures the timer to count from ARR down to 0.
- ``Timer.CENTER`` - configures the timer to count from 0 to ARR and
then back down to 0.
- ``div`` can be one of 1, 2, or 4. Divides the timer clock to determine
the sampling clock used by the digital filters.
- ``callback`` - as per Timer.callback()
- ``deadtime`` - specifies the amount of "dead" or inactive time between
transitions on complimentary channels (both channels will be inactive)
for this time). ``deadtime`` may be an integer between 0 and 1008, with
the following restrictions: 0-128 in steps of 1. 128-256 in steps of
2, 256-512 in steps of 8, and 512-1008 in steps of 16. ``deadtime``
measures ticks of ``source_freq`` divided by ``div`` clock ticks.
``deadtime`` is only available on timers 1 and 8.
You must either specify freq or both of period and prescaler.
"""
def deinit(self) -> None:
"""
Deinitialises the timer.
Disables the callback (and the associated irq).
Disables any channel callbacks (and the associated irq).
Stops the timer, and disables the timer peripheral.
"""
def callback(self, fun: Callable[[Timer], None] | None, /) -> None:
"""
Set the function to be called when the timer triggers.
``fun`` is passed 1 argument, the timer object.
If ``fun`` is ``None`` then the callback will be disabled.
"""
@overload
def channel(self, channel: int, /) -> "TimerChannel" | None:
"""
If only a channel number is passed, then a previously initialized channel
object is returned (or ``None`` if there is no previous channel).
Otherwise, a TimerChannel object is initialized and returned.
Each channel can be configured to perform pwm, output compare, or
input capture. All channels share the same underlying timer, which means
that they share the same timer clock.
Keyword arguments:
- ``mode`` can be one of:
- ``Timer.PWM`` --- configure the timer in PWM mode (active high).
- ``Timer.PWM_INVERTED`` --- configure the timer in PWM mode (active low).
- ``Timer.OC_TIMING`` --- indicates that no pin is driven.
- ``Timer.OC_ACTIVE`` --- the pin will be made active when a compare match occurs (active is determined by polarity)
- ``Timer.OC_INACTIVE`` --- the pin will be made inactive when a compare match occurs.
- ``Timer.OC_TOGGLE`` --- the pin will be toggled when an compare match occurs.
- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
- ``Timer.IC`` --- configure the timer in Input Capture mode.
- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
- ``callback`` - as per TimerChannel.callback()
- ``pin`` None (the default) or a Pin object. If specified (and not None)
this will cause the alternate function of the the indicated pin
to be configured for this timer channel. An error will be raised if
the pin doesn't support any alternate functions for this timer channel.
Keyword arguments for Timer.PWM modes:
- ``pulse_width`` - determines the initial pulse width value to use.
- ``pulse_width_percent`` - determines the initial pulse width percentage to use.
Keyword arguments for Timer.OC modes:
- ``compare`` - determines the initial value of the compare register.
- ``polarity`` can be one of:
- ``Timer.HIGH`` - output is active high
- ``Timer.LOW`` - output is active low
Optional keyword arguments for Timer.IC modes:
- ``polarity`` can be one of:
- ``Timer.RISING`` - captures on rising edge.
- ``Timer.FALLING`` - captures on falling edge.
- ``Timer.BOTH`` - captures on both edges.
Note that capture only works on the primary channel, and not on the
complimentary channels.
Notes for Timer.ENC modes:
- Requires 2 pins, so one or both pins will need to be configured to use
the appropriate timer AF using the Pin API.
- Read the encoder value using the timer.counter() method.
- Only works on CH1 and CH2 (and not on CH1N or CH2N)
- The channel number is ignored when setting the encoder mode.
PWM Example::
timer = pyb.Timer(2, freq=1000)
ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=8000)
ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=16000)
"""
@overload
def channel(
self,
channel: int,
/,
mode: int,
*,
callback: Callable[[Timer], None] | None = None,
pin: Pin | None = None,
pulse_width: int,
) -> "TimerChannel":
"""
If only a channel number is passed, then a previously initialized channel
object is returned (or ``None`` if there is no previous channel).
Otherwise, a TimerChannel object is initialized and returned.
Each channel can be configured to perform pwm, output compare, or
input capture. All channels share the same underlying timer, which means
that they share the same timer clock.
Keyword arguments:
- ``mode`` can be one of:
- ``Timer.PWM`` --- configure the timer in PWM mode (active high).
- ``Timer.PWM_INVERTED`` --- configure the timer in PWM mode (active low).
- ``Timer.OC_TIMING`` --- indicates that no pin is driven.
- ``Timer.OC_ACTIVE`` --- the pin will be made active when a compare match occurs (active is determined by polarity)
- ``Timer.OC_INACTIVE`` --- the pin will be made inactive when a compare match occurs.
