diff options
| -rw-r--r-- | .travis.yml | 8 | ||||
| -rw-r--r-- | Makefile | 10 | ||||
| -rw-r--r-- | docs/source/bootloader.rst | 2 | ||||
| -rw-r--r-- | docs/source/conf.py | 2 | ||||
| -rw-r--r-- | docs/source/unix-toolchain.rst | 2 | ||||
| -rw-r--r-- | libmaple/include/libmaple/i2c.h | 15 | ||||
| -rw-r--r-- | libmaple/include/libmaple/nvic.h | 8 | ||||
| -rw-r--r-- | libmaple/include/libmaple/stm32.h | 2 | ||||
| -rw-r--r-- | libmaple/include/libmaple/systick.h | 1 | ||||
| -rw-r--r-- | libmaple/include/libmaple/usb_cdcacm.h | 2 | ||||
| -rw-r--r-- | libmaple/stm32f1/include/series/i2c.h | 13 | ||||
| -rw-r--r-- | libmaple/stm32f1/include/series/spi.h | 14 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/adc.c (renamed from libmaple/stm32f2/adc.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/dma.c (renamed from libmaple/stm32f2/dma.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/exti.c (renamed from libmaple/stm32f2/exti.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/fsmc.c (renamed from libmaple/stm32f2/fsmc.c) | 6 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/gpio.c (renamed from libmaple/stm32f2/gpio.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/i2c.c | 99 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/adc.h (renamed from libmaple/stm32f2/include/series/adc.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/dac.h (renamed from libmaple/stm32f2/include/series/dac.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/dma.h (renamed from libmaple/stm32f2/include/series/dma.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/exti.h (renamed from libmaple/stm32f2/include/series/exti.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/flash.h (renamed from libmaple/stm32f2/include/series/flash.h) | 4 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/gpio.h (renamed from libmaple/stm32f2/include/series/gpio.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/i2c.h | 80 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/nvic.h (renamed from libmaple/stm32f2/include/series/nvic.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/pwr.h (renamed from libmaple/stm32f2/include/series/pwr.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/rcc.h (renamed from libmaple/stm32f2/include/series/rcc.h) | 6 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/spi.h (renamed from libmaple/stm32f2/include/series/spi.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/stm32.h (renamed from libmaple/stm32f2/include/series/stm32.h) | 72 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/timer.h (renamed from libmaple/stm32f2/include/series/timer.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/include/series/usart.h (renamed from libmaple/stm32f2/include/series/usart.h) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/isrs.S (renamed from libmaple/stm32f2/isrs.S) | 7 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/rcc.c (renamed from libmaple/stm32f2/rcc.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/rules.mk (renamed from libmaple/stm32f2/rules.mk) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/spi.c (renamed from libmaple/stm32f2/spi.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/syscfg.c (renamed from libmaple/stm32f2/syscfg.c) | 0 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/timer.c (renamed from libmaple/stm32f2/timer.c) | 23 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/usart.c (renamed from libmaple/stm32f2/usart.c) | 6 | ||||
| -rw-r--r-- | libmaple/stm32f2-f4/vector_table.S (renamed from libmaple/stm32f2/vector_table.S) | 3 | ||||
| -rw-r--r-- | notes/boards/st_stm32vldiscovery.txt | 10 | ||||
| -rw-r--r-- | notes/usb.txt | 5 | ||||
| -rw-r--r-- | support/ld/stm32/mem/sram_64k_flash_128k/mem-jtag.inc | 5 | ||||
| -rw-r--r-- | support/ld/stm32/mem/sram_64k_flash_256k/mem-jtag.inc | 5 | ||||
| -rw-r--r-- | support/ld/stm32/series/stm32f2-f4/dynamic_efficiency/vector_symbols.inc | 100 | ||||
| -rw-r--r-- | support/ld/stm32/series/stm32f2-f4/stm32f2/vector_symbols.inc (renamed from support/ld/stm32/series/stm32f2/vector_symbols.inc) | 0 | ||||
| -rw-r--r-- | support/make/board-includes/robotis_cm900.mk (renamed from support/make/board-includes/cm900.mk) | 0 | ||||
| -rw-r--r-- | support/make/board-includes/robotis_opencm904.mk (renamed from support/make/board-includes/opencm904.mk) | 0 | ||||
| -rw-r--r-- | support/make/board-includes/st_nucleo_f103rb.mk (renamed from support/make/board-includes/nucleo.mk) | 0 | ||||
| -rw-r--r-- | support/make/board-includes/st_stm32f401cdiscovery.mk | 7 | ||||
| -rw-r--r-- | support/make/board-includes/st_stm32vldiscovery.mk (renamed from support/make/board-includes/VLDiscovery.mk) | 0 | ||||
| -rw-r--r-- | support/make/target-config.mk | 29 | ||||