- ``Timer.OC_TOGGLE`` --- the pin will be toggled when an compare match occurs.
- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
- ``Timer.IC`` --- configure the timer in Input Capture mode.
- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
- ``callback`` - as per TimerChannel.callback()
- ``pin`` None (the default) or a Pin object. If specified (and not None)
this will cause the alternate function of the the indicated pin
to be configured for this timer channel. An error will be raised if
the pin doesn't support any alternate functions for this timer channel.
Keyword arguments for Timer.PWM modes:
- ``pulse_width`` - determines the initial pulse width value to use.
- ``pulse_width_percent`` - determines the initial pulse width percentage to use.
Keyword arguments for Timer.OC modes:
- ``compare`` - determines the initial value of the compare register.
- ``polarity`` can be one of:
- ``Timer.HIGH`` - output is active high
- ``Timer.LOW`` - output is active low
Optional keyword arguments for Timer.IC modes:
- ``polarity`` can be one of:
- ``Timer.RISING`` - captures on rising edge.
- ``Timer.FALLING`` - captures on falling edge.
- ``Timer.BOTH`` - captures on both edges.
Note that capture only works on the primary channel, and not on the
complimentary channels.
Notes for Timer.ENC modes:
- Requires 2 pins, so one or both pins will need to be configured to use
the appropriate timer AF using the Pin API.
- Read the encoder value using the timer.counter() method.
- Only works on CH1 and CH2 (and not on CH1N or CH2N)
- The channel number is ignored when setting the encoder mode.
PWM Example::
timer = pyb.Timer(2, freq=1000)
ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=8000)
ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=16000)
"""
@overload
def channel(
self,
channel: int,
/,
mode: int,
*,
callback: Callable[[Timer], None] | None = None,
pin: Pin | None = None,
pulse_width_percent: int | float,
) -> "TimerChannel":
"""
If only a channel number is passed, then a previously initialized channel
object is returned (or ``None`` if there is no previous channel).
Otherwise, a TimerChannel object is initialized and returned.
Each channel can be configured to perform pwm, output compare, or
input capture. All channels share the same underlying timer, which means
that they share the same timer clock.
Keyword arguments:
- ``mode`` can be one of:
- ``Timer.PWM`` --- configure the timer in PWM mode (active high).
- ``Timer.PWM_INVERTED`` --- configure the timer in PWM mode (active low).
- ``Timer.OC_TIMING`` --- indicates that no pin is driven.
- ``Timer.OC_ACTIVE`` --- the pin will be made active when a compare match occurs (active is determined by polarity)
- ``Timer.OC_INACTIVE`` --- the pin will be made inactive when a compare match occurs.
- ``Timer.OC_TOGGLE`` --- the pin will be toggled when an compare match occurs.
- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
- ``Timer.IC`` --- configure the timer in Input Capture mode.
- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
- ``callback`` - as per TimerChannel.callback()
- ``pin`` None (the default) or a Pin object. If specified (and not None)
this will cause the alternate function of the the indicated pin
to be configured for this timer channel. An error will be raised if
the pin doesn't support any alternate functions for this timer channel.
Keyword arguments for Timer.PWM modes:
- ``pulse_width`` - determines the initial pulse width value to use.
- ``pulse_width_percent`` - determines the initial pulse width percentage to use.
Keyword arguments for Timer.OC modes:
- ``compare`` - determines the initial value of the compare register.
- ``polarity`` can be one of:
- ``Timer.HIGH`` - output is active high
- ``Timer.LOW`` - output is active low
Optional keyword arguments for Timer.IC modes:
- ``polarity`` can be one of:
- ``Timer.RISING`` - captures on rising edge.
- ``Timer.FALLING`` - captures on falling edge.
- ``Timer.BOTH`` - captures on both edges.
Note that capture only works on the primary channel, and not on the
complimentary channels.
Notes for Timer.ENC modes:
- Requires 2 pins, so one or both pins will need to be configured to use
the appropriate timer AF using the Pin API.
- Read the encoder value using the timer.counter() method.
- Only works on CH1 and CH2 (and not on CH1N or CH2N)
- The channel number is ignored when setting the encoder mode.
PWM Example::
timer = pyb.Timer(2, freq=1000)
ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=8000)
ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=16000)
"""
@overload
def channel(
self,
channel: int,
/,
mode: int,
*,
callback: Callable[[Timer], None] | None = None,
pin: Pin | None = None,
compare: int,
polarity: int,
) -> "TimerChannel":
"""
If only a channel number is passed, then a previously initialized channel
object is returned (or ``None`` if there is no previous channel).
Otherwise, a TimerChannel object is initialized and returned.
Each channel can be configured to perform pwm, output compare, or
input capture. All channels share the same underlying timer, which means
that they share the same timer clock.
Keyword arguments:
- ``mode`` can be one of:
- ``Timer.PWM`` --- configure the timer in PWM mode (active high).
- ``Timer.PWM_INVERTED`` --- configure the timer in PWM mode (active low).
- ``Timer.OC_TIMING`` --- indicates that no pin is driven.
- ``Timer.OC_ACTIVE`` --- the pin will be made active when a compare match occurs (active is determined by polarity)
- ``Timer.OC_INACTIVE`` --- the pin will be made inactive when a compare match occurs.
- ``Timer.OC_TOGGLE`` --- the pin will be toggled when an compare match occurs.
- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
- ``Timer.IC`` --- configure the timer in Input Capture mode.
- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
- ``callback`` - as per TimerChannel.callback()
- ``pin`` None (the default) or a Pin object. If specified (and not None)
this will cause the alternate function of the the indicated pin
to be configured for this timer channel. An error will be raised if
the pin doesn't support any alternate functions for this timer channel.
Keyword arguments for Timer.PWM modes:
- ``pulse_width`` - determines the initial pulse width value to use.
- ``pulse_width_percent`` - determines the initial pulse width percentage to use.
Keyword arguments for Timer.OC modes:
- ``compare`` - determines the initial value of the compare register.
- ``polarity`` can be one of:
- ``Timer.HIGH`` - output is active high
- ``Timer.LOW`` - output is active low
Optional keyword arguments for Timer.IC modes:
- ``polarity`` can be one of:
- ``Timer.RISING`` - captures on rising edge.
- ``Timer.FALLING`` - captures on falling edge.
- ``Timer.BOTH`` - captures on both edges.
Note that capture only works on the primary channel, and not on the
complimentary channels.
Notes for Timer.ENC modes:
- Requires 2 pins, so one or both pins will need to be configured to use
the appropriate timer AF using the Pin API.
- Read the encoder value using the timer.counter() method.
- Only works on CH1 and CH2 (and not on CH1N or CH2N)
- The channel number is ignored when setting the encoder mode.
PWM Example::
timer = pyb.Timer(2, freq=1000)
ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=8000)
ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=16000)
"""
@overload
def channel(
self,
channel: int,
/,
mode: int,
*,
callback: Callable[[Timer], None] | None = None,
pin: Pin | None = None,
polarity: int,
) -> "TimerChannel":
"""
If only a channel number is passed, then a previously initialized channel
object is returned (or ``None`` if there is no previous channel).
Otherwise, a TimerChannel object is initialized and returned.
Each channel can be configured to perform pwm, output compare, or
input capture. All channels share the same underlying timer, which means
that they share the same timer clock.
Keyword arguments:
- ``mode`` can be one of:
- ``Timer.PWM`` --- configure the timer in PWM mode (active high).
- ``Timer.PWM_INVERTED`` --- configure the timer in PWM mode (active low).
- ``Timer.OC_TIMING`` --- indicates that no pin is driven.
- ``Timer.OC_ACTIVE`` --- the pin will be made active when a compare match occurs (active is determined by polarity)
- ``Timer.OC_INACTIVE`` --- the pin will be made inactive when a compare match occurs.
- ``Timer.OC_TOGGLE`` --- the pin will be toggled when an compare match occurs.
- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
- ``Timer.IC`` --- configure the timer in Input Capture mode.
- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
- ``callback`` - as per TimerChannel.callback()
- ``pin`` None (the default) or a Pin object. If specified (and not None)
this will cause the alternate function of the the indicated pin
to be configured for this timer channel. An error will be raised if
the pin doesn't support any alternate functions for this timer channel.
Keyword arguments for Timer.PWM modes:
- ``pulse_width`` - determines the initial pulse width value to use.
- ``pulse_width_percent`` - determines the initial pulse width percentage to use.
Keyword arguments for Timer.OC modes:
- ``compare`` - determines the initial value of the compare register.
- ``polarity`` can be one of:
- ``Timer.HIGH`` - output is active high
- ``Timer.LOW`` - output is active low
Optional keyword arguments for Timer.IC modes:
- ``polarity`` can be one of:
- ``Timer.RISING`` - captures on rising edge.
- ``Timer.FALLING`` - captures on falling edge.
- ``Timer.BOTH`` - captures on both edges.
Note that capture only works on the primary channel, and not on the
complimentary channels.
Notes for Timer.ENC modes:
- Requires 2 pins, so one or both pins will need to be configured to use
the appropriate timer AF using the Pin API.
- Read the encoder value using the timer.counter() method.
- Only works on CH1 and CH2 (and not on CH1N or CH2N)
- The channel number is ignored when setting the encoder mode.