| -rw-r--r-- | tests/test-bkp.cpp (renamed from examples/test-bkp.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-dac.cpp (renamed from examples/test-dac.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-fsmc.cpp (renamed from examples/test-fsmc.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-print.cpp (renamed from examples/test-print.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-ring-buffer-insertion.cpp (renamed from examples/test-ring-buffer-insertion.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-serial-flush.cpp (renamed from examples/test-serial-flush.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-serialusb.cpp (renamed from examples/test-serialusb.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-servo.cpp (renamed from examples/test-servo.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-session.cpp (renamed from examples/test-session.cpp) | 8 | ||||
| -rw-r--r-- | tests/test-spi-roundtrip.cpp (renamed from examples/test-spi-roundtrip.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-systick.cpp (renamed from examples/test-systick.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-timers.cpp (renamed from examples/test-timers.cpp) | 0 | ||||
| -rw-r--r-- | tests/test-usart-dma.cpp (renamed from examples/test-usart-dma.cpp) | 2 | ||||
| -rw-r--r-- | wirish/HardwareSPI.cpp | 38 | ||||
| -rw-r--r-- | wirish/HardwareTimer.cpp | 18 | ||||
| -rw-r--r-- | wirish/Print.cpp | 12 | ||||
| -rw-r--r-- | wirish/boards.cpp | 110 | ||||
| -rw-r--r-- | wirish/boards/robotis_cm900/board.cpp (renamed from wirish/boards/cm900/board.cpp) | 8 | ||||
| -rw-r--r-- | wirish/boards/robotis_cm900/include/board/board.h (renamed from wirish/boards/cm900/include/board/board.h) | 2 | ||||
| -rw-r--r-- | wirish/boards/robotis_opencm904/board.cpp (renamed from wirish/boards/opencm904/board.cpp) | 5 | ||||
| -rw-r--r-- | wirish/boards/robotis_opencm904/include/board/board.h (renamed from wirish/boards/opencm904/include/board/board.h) | 0 | ||||
| -rw-r--r-- | wirish/boards/st_nucleo_f103rb/board.cpp (renamed from wirish/boards/nucleo/board.cpp) | 4 | ||||
| -rw-r--r-- | wirish/boards/st_nucleo_f103rb/include/board/board.h (renamed from wirish/boards/nucleo/include/board/board.h) | 6 | ||||
| -rw-r--r-- | wirish/boards/st_stm32f401cdiscovery/board.cpp | 177 | ||||
| -rw-r--r-- | wirish/boards/st_stm32f401cdiscovery/include/board/board.h | 127 | ||||
| -rw-r--r-- | wirish/boards/st_stm32vldiscovery/board.cpp (renamed from wirish/boards/VLDiscovery/board.cpp) | 4 | ||||
| -rw-r--r-- | wirish/boards/st_stm32vldiscovery/include/board/board.h (renamed from wirish/boards/VLDiscovery/include/board/board.h) | 4 | ||||
| -rw-r--r-- | wirish/boards_private.h | 13 | ||||
| -rw-r--r-- | wirish/include/wirish/ext_interrupts.h | 4 | ||||
| -rw-r--r-- | wirish/include/wirish/wirish.h | 9 | ||||
| -rw-r--r-- | wirish/include/wirish/wirish_math.h | 3 | ||||
| -rw-r--r-- | wirish/rules.mk | 33 | ||||
| -rw-r--r-- | wirish/stm32f2-f4/boards_setup.cpp (renamed from wirish/stm32f2/boards_setup.cpp) | 69 | ||||
| -rw-r--r-- | wirish/stm32f2-f4/util_hooks.c (renamed from wirish/stm32f2/util_hooks.c) | 36 | ||||
| -rw-r--r-- | wirish/stm32f2-f4/wirish_debug.cpp (renamed from wirish/stm32f2/wirish_debug.cpp) | 0 | ||||
| -rw-r--r-- | wirish/stm32f2-f4/wirish_digital.cpp (renamed from wirish/stm32f2/wirish_digital.cpp) | 0 |
88 files changed, 1041 insertions, 197 deletions
diff --git a/.travis.yml b/.travis.yml index 41bd110..35d1e5d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -6,13 +6,17 @@ before_install: install: - sudo apt-get install gcc-arm-none-eabi before_script: - - cp examples/test-session.cpp main.cpp + - cp tests/test-session.cpp main.cpp script: - - make + - make jtag env: + - BOARD=maple - BOARD=maple_mini + - BOARD=olimex_stm32_h103 - BOARD=maple_native - BOARD=st_stm3220g_eval + - BOARD=st_stm32f401cdiscovery matrix: allow_failures: - env: BOARD=st_stm3220g_eval + - env: BOARD=st_stm32f401cdiscovery @@ -20,7 +20,7 @@ LIBRARIES_PATH := $(SRCROOT)/libraries LDDIR := $(SUPPORT_PATH)/ld # Support files for this Makefile MAKEDIR := $(SUPPORT_PATH)/make -BOARD_INCLUDE_DIR := $(MAKEDIR)/board-includes +BOARD_INCLUDE_DIR ?