PWM Example::
timer = pyb.Timer(2, freq=1000)
ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=8000)
ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=16000)
"""
@overload
def channel(
self,
channel: int,
/,
mode: int,
*,
callback: Callable[[Timer], None] | None = None,
pin: Pin | None = None,
) -> "TimerChannel":
"""
If only a channel number is passed, then a previously initialized channel
object is returned (or ``None`` if there is no previous channel).
Otherwise, a TimerChannel object is initialized and returned.
Each channel can be configured to perform pwm, output compare, or
input capture. All channels share the same underlying timer, which means
that they share the same timer clock.
Keyword arguments:
- ``mode`` can be one of:
- ``Timer.PWM`` --- configure the timer in PWM mode (active high).
- ``Timer.PWM_INVERTED`` --- configure the timer in PWM mode (active low).
- ``Timer.OC_TIMING`` --- indicates that no pin is driven.
- ``Timer.OC_ACTIVE`` --- the pin will be made active when a compare match occurs (active is determined by polarity)
- ``Timer.OC_INACTIVE`` --- the pin will be made inactive when a compare match occurs.
- ``Timer.OC_TOGGLE`` --- the pin will be toggled when an compare match occurs.
- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
- ``Timer.IC`` --- configure the timer in Input Capture mode.
- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
- ``callback`` - as per TimerChannel.callback()
- ``pin`` None (the default) or a Pin object. If specified (and not None)
this will cause the alternate function of the the indicated pin
to be configured for this timer channel. An error will be raised if
the pin doesn't support any alternate functions for this timer channel.
Keyword arguments for Timer.PWM modes:
- ``pulse_width`` - determines the initial pulse width value to use.
- ``pulse_width_percent`` - determines the initial pulse width percentage to use.
Keyword arguments for Timer.OC modes:
- ``compare`` - determines the initial value of the compare register.
- ``polarity`` can be one of:
- ``Timer.HIGH`` - output is active high
- ``Timer.LOW`` - output is active low
Optional keyword arguments for Timer.IC modes:
- ``polarity`` can be one of:
- ``Timer.RISING`` - captures on rising edge.
- ``Timer.FALLING`` - captures on falling edge.
- ``Timer.BOTH`` - captures on both edges.
Note that capture only works on the primary channel, and not on the
complimentary channels.
Notes for Timer.ENC modes:
- Requires 2 pins, so one or both pins will need to be configured to use
the appropriate timer AF using the Pin API.
- Read the encoder value using the timer.counter() method.
- Only works on CH1 and CH2 (and not on CH1N or CH2N)
- The channel number is ignored when setting the encoder mode.
PWM Example::
timer = pyb.Timer(2, freq=1000)
ch2 = timer.channel(2, pyb.Timer.PWM, pin=pyb.Pin.board.X2, pulse_width=8000)
ch3 = timer.channel(3, pyb.Timer.PWM, pin=pyb.Pin.board.X3, pulse_width=16000)
"""
@overload
def counter(self) -> int:
"""
Get or set the timer counter.
"""
@overload
def counter(self, value: int, /) -> None:
"""
Get or set the timer counter.
"""
@overload
def freq(self) -> int:
"""
Get or set the frequency for the timer (changes prescaler and period if set).
"""
@overload
def freq(self, value: int, /) -> None:
"""
Get or set the frequency for the timer (changes prescaler and period if set).
"""
@overload
def period(self) -> int:
"""
Get or set the period of the timer.
"""
@overload
def period(self, value: int, /) -> None:
"""
Get or set the period of the timer.
"""
@overload
def prescaler(self) -> int:
"""
Get or set the prescaler for the timer.
"""
@overload
def prescaler(self, value: int, /) -> None:
"""
Get or set the prescaler for the timer.
"""
def source_freq(self) -> int:
"""
Get the frequency of the source of the timer.
"""
class TimerChannel(ABC):
"""
Timer channels are used to generate/capture a signal using a timer.
TimerChannel objects are created using the Timer.channel() method.
"""
@abstractmethod
def callback(self, fun: Callable[[Timer], None] | None, /) -> None:
"""
Set the function to be called when the timer channel triggers.
``fun`` is passed 1 argument, the timer object.
If ``fun`` is ``None`` then the callback will be disabled.
"""
@overload
@abstractmethod
def capture(self) -> int:
"""
Get or set the capture value associated with a channel.
capture, compare, and pulse_width are all aliases for the same function.
capture is the logical name to use when the channel is in input capture mode.
"""
@overload
@abstractmethod
def capture(self, value: int, /) -> None:
"""
Get or set the capture value associated with a channel.
capture, compare, and pulse_width are all aliases for the same function.
capture is the logical name to use when the channel is in input capture mode.
"""
@overload
@abstractmethod
def compare(self) -> int:
"""
Get or set the compare value associated with a channel.
capture, compare, and pulse_width are all aliases for the same function.
compare is the logical name to use when the channel is in output compare mode.
"""
@overload
@abstractmethod
def compare(self, value: int, /) -> None:
"""
Get or set the compare value associated with a channel.
capture, compare, and pulse_width are all aliases for the same function.
compare is the logical name to use when the channel is in output compare mode.
"""
@overload
@abstractmethod
def pulse_width(self) -> int:
"""
Get or set the pulse width value associated with a channel.
capture, compare, and pulse_width are all aliases for the same function.
pulse_width is the logical name to use when the channel is in PWM mode.
In edge aligned mode, a pulse_width of ``period + 1`` corresponds to a duty cycle of 100%
In center aligned mode, a pulse width of ``period`` corresponds to a duty cycle of 100%
"""
@overload
@abstractmethod
def pulse_width(self, value: int, /) -> None:
"""
Get or set the pulse width value associated with a channel.
capture, compare, and pulse_width are all aliases for the same function.
pulse_width is the logical name to use when the channel is in PWM mode.
In edge aligned mode, a pulse_width of ``period + 1`` corresponds to a duty cycle of 100%
In center aligned mode, a pulse width of ``period`` corresponds to a duty cycle of 100%
"""
@overload
@abstractmethod
def pulse_width_percent(self) -> float:
"""
Get or set the pulse width percentage associated with a channel. The value
is a number between 0 and 100 and sets the percentage of the timer period
for which the pulse is active. The value can be an integer or
floating-point number for more accuracy. For example, a value of 25 gives
a duty cycle of 25%.
"""
@overload
@abstractmethod
def pulse_width_percent(self, value: int | float, /) -> None:
"""
Get or set the pulse width percentage associated with a channel. The value
is a number between 0 and 100 and sets the percentage of the timer period
for which the pulse is active. The value can be an integer or
floating-point number for more accuracy. For example, a value of 25 gives
a duty cycle of 25%.
"""
# noinspection PyShadowingNames
class UART:
"""
UART implements the standard UART/USART duplex serial communications protocol. At
the physical level it consists of 2 lines: RX and TX. The unit of communication
is a character (not to be confused with a string character) which can be 8 or 9
bits wide.
UART objects can be created and initialised using::
from pyb import UART
uart = UART(1, 9600) # init with given baudrate
uart.init(9600, bits=8, parity=None, stop=1) # init with given parameters
Bits can be 7, 8 or 9. Parity can be None, 0 (even) or 1 (odd). Stop can be 1 or 2.
*Note:* with parity=None, only 8 and 9 bits are supported. With parity enabled,
only 7 and 8 bits are supported.
A UART object acts like a `stream` object and reading and writing is done
using the standard stream methods::
uart.read(10) # read 10 characters, returns a bytes object
uart.read() # read all available characters
uart.readline() # read a line
uart.readinto(buf) # read and store into the given buffer
uart.write('abc') # write the 3 characters
Individual characters can be read/written using::
uart.readchar() # read 1 character and returns it as an integer
uart.writechar(42) # write 1 character
To check if there is anything to be read, use::
uart.any() # returns the number of characters waiting
*Note:* The stream functions ``read``, ``write``, etc. are new in MicroPython v1.3.4.
Earlier versions use ``uart.send`` and ``uart.recv``.
"""
RTS: ClassVar[int] = ...
"""
to select the flow control type.
"""
CTS: ClassVar[int] = ...
"""
to select the flow control type.
"""
@overload
def __init__(self, bus: int | str, /):
"""
Construct a UART object on the given bus.
For Pyboard ``bus`` can be 1-4, 6, 'XA', 'XB', 'YA', or 'YB'.
For Pyboard Lite ``bus`` can be 1, 2, 6, 'XB', or 'YA'.
For Pyboard D ``bus`` can be 1-4, 'XA', 'YA' or 'YB'.
With no additional parameters, the UART object is created but not
initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See ``init`` for parameters of initialisation.
The physical pins of the UART buses on Pyboard are:
- ``UART(4)`` is on ``XA``: ``(TX, RX) = (X1, X2) = (PA0, PA1)``
- ``UART(1)`` is on ``XB``: ``(TX, RX) = (X9, X10) = (PB6, PB7)``
- ``UART(6)`` is on ``YA``: ``(TX, RX) = (Y1, Y2) = (PC6, PC7)``
- ``UART(3)`` is on ``YB``: ``(TX, RX) = (Y9, Y10) = (PB10, PB11)``
- ``UART(2)`` is on: ``(TX, RX) = (X3, X4) = (PA2, PA3)``
The Pyboard Lite supports UART(1), UART(2) and UART(6) only, pins are:
- ``UART(1)`` is on ``XB``: ``(TX, RX) = (X9, X10) = (PB6, PB7)``
- ``UART(6)`` is on ``YA``: ``(TX, RX) = (Y1, Y2) = (PC6, PC7)``
- ``UART(2)`` is on: ``(TX, RX) = (X1, X2) = (PA2, PA3)``
The Pyboard D supports UART(1), UART(2), UART(3) and UART(4) only, pins are:
- ``UART(4)`` is on ``XA``: ``(TX, RX) = (X1, X2) = (PA0, PA1)``
- ``UART(1)`` is on ``YA``: ``(TX, RX) = (Y1, Y2) = (PA9, PA10)``
- ``UART(3)`` is on ``YB``: ``(TX, RX) = (Y9, Y10) = (PB10, PB11)``
- ``UART(2)`` is on: ``(TX, RX) = (X3, X4) = (PA2, PA3)``
*Note:* Pyboard D has ``UART(1)`` on ``YA``, unlike Pyboard and Pyboard Lite that both
have ``UART(1)`` on ``XB`` and ``UART(6)`` on ``YA``.