= $(MAKEDIR)/board-includes ## ## Target-specific configuration. This determines some compiler and @@ -66,10 +66,10 @@ GLOBAL_CFLAGS := -Os -g3 -gdwarf-2 -nostdlib \ -DBOOTLOADER_$(BOOTLOADER) GLOBAL_CXXFLAGS := -fno-rtti -fno-exceptions -Wall $(TARGET_FLAGS) GLOBAL_ASFLAGS := -x assembler-with-cpp $(TARGET_FLAGS) -LDFLAGS = $(TARGET_LDFLAGS) $(TOOLCHAIN_LDFLAGS) -mcpu=cortex-m3 -mthumb \ - -Xlinker --gc-sections \ - -Xassembler --march=armv7-m -Wall -# -Xlinker --print-gc-sections \ +LDFLAGS = $(TARGET_LDFLAGS) $(TOOLCHAIN_LDFLAGS) +LDFLAGS += -Xlinker --gc-sections +#LDFLAGS += -Xlinker --print-gc-sections +LDFLAGS += -Xassembler -Wall ## ## Set all submodules here diff --git a/docs/source/bootloader.rst b/docs/source/bootloader.rst index 0896ce3..bff9bb7 100644 --- a/docs/source/bootloader.rst +++ b/docs/source/bootloader.rst @@ -695,7 +695,7 @@ port. could be ``/dev/ttyUSB1``, ``/dev/ttyUSB2``, etc.). * On **OS X**, ``ser-port`` will probably look like - ``/dev/tty.usbserialXXXX``, where ``XXXX`` is some random string of + ``/dev/tty.usbserialXYZ``, where ``XYZ`` is some random string of characters. * On **Windows**, ``ser-port`` will be something like ``COM1``, ``COM2``, etc. diff --git a/docs/source/conf.py b/docs/source/conf.py index dc01672..247edbf 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -61,7 +61,7 @@ copyright = u'2010, 2011, LeafLabs, LLC. 2014 Various Contributors' version = '0.0' # The full version, including alpha/beta/rc tags. # FIXME [RELEASE] update this for the release -release = 'legacy' +release = 'prerelease' # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. diff --git a/docs/source/unix-toolchain.rst b/docs/source/unix-toolchain.rst index 6e20218..2aab7fa 100644 --- a/docs/source/unix-toolchain.rst +++ b/docs/source/unix-toolchain.rst @@ -223,7 +223,7 @@ Try using one of these to find out which it is:: To open up a session on Linux or OS X, run :: - $ screen /dev/ttyXXX + $ screen /dev/ttyXYZ (On Windows, you will need to use a separate program, such as `PuTTY <http://www.chiark.greenend.org.uk/~sgtatham/putty/>`_.) diff --git a/libmaple/include/libmaple/i2c.h b/libmaple/include/libmaple/i2c.h index ff1c313..b198bfa 100644 --- a/libmaple/include/libmaple/i2c.h +++ b/libmaple/include/libmaple/i2c.h @@ -47,6 +47,8 @@ extern "C" { /* * Series header must provide: * + * - struct i2c_reg_map + * * - uint32 _i2c_bus_clk(i2c_dev*): Clock frequency of dev's bus, in * MHz. (This is for internal use only). * @@ -72,19 +74,6 @@ extern "C" { #include <libmaple/nvic.h> #include <libmaple/gpio.h> -/** I2C register map type */ -typedef struct i2c_reg_map { - __io uint32 CR1; /**< Control register 1 */ - __io uint32 CR2; /**< Control register 2 */ - __io uint32 OAR1; /**< Own address register 1 */ - __io uint32 OAR2; /**< Own address register 2 */ - __io uint32 DR; /**< Data register */ - __io uint32 SR1; /**< Status register 1 */ - __io uint32 SR2; /**< Status register 2 */ - __io uint32 CCR; /**< Clock control register */ - __io uint32 TRISE; /**< TRISE (rise time) register */ -} i2c_reg_map; - /** * @brief I2C message type */ diff --git a/libmaple/include/libmaple/nvic.h b/libmaple/include/libmaple/nvic.h index ffe385d..3e29f9e 100644 --- a/libmaple/include/libmaple/nvic.h +++ b/libmaple/include/libmaple/nvic.h @@ -107,16 +107,12 @@ void nvic_sys_reset(); /** * Enables interrupts and configurable fault handlers (clear PRIMASK). */ -static __always_inline void nvic_globalirq_enable() { - asm volatile("cpsie i"); -} +#define nvic_globalirq_enable() do { asm volatile("cpsie i"); } while (0) /** * Disable interrupts and configurable fault handlers (set PRIMASK). */ -static __always_inline void nvic_globalirq_disable() { - asm volatile("cpsid i"); -} +#define nvic_globalirq_disable() do { asm volatile("cpsid i"); } while (0) /** * @brief Enable interrupt irq_num diff --git a/libmaple/include/libmaple/stm32.h b/libmaple/include/libmaple/stm32.h index 3845cab..5fef820 100644 --- a/libmaple/include/libmaple/stm32.h +++ b/libmaple/include/libmaple/stm32.h @@ -69,6 +69,8 @@ extern "C" { */ #include <series/stm32.h> +/* FIXME: need an STM32_USART_MASK to parallel STM32_TIMER_MASK */ + /* Ensure the series header isn't broken. */ #if (!defined(STM32_PCLK1) || \ !defined(STM32_PCLK2) || \ diff --git a/libmaple/include/libmaple/systick.h b/libmaple/include/libmaple/systick.h index 551f800..bd8b18f 100644 --- a/libmaple/include/libmaple/systick.h +++ b/libmaple/include/libmaple/systick.h @@ -87,6 +87,7 @@ static inline uint32 systick_uptime(void) { void systick_init(uint32 reload_val); void systick_disable(); void systick_enable(); +void systick_attach_callback(void (*)(void)); /** * @brief Returns the current value of the SysTick counter. diff --git a/libmaple/include/libmaple/usb_cdcacm.h b/libmaple/include/libmaple/usb_cdcacm.h index 5fe832c..b925883 100644 --- a/libmaple/include/libmaple/usb_cdcacm.h +++ b/libmaple/include/libmaple/usb_cdcacm.h @@ -168,7 +168,7 @@ int usb_cdcacm_get_n_data_bits(void); /* bDataBits */ void usb_cdcacm_set_hooks(unsigned hook_flags, void (*hook)(unsigned, void*)); -static __always_inline void usb_cdcacm_remove_hooks(unsigned hook_flags) { +static inline void usb_cdcacm_remove_hooks(unsigned hook_flags) { usb_cdcacm_set_hooks(hook_flags, 0); } diff --git a/libmaple/stm32f1/include/series/i2c.h b/libmaple/stm32f1/include/series/i2c.h index