"""
@overload
def __init__(
self,
bus: int | str,
baudrate: int,
/,
bits: int = 8,
parity: int | None = None,
stop: int = 1,
*,
timeout: int = 0,
flow: int = 0,
timeout_char: int = 0,
read_buf_len: int = 64,
):
"""
Construct a UART object on the given bus.
For Pyboard ``bus`` can be 1-4, 6, 'XA', 'XB', 'YA', or 'YB'.
For Pyboard Lite ``bus`` can be 1, 2, 6, 'XB', or 'YA'.
For Pyboard D ``bus`` can be 1-4, 'XA', 'YA' or 'YB'.
With no additional parameters, the UART object is created but not
initialised (it has the settings from the last initialisation of
the bus, if any). If extra arguments are given, the bus is initialised.
See ``init`` for parameters of initialisation.
The physical pins of the UART buses on Pyboard are:
- ``UART(4)`` is on ``XA``: ``(TX, RX) = (X1, X2) = (PA0, PA1)``
- ``UART(1)`` is on ``XB``: ``(TX, RX) = (X9, X10) = (PB6, PB7)``
- ``UART(6)`` is on ``YA``: ``(TX, RX) = (Y1, Y2) = (PC6, PC7)``
- ``UART(3)`` is on ``YB``: ``(TX, RX) = (Y9, Y10) = (PB10, PB11)``
- ``UART(2)`` is on: ``(TX, RX) = (X3, X4) = (PA2, PA3)``
The Pyboard Lite supports UART(1), UART(2) and UART(6) only, pins are:
- ``UART(1)`` is on ``XB``: ``(TX, RX) = (X9, X10) = (PB6, PB7)``
- ``UART(6)`` is on ``YA``: ``(TX, RX) = (Y1, Y2) = (PC6, PC7)``
- ``UART(2)`` is on: ``(TX, RX) = (X1, X2) = (PA2, PA3)``
The Pyboard D supports UART(1), UART(2), UART(3) and UART(4) only, pins are:
- ``UART(4)`` is on ``XA``: ``(TX, RX) = (X1, X2) = (PA0, PA1)``
- ``UART(1)`` is on ``YA``: ``(TX, RX) = (Y1, Y2) = (PA9, PA10)``
- ``UART(3)`` is on ``YB``: ``(TX, RX) = (Y9, Y10) = (PB10, PB11)``
- ``UART(2)`` is on: ``(TX, RX) = (X3, X4) = (PA2, PA3)``
*Note:* Pyboard D has ``UART(1)`` on ``YA``, unlike Pyboard and Pyboard Lite that both
have ``UART(1)`` on ``XB`` and ``UART(6)`` on ``YA``.
"""
def init(
self,
baudrate: int,
/,
bits: int = 8,
parity: int | None = None,
stop: int = 1,
*,
timeout: int = 0,
flow: int = 0,
timeout_char: int = 0,
read_buf_len: int = 64,
):
"""
Initialise the UART bus with the given parameters:
- ``baudrate`` is the clock rate.
- ``bits`` is the number of bits per character, 7, 8 or 9.
- ``parity`` is the parity, ``None``, 0 (even) or 1 (odd).
- ``stop`` is the number of stop bits, 1 or 2.
- ``flow`` sets the flow control type. Can be 0, ``UART.RTS``, ``UART.CTS``
or ``UART.RTS | UART.CTS``.
- ``timeout`` is the timeout in milliseconds to wait for writing/reading the first character.
- ``timeout_char`` is the timeout in milliseconds to wait between characters while writing or reading.
- ``read_buf_len`` is the character length of the read buffer (0 to disable).
This method will raise an exception if the baudrate could not be set within
5% of the desired value. The minimum baudrate is dictated by the frequency
of the bus that the UART is on; UART(1) and UART(6) are APB2, the rest are on
APB1. The default bus frequencies give a minimum baudrate of 1300 for
UART(1) and UART(6) and 650 for the others. Use :func:`pyb.freq <pyb.freq>`
to reduce the bus frequencies to get lower baudrates.
*Note:* with parity=None, only 8 and 9 bits are supported. With parity enabled,
only 7 and 8 bits are supported.
"""
def deinit(self) -> None:
"""
Turn off the UART bus.
"""
def any(self) -> int:
"""
Returns the number of bytes waiting (may be 0).
"""
@overload
def read(self) -> bytes | None:
"""
Read characters. If ``nbytes`` is specified then read at most that many bytes.
If ``nbytes`` are available in the buffer, returns immediately, otherwise returns
when sufficient characters arrive or the timeout elapses.
If ``nbytes`` is not given then the method reads as much data as possible. It
returns after the timeout has elapsed.
*Note:* for 9 bit characters each character takes two bytes, ``nbytes`` must
be even, and the number of characters is ``nbytes/2``.
Return value: a bytes object containing the bytes read in. Returns ``None``
on timeout.
"""
@overload
def read(self, nbytes: int, /) -> bytes | None:
"""
Read characters. If ``nbytes`` is specified then read at most that many bytes.
If ``nbytes`` are available in the buffer, returns immediately, otherwise returns
when sufficient characters arrive or the timeout elapses.
If ``nbytes`` is not given then the method reads as much data as possible. It
returns after the timeout has elapsed.
*Note:* for 9 bit characters each character takes two bytes, ``nbytes`` must
be even, and the number of characters is ``nbytes/2``.
Return value: a bytes object containing the bytes read in. Returns ``None``
on timeout.
"""
def readchar(self) -> int:
"""
Receive a single character on the bus.
Return value: The character read, as an integer. Returns -1 on timeout.
"""
@overload
def readinto(self, buf: AnyWritableBuf, /) -> int | None:
"""
Read bytes into the ``buf``. If ``nbytes`` is specified then read at most
that many bytes. Otherwise, read at most ``len(buf)`` bytes.
Return value: number of bytes read and stored into ``buf`` or ``None`` on
timeout.
"""
@overload
def readinto(self, buf: AnyWritableBuf, nbytes: int, /) -> int | None:
"""
Read bytes into the ``buf``. If ``nbytes`` is specified then read at most
that many bytes. Otherwise, read at most ``len(buf)`` bytes.
Return value: number of bytes read and stored into ``buf`` or ``None`` on
timeout.
"""
def readline(self) -> str | None:
"""
Read a line, ending in a newline character. If such a line exists, return is
immediate. If the timeout elapses, all available data is returned regardless
of whether a newline exists.
Return value: the line read or ``None`` on timeout if no data is available.
"""
def write(self, buf: AnyWritableBuf, /) -> int | None:
"""
Write the buffer of bytes to the bus. If characters are 7 or 8 bits wide
then each byte is one character. If characters are 9 bits wide then two
bytes are used for each character (little endian), and ``buf`` must contain
an even number of bytes.
Return value: number of bytes written. If a timeout occurs and no bytes
were written returns ``None``.
"""
def writechar(self, char: int, /) -> None:
"""
Write a single character on the bus. ``char`` is an integer to write.
Return value: ``None``. See note below if CTS flow control is used.
"""
def sendbreak(self) -> None:
"""
Send a break condition on the bus. This drives the bus low for a duration
of 13 bits.
Return value: ``None``.
"""
# noinspection PyPep8Naming
class USB_HID:
"""
The USB_HID class allows creation of an object representing the USB
Human Interface Device (HID) interface. It can be used to emulate
a peripheral such as a mouse or keyboard.
Before you can use this class, you need to use :meth:`pyb.usb_mode()` to set the USB mode to include the HID interface.
"""
def __init__(self):
"""
Create a new USB_HID object.
"""
@overload
def recv(self, data: int, /, *, timeout: int = 5000) -> bytes:
"""
Receive data on the bus:
- ``data`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes.
- ``timeout`` is the timeout in milliseconds to wait for the receive.
Return value: if ``data`` is an integer then a new buffer of the bytes received,
otherwise the number of bytes read into ``data`` is returned.
"""
@overload
def recv(self, data: AnyWritableBuf, /, *, timeout: int = 5000) -> int:
"""
Receive data on the bus:
- ``data`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes.
- ``timeout`` is the timeout in milliseconds to wait for the receive.
Return value: if ``data`` is an integer then a new buffer of the bytes received,
otherwise the number of bytes read into ``data`` is returned.
"""
def send(self, data: Sequence[int]) -> None:
"""
Send data over the USB HID interface:
- ``data`` is the data to send (a tuple/list of integers, or a
bytearray).
"""
# noinspection PyPep8Naming
class USB_VCP:
"""
The USB_VCP class allows creation of a `stream`-like object representing the USB
virtual comm port. It can be used to read and write data over USB to
the connected host.