f407955..ae05377 100644 --- a/libmaple/stm32f1/include/series/i2c.h +++ b/libmaple/stm32f1/include/series/i2c.h @@ -41,7 +41,18 @@ * Register maps */ -struct i2c_reg_map; +/** I2C register map type */ +typedef struct i2c_reg_map { + __io uint32 CR1; /**< Control register 1 */ + __io uint32 CR2; /**< Control register 2 */ + __io uint32 OAR1; /**< Own address register 1 */ + __io uint32 OAR2; /**< Own address register 2 */ + __io uint32 DR; /**< Data register */ + __io uint32 SR1; /**< Status register 1 */ + __io uint32 SR2; /**< Status register 2 */ + __io uint32 CCR; /**< Clock control register */ + __io uint32 TRISE; /**< TRISE (rise time) register */ +} i2c_reg_map; /** STM32F1 I2C1 register map base pointer */ #define I2C1_BASE ((struct i2c_reg_map*)0x40005400) diff --git a/libmaple/stm32f1/include/series/spi.h b/libmaple/stm32f1/include/series/spi.h index d288a0c..b65111b 100644 --- a/libmaple/stm32f1/include/series/spi.h +++ b/libmaple/stm32f1/include/series/spi.h @@ -75,13 +75,13 @@ extern void spi_config_gpios(struct spi_dev*, uint8, * @brief Deprecated. Use spi_config_gpios() instead. * @see spi_config_gpios() */ -static __always_inline void spi_gpio_cfg(uint8 as_master, - struct gpio_dev *nss_dev, - uint8 nss_bit, - struct gpio_dev *comm_dev, - uint8 sck_bit, - uint8 miso_bit, - uint8 mosi_bit) { +static inline void spi_gpio_cfg(uint8 as_master, + struct gpio_dev *nss_dev, + uint8 nss_bit, + struct gpio_dev *comm_dev, + uint8 sck_bit, + uint8 miso_bit, + uint8 mosi_bit) { /* We switched style globally to foo_config_gpios() and always * taking a foo_dev* argument (that last bit is the important * part) after this function was written. diff --git a/libmaple/stm32f2/adc.c b/libmaple/stm32f2-f4/adc.c index a400d7b..a400d7b 100644 --- a/libmaple/stm32f2/adc.c +++ b/libmaple/stm32f2-f4/adc.c diff --git a/libmaple/stm32f2/dma.c b/libmaple/stm32f2-f4/dma.c index 26e87b9..26e87b9 100644 --- a/libmaple/stm32f2/dma.c +++ b/libmaple/stm32f2-f4/dma.c diff --git a/libmaple/stm32f2/exti.c b/libmaple/stm32f2-f4/exti.c index 208415f..208415f 100644 --- a/libmaple/stm32f2/exti.c +++ b/libmaple/stm32f2-f4/exti.c diff --git a/libmaple/stm32f2/fsmc.c b/libmaple/stm32f2-f4/fsmc.c index ec41720..4ee23fa 100644 --- a/libmaple/stm32f2/fsmc.c +++ b/libmaple/stm32f2-f4/fsmc.c @@ -30,6 +30,10 @@ * @brief STM32F2 FSMC support. */ +#include <libmaple/stm32.h> + +#if STM32_HAVE_FSMC /* Don't try building the rest for MCUs without FSMC */ + #include <libmaple/fsmc.h> #include <libmaple/gpio.h> @@ -88,3 +92,5 @@ void fsmc_sram_init_gpios(void) { CONFIG_GPIO(GPIOE, 0); CONFIG_GPIO(GPIOE, 1); } + +#endif /* STM32_HAVE_FSMC */ diff --git a/libmaple/stm32f2/gpio.c b/libmaple/stm32f2-f4/gpio.c index a26edaa..a26edaa 100644 --- a/libmaple/stm32f2/gpio.c +++ b/libmaple/stm32f2-f4/gpio.c diff --git a/libmaple/stm32f2-f4/i2c.c b/libmaple/stm32f2-f4/i2c.c new file mode 100644 index 0000000..42fd427 --- /dev/null +++ b/libmaple/stm32f2-f4/i2c.c @@ -0,0 +1,99 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2012 LeafLabs, LLC. + * Copyright (c) 2014 Google, Inc. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ + +#include "i2c_private.h" +#include <libmaple/i2c.h> + +/* + * Devices + */ + +static i2c_dev i2c1 = I2C_DEV_NEW(1, &gpiob, 7, &gpiob, 6); +static i2c_dev i2c2 = I2C_DEV_NEW(1, &gpioh, 5, &gpioh, 4); +static i2c_dev i2c3 = I2C_DEV_NEW(1, &gpioh, 8, &gpioh, 7); + +/** I2C1 device */ +i2c_dev* const I2C1 = &i2c1; +/** I2C2 device */ +i2c_dev* const I2C2 = &i2c2; +/** I2C3 device */ +i2c_dev* const I2C3 = &i2c3; + +/* + * libmaple routines + */ + +#define I2C_MODEF_FLAGS (GPIO_MODEF_TYPE_OD | GPIO_MODEF_SPEED_HIGH | \ + GPIO_MODEF_PUPD_PU) + +void i2c_config_gpios(const i2c_dev *dev) { + /* Untested... */ + gpio_set_modef(sda_port(dev), dev->sda_pin, GPIO_MODE_AF, I2C_MODEF_FLAGS); + gpio_set_modef(scl_port(dev), dev->scl_pin, GPIO_MODE_AF, I2C_MODEF_FLAGS); + gpio_set_af(sda_port(dev), dev->sda_pin, GPIO_AF_I2C); + gpio_set_af(scl_port(dev), dev->scl_pin, GPIO_AF_I2C); +} + +void i2c_master_release_bus(const i2c_dev *dev) { + /* Untested... */ + unsigned flags = (GPIO_MODEF_TYPE_OD | GPIO_MODEF_SPEED_HIGH | + GPIO_MODEF_PUPD_PU); + gpio_write_bit(scl_port(dev), dev->scl_pin, 1); + gpio_write_bit(sda_port(dev), dev->sda_pin, 1); + gpio_set_modef(scl_port(dev), dev->scl_pin, GPIO_MODE_OUTPUT, + I2C_MODEF_FLAGS); + gpio_set_modef(sda_port(dev), dev->sda_pin, GPIO_MODE_OUTPUT, + I2C_MODEF_FLAGS); +} + +/* + * IRQ Handlers + */ + +void __irq_i2c1_ev(void) { + _i2c_irq_handler(I2C1); +} + +void __irq_i2c2_ev(void) { + _i2c_irq_handler(I2C2); +} + +void __irq_i2c3_ev(void) { + _i2c_irq_handler(I2C3); +} + +void __irq_i2c1_er(void) { + _i2c_irq_error_handler(I2C1); +} + +void __irq_i2c2_er(void) { + _i2c_irq_error_handler(I2C2); +} + +void __irq_i2c3_er(void) { + _i2c_irq_error_handler(I2C3); +} diff --git a/libmaple/stm32f2/include/series/adc.h b/libmaple/stm32f2-f4/include/series/adc.h index 175fe11..175fe11 100644 --- a/libmaple/stm32f2/include/series/adc.h +++ b/libmaple/stm32f2-f4/include/series/adc.h diff --git a/libmaple/stm32f2/include/series/dac.h b/libmaple/stm32f2-f4/include/series/dac.h index 0a578ca..0a578ca 100644 --- a/libmaple/stm32f2/include/series/dac.h +++ b/libmaple/stm32f2-f4/include/series/dac.h diff --git a/libmaple/stm32f2/include/series/dma.h b/libmaple/stm32f2-f4/include/series/dma.h index 43bd1a2..43bd1a2 100644 --- a/libmaple/stm32f2/include/series/dma.h +++ b/libmaple/stm32f2-f4/include/series/dma.h diff --git a/libmaple/stm32f2/include/series/exti.h b/libmaple/stm32f2-f4/include/series/exti.h index 4643fcf..4643fcf 100644 --- a/libmaple/stm32f2/include/series/exti.h +++ b/libmaple/stm32f2-f4/include/series/exti.h diff --git a/libmaple/stm32f2/include/series/flash.h b/libmaple/stm32f2-f4/include/series/flash.h index a3c3933..1da55cd 100644 --- a/libmaple/stm32f2/include/series/flash.h +++ b/libmaple/stm32f2-f4/include/series/flash.h @@ -186,7 +186,11 @@ typedef struct flash_reg_map { */ /* Note that this value depends on a 2.7V--3.6V supply voltage */ +#if STM32_MCU_SERIES == STM32_SERIES_F4 +#define FLASH_SAFE_WAIT_STATES FLASH_WAIT_STATE_2 +#else #define FLASH_SAFE_WAIT_STATES FLASH_WAIT_STATE_3 +#endif /* Flash memory features available via ACR. */ enum { diff --git a/libmaple/stm32f2/include/series/gpio.h b/libmaple/stm32f2-f4/include/series/gpio.h index 4d0d98c..4d0d98c 100644 --- a/libmaple/stm32f2/include/series/gpio.h +++ b/libmaple/stm32f2-f4/include/series/gpio.h diff --git a/libmaple/stm32f2-f4/include/series/i2c.h b/libmaple/stm32f2-f4/include/series/i2c.h new file mode 100644 index 0000000..b231256 --- /dev/null +++ b/libmaple/stm32f2-f4/include/series/i2c.h @@ -0,0 +1,80 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2010 Perry Hung (from <libmaple/i2c.h>). + * Copyright (c) 2012 LeafLabs, LLC. + * Copyright (c) 2014 Google, Inc. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ + +#ifndef _LIBMAPLE_STM32F2_I2C_H_ +#define _LIBMAPLE_STM32F2_I2C_H_ + +#include <libmaple/i2c_common.h> +#include <libmaple/stm32.h> + +/* + * Register maps + */ + +/** I2C register map type */ +typedef struct i2c_reg_map { + __io uint32 CR1; /**< Control register 1 */ + __io uint32 CR2; /**< Control register 2 */ + __io uint32 OAR1; /**< Own address register 1 */ + __io uint32 OAR2; /**< Own address register 2 */ + __io uint32 DR; /**< Data register */ + __io uint32 SR1; /**< Status register 1 */ + __io uint32 SR2; /**< Status register 2 */ + __io uint32 CCR; /**< Clock control register */ + __io uint32 TRISE; /**< TRISE (rise time) register */ + __io uint32 FLTR; /**< Noise filter register */ +} i2c_reg_map; + +/** I2C1 register map base pointer */ +#define I2C1_BASE ((struct i2c_reg_map*)0x40005400) +/** I2C2 register map base pointer */ +#define I2C2_BASE ((struct i2c_reg_map*)0x40005800) +/** I2C3 register map base pointer */ +#define I2C3_BASE ((struct i2c_reg_map*)0x40005C00) + +/* + * Devices + */ + +extern i2c_dev* const I2C1; +extern i2c_dev* const I2C2; +extern i2c_dev* const I2C3; + +/* + * For internal use + */ + +static inline uint32 _i2c_bus_clk(i2c_dev *dev) { + /* All the I2C peripherals are on APB1 */ + return STM32_PCLK1 / (1000 * 1000); +} + +#undef _I2C_HAVE_IRQ_FIXUP +#undef _I2C_HAVE_DEPRECATED_I2C_REMAP + +#endif /* _LIBMAPLE_STM32F1_I2C_H_ */ diff --git a/libmaple/stm32f2/include/series/nvic.h b/libmaple/stm32f2-f4/include/series/nvic.h index dc03806..dc03806 100644 --- a/libmaple/stm32f2/include/series/nvic.h +++ b/libmaple/stm32f2-f4/include/series/nvic.h diff --git a/libmaple/stm32f2/include/series/pwr.h b/libmaple/stm32f2-f4/include/series/pwr.h index 96353a4..96353a4 100644 --- a/libmaple/stm32f2/include/series/pwr.h +++ b/libmaple/stm32f2-f4/include/series/pwr.h diff --git a/libmaple/stm32f2/include/series/rcc.h b/libmaple/stm32f2-f4/include/series/rcc.h index 441a5a8..7cb7df1 100644 --- a/libmaple/stm32f2/include/series/rcc.h +++ b/libmaple/stm32f2-f4/include/series/rcc.h @@ -128,7 +128,11 @@ typedef struct rcc_reg_map { #define RCC_PLLCFGR_PLLSRC_HSE (0x1 << RCC_PLLCFGR_PLLSRC_BIT) #define RCC_PLLCFGR_PLLP (0x3 << 16) #define RCC_PLLCFGR_PLLN (0x1FF << 6) -#define RCC_PLLCFGR_PLLM 0x1F +#if STM32_MCU_SERIES == STM32_SERIES_F4 +# define RCC_PLLCFGR_PLLM 0x3F +#else +# define RCC_PLLCFGR_PLLM 0x1F +#endif /* Clock configuration register */ diff --git a/libmaple/stm32f2/include/series/spi.h b/libmaple/stm32f2-f4/include/series/spi.h index 7b9f94a..7b9f94a 100644 --- a/libmaple/stm32f2/include/series/spi.h +++ b/libmaple/stm32f2-f4/include/series/spi.h diff --git