"""
RTS: ClassVar[int] = ...
"""
to select the flow control type.
.. data:: USB_VCP.IRQ_RX
IRQ trigger values for :meth:`USB_VCP.irq`.
"""
CTS: ClassVar[int] = ...
"""
to select the flow control type.
.. data:: USB_VCP.IRQ_RX
IRQ trigger values for :meth:`USB_VCP.irq`.
"""
def __init__(self, id: int = 0, /):
"""
Create a new USB_VCP object. The *id* argument specifies which USB VCP port to
use.
"""
def init(self, *, flow: int = -1) -> int:
"""
Configure the USB VCP port. If the *flow* argument is not -1 then the value sets
the flow control, which can be a bitwise-or of ``USB_VCP.RTS`` and ``USB_VCP.CTS``.
RTS is used to control read behaviour and CTS, to control write behaviour.
"""
def setinterrupt(self, chr: int, /) -> None:
"""
Set the character which interrupts running Python code. This is set
to 3 (CTRL-C) by default, and when a CTRL-C character is received over
the USB VCP port, a KeyboardInterrupt exception is raised.
Set to -1 to disable this interrupt feature. This is useful when you
want to send raw bytes over the USB VCP port.
"""
def isconnected(self) -> bool:
"""
Return ``True`` if USB is connected as a serial device, else ``False``.
"""
def any(self) -> bool:
"""
Return ``True`` if any characters waiting, else ``False``.
"""
def close(self) -> None:
"""
This method does nothing. It exists so the USB_VCP object can act as
a file.
"""
@overload
def read(self) -> bytes | None:
"""
Read at most ``nbytes`` from the serial device and return them as a
bytes object. If ``nbytes`` is not specified then the method reads
all available bytes from the serial device.
USB_VCP `stream` implicitly works in non-blocking mode,
so if no pending data available, this method will return immediately
with ``None`` value.
"""
@overload
def read(self, nbytes, /) -> bytes | None:
"""
Read at most ``nbytes`` from the serial device and return them as a
bytes object. If ``nbytes`` is not specified then the method reads
all available bytes from the serial device.
USB_VCP `stream` implicitly works in non-blocking mode,
so if no pending data available, this method will return immediately
with ``None`` value.
"""
@overload
def readinto(self, buf: AnyWritableBuf, /) -> int | None:
"""
Read bytes from the serial device and store them into ``buf``, which
should be a buffer-like object. At most ``len(buf)`` bytes are read.
If ``maxlen`` is given and then at most ``min(maxlen, len(buf))`` bytes
are read.
Returns the number of bytes read and stored into ``buf`` or ``None``
if no pending data available.
"""
@overload
def readinto(self, buf: AnyWritableBuf, maxlen: int, /) -> int | None:
"""
Read bytes from the serial device and store them into ``buf``, which
should be a buffer-like object. At most ``len(buf)`` bytes are read.
If ``maxlen`` is given and then at most ``min(maxlen, len(buf))`` bytes
are read.
Returns the number of bytes read and stored into ``buf`` or ``None``
if no pending data available.
"""
def readline(self) -> bytes | None:
"""
Read a whole line from the serial device.
Returns a bytes object containing the data, including the trailing
newline character or ``None`` if no pending data available.
"""
def readlines(self) -> list[bytes] | None:
"""
Read as much data as possible from the serial device, breaking it into
lines.
Returns a list of bytes objects, each object being one of the lines.
Each line will include the newline character.
"""
def write(self, buf: AnyReadableBuf, /) -> int:
"""
Write the bytes from ``buf`` to the serial device.
Returns the number of bytes written.
"""
@overload
def recv(self, data: int, /, *, timeout: int = 5000) -> bytes | None:
"""
Receive data on the bus:
- ``data`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes.
- ``timeout`` is the timeout in milliseconds to wait for the receive.
Return value: if ``data`` is an integer then a new buffer of the bytes received,
otherwise the number of bytes read into ``data`` is returned.
"""
@overload
def recv(self, data: AnyWritableBuf, /, *, timeout: int = 5000) -> int | None:
"""
Receive data on the bus:
- ``data`` can be an integer, which is the number of bytes to receive,
or a mutable buffer, which will be filled with received bytes.
- ``timeout`` is the timeout in milliseconds to wait for the receive.
Return value: if ``data`` is an integer then a new buffer of the bytes received,
otherwise the number of bytes read into ``data`` is returned.
"""
def send(self, buf: AnyWritableBuf | bytes | int, /, *, timeout: int = 5000) -> int:
"""
Send data over the USB VCP:
- ``data`` is the data to send (an integer to send, or a buffer object).
- ``timeout`` is the timeout in milliseconds to wait for the send.
Return value: number of bytes sent.
"""