a/libmaple/stm32f2/include/series/stm32.h b/libmaple/stm32f2-f4/include/series/stm32.h index 180ab30..c2ad2f2 100644 --- a/libmaple/stm32f2/include/series/stm32.h +++ b/libmaple/stm32f2-f4/include/series/stm32.h @@ -37,37 +37,69 @@ extern "C" { #endif /* - * Chip configuration + * MCU-specific values */ +#if defined(MCU_STM32F207IC) || defined(MCU_STM32F207IG) +# define STM32_MCU_SERIES STM32_SERIES_F2 +# define STM32_NR_GPIO_PORTS 9 +# define STM32_TIMER_MASK 0x7FFE /* TIMER1-TIMER14. */ +# define STM32_SRAM_END ((void*)0x20020000) +#elif defined(MCU_STM32F401VC) +# define STM32_MCU_SERIES STM32_SERIES_F4 +# define STM32_NR_GPIO_PORTS 5 +# define STM32_TIMER_MASK 0x3E +/* TODO: This value for STM32_SRAM_END is very generous */ +# define STM32_SRAM_END ((void*)0x20020000) +#elif defined(MCU_STM32F401CC) +# define STM32_MCU_SERIES STM32_SERIES_F4 +# define STM32_NR_GPIO_PORTS 3 +# define STM32_TIMER_MASK 0x3E +# define STM32_SRAM_END ((void*)0x20010000) +#else +#warning "Unsupported or unspecified STM32F2 MCU." +#endif + +/* + * Series-specific values + */ + +#if STM32_MCU_SERIES == STM32_SERIES_F2 +# define STM32_NR_INTERRUPTS 81 +# define STM32_HAVE_FSMC 1 +# define STM32_HAVE_USB 1 +# define STM32_HAVE_DAC 1 + +# ifndef STM32_PCLK1 +# define STM32_PCLK1 30000000U +# endif + +# ifndef STM32_PCLK2 +# define STM32_PCLK2 60000000U +# endif + +# ifndef STM32_DELAY_US_MULT +# define STM32_DELAY_US_MULT 20 /* FIXME: dummy value. */ +# endif +#elif STM32_MCU_SERIES == STM32_SERIES_F4 +# define STM32_NR_INTERRUPTS 84 +# define STM32_HAVE_FSMC 0 +# define STM32_HAVE_USB 0 +# define STM32_HAVE_DAC 0 + #ifndef STM32_PCLK1 -#define STM32_PCLK1 30000000U +#define STM32_PCLK1 42000000U #endif #ifndef STM32_PCLK2 -#define STM32_PCLK2 60000000U +#define STM32_PCLK2 84000000U #endif #ifndef STM32_DELAY_US_MULT -#define STM32_DELAY_US_MULT 20 /* FIXME: dummy value. */ +#define STM32_DELAY_US_MULT 28 /* CYCLES_PER_MICROSECOND/3 */ #endif - -/* - * Series- and MCU-specific values - */ - -#define STM32_MCU_SERIES STM32_SERIES_F2 -#define STM32_NR_INTERRUPTS 81 -#define STM32_HAVE_FSMC 1 -#define STM32_HAVE_USB 1 -#define STM32_HAVE_DAC 1 - -#if defined(MCU_STM32F207IC) || defined(MCU_STM32F207IG) -# define STM32_NR_GPIO_PORTS 9 -# define STM32_TIMER_MASK 0x7FFE /* TIMER1-TIMER14. */ -# define STM32_SRAM_END ((void*)0x20020000) #else -#warning "Unsupported or unspecified STM32F2 MCU." +# error "Invalid STM32 series for this header" #endif #ifdef __cplusplus diff --git a/libmaple/stm32f2/include/series/timer.h b/libmaple/stm32f2-f4/include/series/timer.h index a7ac276..a7ac276 100644 --- a/libmaple/stm32f2/include/series/timer.h +++ b/libmaple/stm32f2-f4/include/series/timer.h diff --git a/libmaple/stm32f2/include/series/usart.h b/libmaple/stm32f2-f4/include/series/usart.h index 8936efa..8936efa 100644 --- a/libmaple/stm32f2/include/series/usart.h +++ b/libmaple/stm32f2-f4/include/series/usart.h diff --git a/libmaple/stm32f2/isrs.S b/libmaple/stm32f2-f4/isrs.S index 5baaf8b..cda627a 100644 --- a/libmaple/stm32f2/isrs.S +++ b/libmaple/stm32f2-f4/isrs.S @@ -320,3 +320,10 @@ __default_handler: .weak __irq_hash_rng .globl __irq_hash_rng .set __irq_hash_rng, __default_handler +/* STM32F4 Specific */ + .weak __irq_fpu + .globl __irq_fpu + .set __irq_fpu, __default_handler + .weak __irq_spi4 + .globl __irq_spi4 + .set __irq_spi4, __default_handler diff --git a/libmaple/stm32f2/rcc.c b/libmaple/stm32f2-f4/rcc.c index 7fc7eb0..7fc7eb0 100644 --- a/libmaple/stm32f2/rcc.c +++ b/libmaple/stm32f2-f4/rcc.c diff --git a/libmaple/stm32f2/rules.mk b/libmaple/stm32f2-f4/rules.mk index 4c62cc2..4c62cc2 100644 --- a/libmaple/stm32f2/rules.mk +++ b/libmaple/stm32f2-f4/rules.mk diff --git a/libmaple/stm32f2/spi.c b/libmaple/stm32f2-f4/spi.c index cfd9995..cfd9995 100644 --- a/libmaple/stm32f2/spi.c +++ b/libmaple/stm32f2-f4/spi.c diff --git a/libmaple/stm32f2/syscfg.c b/libmaple/stm32f2-f4/syscfg.c index 19e932e..19e932e 100644 --- a/libmaple/stm32f2/syscfg.c +++ b/libmaple/stm32f2-f4/syscfg.c diff --git a/libmaple/stm32f2/timer.c b/libmaple/stm32f2-f4/timer.c index a85bea0..4ef466a 100644 --- a/libmaple/stm32f2/timer.c +++ b/libmaple/stm32f2-f4/timer.c @@ -31,6 +31,7 @@ */ #include <libmaple/timer.h> +#include <libmaple/stm32.h> #include "timer_private.h" /* @@ -85,17 +86,23 @@ gpio_af timer_get_af(timer_dev *dev) { void __irq_tim1_brk_tim9(void) { dispatch_adv_brk(TIMER1); +#if STM32_HAVE_TIMER(9) dispatch_tim_9_12(TIMER9); +#endif } void __irq_tim1_up_tim10(void) { dispatch_adv_up(TIMER1); +#if STM32_HAVE_TIMER(10) dispatch_tim_10_11_13_14(TIMER10); +#endif } void __irq_tim1_trg_com_tim11(void) { dispatch_adv_trg_com(TIMER1); +#if STM32_HAVE_TIMER(11) dispatch_tim_10_11_13_14(TIMER11); +#endif } void __irq_tim1_cc(void) { @@ -125,24 +132,40 @@ void __irq_tim6(void) { } void __irq_tim7(void) { +#if STM32_HAVE_TIMER(7) dispatch_basic(TIMER7); +#endif } void __irq_tim8_brk_tim12(void) { +#if STM32_HAVE_TIMER(8) dispatch_adv_brk(TIMER8); +#endif +#if STM32_HAVE_TIMER(12) dispatch_tim_9_12(TIMER12); +#endif } void __irq_tim8_up_tim13(void) { +#if STM32_HAVE_TIMER(8) dispatch_adv_up(TIMER8); +#endif +#if STM32_HAVE_TIMER(13) dispatch_tim_10_11_13_14(TIMER13); +#endif } void __irq_tim8_trg_com_tim14(void) { +#if STM32_HAVE_TIMER(8) dispatch_adv_trg_com(TIMER8); +#endif +#if STM32_HAVE_TIMER(14) dispatch_tim_10_11_13_14(TIMER14); +#endif } void __irq_tim8_cc(void) { +#if STM32_HAVE_TIMER(8) dispatch_adv_cc(TIMER8); +#endif } diff --git a/libmaple/stm32f2/usart.c b/libmaple/stm32f2-f4/usart.c index 1472d13..fce122f 100644 --- a/libmaple/stm32f2/usart.c +++ b/libmaple/stm32f2-f4/usart.c @@ -42,7 +42,7 @@ static ring_buffer usart1_rb; static usart_dev usart1 = { .regs = USART1_BASE, .rb = &usart1_rb, - .max_baud = 4500000UL, /* TODO: are these correct? */ + .max_baud = 4500000UL, /* TODO: are these correct? 5250000UL for STM32F4? */ .clk_id = RCC_USART1, .irq_num = NVIC_USART1, }; @@ -53,7 +53,7 @@ static ring_buffer usart2_rb; static usart_dev usart2 = { .regs = USART2_BASE, .rb = &usart2_rb, - .max_baud = 2250000UL, /* TODO: are these correct? */ + .max_baud = 2250000UL, /* TODO: are these correct? 2620000UL for STM32F4? */ .clk_id = RCC_USART2, .irq_num = NVIC_USART2, }; @@ -97,7 +97,7 @@ static ring_buffer usart6_rb; static usart_dev usart6 = { .regs = USART6_BASE, .rb = &usart6_rb, - .max_baud = 4500000UL, /* TODO: are these correct? */ + .max_baud = 4500000UL, /* TODO: are these correct? 5250000UL for STM32F4? */ .clk_id = RCC_USART6, .irq_num = NVIC_USART6, }; diff --git a/libmaple/stm32f2/vector_table.S b/libmaple/stm32f2-f4/vector_table.S index 147e516..752503b 100644 --- a/libmaple/stm32f2/vector_table.S +++ b/libmaple/stm32f2-f4/vector_table.S @@ -131,5 +131,8 @@ __stm32_vector_table: .long __irq_dcmi .long __irq_cryp .long __irq_hash_rng +/* STM32F4-specific */ + .long __irq_fpu + .long __irq_spi4 .size __stm32_vector_table, . - __stm32_vector_table diff --git a/notes/boards/st_stm32vldiscovery.txt b/notes/boards/st_stm32vldiscovery.txt new file mode 100644 index 0000000..3aa849d --- /dev/null +++ b/notes/boards/st_stm32vldiscovery.txt @@ -0,0 +1,10 @@ + +STM32VLDISCOVERY: STM32 value line Discovery + +User Manual: +http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/CD00267113.pdf + +STM32F100RBT6B microcontroller, 128 KB Flash, 8 KB RAM in 64-pin LQFP +ST-LINK + +Two buttons (reset and user), two LEDs, that's it. diff --git a/notes/usb.txt b/notes/usb.txt index 9552b9f..c97c9b5 100644 --- a/notes/usb.txt +++ b/notes/usb.txt @@ -1,6 +1,5 @@ -XXX -XXX This file may be out of date! -XXX + +WARNING: This file may be out of date! [NOTE: this is a long term proposal. The current implementation just does a 2ms TIMEOUT] diff --git a/support/ld/stm32/mem/sram_64k_flash_128k/mem-jtag.inc b/support/ld/stm32/mem/sram_64k_flash_128k/mem-jtag.inc new file mode 100644 index 0000000..e5a30cb --- /dev/null +++ b/support/ld/stm32/mem/sram_64k_flash_128k/mem-jtag.inc @@ -0,0 +1,5 @@ +MEMORY +{ + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K +} diff --git a/support/ld/stm32/mem/sram_64k_flash_256k/mem-jtag.inc b/support/ld/stm32/mem/sram_64k_flash_256k/mem-jtag.inc new file mode 100644 index 0000000..1e82e56 --- /dev/null +++ b/support/ld/stm32/mem/sram_64k_flash_256k/mem-jtag.inc @@ -0,0 +1,5 @@ +MEMORY +{ + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K + rom (rx) : ORIGIN = 0x08000000, LENGTH = 256K +} diff --git a/support/ld/stm32/series/stm32f2-f4/dynamic_efficiency/vector_symbols.inc b/support/ld/stm32/series/stm32f2-f4/dynamic_efficiency/vector_symbols.inc new file mode 100644 index 0000000..c013784 --- /dev/null +++ b/support/ld/stm32/series/stm32f2-f4/dynamic_efficiency/vector_symbols.inc @@ -0,0 +1,100 @@ +EXTERN(__msp_init) +EXTERN(__exc_reset) +EXTERN(__exc_nmi) +EXTERN(__exc_hardfault) +EXTERN(__exc_memmanage) +EXTERN(__exc_busfault) +EXTERN(__exc_usagefault) +EXTERN(__stm32reservedexception7) +EXTERN(__stm32reservedexception8) +EXTERN(__stm32reservedexception9) +EXTERN(__stm32reservedexception10) +EXTERN(__exc_svc) +EXTERN(__exc_debug_monitor) +EXTERN(__stm32reservedexception13) +EXTERN(__exc_pendsv) +EXTERN(__exc_systick) + +EXTERN(__irq_wwdg) +EXTERN(__irq_pvd) +EXTERN(__irq_tamp_stamp) +EXTERN(__irq_rtc_wkup) +EXTERN(__irq_flash) +EXTERN(__irq_rcc) +EXTERN(__irq_exti0) +EXTERN(__irq_exti1) +EXTERN(__irq_exti2) +EXTERN(__irq_exti3) +EXTERN(__irq_exti4) +EXTERN(__irq_dma1_stream0) +EXTERN(__irq_dma1_stream1) +EXTERN(__irq_dma1_stream2) +EXTERN(__irq_dma1_stream3) +EXTERN(__irq_dma1_stream4) +EXTERN(__irq_dma1_stream5) +EXTERN(__irq_dma1_stream6) +EXTERN(__irq_adc) +EXTERN(__irq_can1_tx) +EXTERN(__irq_can1_rx0) +EXTERN(__irq_can1_rx1) +EXTERN(__irq_can1_sce) +EXTERN(__irq_exti9_5) +EXTERN(__irq_tim1_brk_tim9) +EXTERN(__irq_tim1_up_tim10) +EXTERN(__irq_tim1_trg_com_tim11) +EXTERN(__irq_tim1_cc) +EXTERN(__irq_tim2) +EXTERN(__irq_tim3) +EXTERN(__irq_tim4) +EXTERN(__irq_i2c1_ev) +EXTERN(__irq_i2c1_er) +EXTERN(__irq_i2c2_ev) +EXTERN(__irq_i2c2_er) +EXTERN(__irq_spi1) +EXTERN(__irq_spi2) +EXTERN(__irq_usart1) +EXTERN(__irq_usart2) +EXTERN(__irq_usart3) +EXTERN(__irq_exti15_10) +EXTERN(__irq_rtc_alarm) +EXTERN(__irq_otg_fs_wkup) +EXTERN(__irq_tim8_brk_tim12) +EXTERN(__irq_tim8_up_tim13) +EXTERN(__irq_tim8_trg_com_tim14) +EXTERN(__irq_tim8_cc) +EXTERN(__irq_dma1_stream7) +EXTERN(__irq_fsmc) +EXTERN(__irq_sdio) +EXTERN(__irq_tim5) +EXTERN(__irq_spi3) +EXTERN(__irq_uart4) +EXTERN(__irq_uart5) +EXTERN(__irq_tim6_dac) +EXTERN(__irq_tim7) +EXTERN(__irq_dma2_stream0) +EXTERN(__irq_dma2_stream1) +EXTERN(__irq_dma2_stream2) +EXTERN(__irq_dma2_stream3) +EXTERN(__irq_dma2_stream4) +EXTERN(__irq_eth) +EXTERN(__irq_eth_wkup) +EXTERN(__irq_can2_tx) +EXTERN(__irq_can2_rx0) +EXTERN(__irq_can2_rx1) +EXTERN(__irq_can2_sce) +EXTERN(__irq_otg_fs) +EXTERN(__irq_dma2_stream5) +EXTERN(__irq_dma2_stream6) +EXTERN(__irq_dma2_stream7) +EXTERN(__irq_usart6) +EXTERN(__irq_i2c3_ev) +EXTERN(__irq_i2c3_er) +EXTERN(__irq_otg_hs_ep1_out) +EXTERN(__irq_otg_hs_ep1_in) +EXTERN(__irq_otg_hs_wkup) +EXTERN(__irq_otg_hs) +EXTERN(__irq_dcmi) +EXTERN(__irq_cryp) +EXTERN(__irq_hash_rng) +EXTERN(__irq_fpu) +EXTERN(__irq_spi4) diff --git a/support/ld/stm32/series/stm32f2/vector_symbols.inc b/support/ld/stm32/series/stm32f2-f4/stm32f2/vector_symbols.inc index d275ec3..d275ec3 100644 --- a/support/ld/stm32/series/stm32f2/vector_symbols.inc +++ b/support/ld/stm32/series/stm32f2-f4/stm32f2/vector_symbols.inc diff --git a/support/make/board-includes/cm900.mk b/support/make/board-includes/robotis_cm900.mk index 9f70a1b..9f70a1b 100644 --- a/support/make/board-includes/cm900.mk +++ b/support/make/board-includes/robotis_cm900.mk diff --git a/support/make/board-includes/opencm904.mk b/support/make/board-includes/robotis_opencm904.mk index 64d3351..64d3351 100644 --- a/support/make/board-includes/opencm904.mk +++ b/support/make/board-includes/robotis_opencm904.mk diff --git a/support/make/board-includes/nucleo.mk b/support/make/board-includes/st_nucleo_f103rb.mk index a2943ce..a2943ce 100644 --- a/support/make/board-includes/nucleo.mk +++ b/support/make/board-includes/st_nucleo_f103rb.mk diff --git a/support/make/board-includes/st_stm32f401cdiscovery.mk b/support/make/board-includes/st_stm32f401cdiscovery.mk new file mode 100644 index 0000000..6eb584f --- /dev/null +++ b/support/make/board-includes/st_stm32f401cdiscovery.mk @@ -0,0 +1,7 @@ +MCU := STM32F401VC +PRODUCT_ID := 0003 +ERROR_LED_PORT := GPIOD +ERROR_LED_PIN := 12 +MCU_SERIES := stm32f4 +MCU_F4_LINE := dynamic_efficiency +LD_MEM_DIR := sram_64k_flash_256k diff --git a/support/make/board-includes/VLDiscovery.mk b/support/make/board-includes/st_stm32vldiscovery.mk index 76cd85a..76cd85a 100644 --- a/support/make/board-includes/VLDiscovery.mk +++ b/support/make/board-includes/st_stm32vldiscovery.mk diff --git a/support/make/target-config.mk b/support/make/target-config.mk index 0e3a2c2..68cddbf 100644 --- a/support/make/target-config.mk +++ b/support/make/target-config.mk @@ -24,31 +24,42 @@ include $(BOARD_INCLUDE_DIR)/$(BOARD).mk # Configuration derived from $(BOARD).mk -LD_SERIES_PATH := $(LDDIR)/stm32/series/$(MCU_SERIES) +TARGET_SERIES_MODULE := $(MCU_SERIES) + +# Override TARGET_SERIES_MODULE for STM32F2 and STM32F4, which are +# basically the same and thus share a module. +ifeq ($(MCU_SERIES), stm32f2) +TARGET_SERIES_MODULE := stm32f2-f4 +endif +ifeq ($(MCU_SERIES), stm32f4) +TARGET_SERIES_MODULE := stm32f2-f4 +endif + +LIBMAPLE_MODULE_SERIES := $(LIBMAPLE_PATH)/$(TARGET_SERIES_MODULE) +LD_SERIES_PATH := $(LDDIR)/stm32/series/$(TARGET_SERIES_MODULE) LD_MEM_PATH := $(LDDIR)/stm32/mem/$(LD_MEM_DIR) + ifeq ($(MCU_SERIES), stm32f1) +TARGET_FLAGS += -mcpu=cortex-m3 -march=armv7-m # Due to the Balkanization on F1, we need to specify the line when # making linker decisions. LD_SERIES_PATH := $(LD_SERIES_PATH)/$(MCU_F1_LINE) endif - -ifeq ($(MCU_SERIES), stm32f1) -TARGET_FLAGS += -mcpu=cortex-m3 -march=armv7-m -endif ifeq ($(MCU_SERIES), stm32f2) +LD_SERIES_PATH := $(LD_SERIES_PATH)/stm32f2 TARGET_FLAGS += -mcpu=cortex-m3 -march=armv7-m endif ifeq ($(MCU_SERIES), stm32f4) -TARGET_FLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 +LD_SERIES_PATH := $(LD_SERIES_PATH)/$(MCU_F4_LINE) +TARGET_FLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard \ + -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion endif TARGET_LDFLAGS += -Xlinker -T$(LD_SCRIPT_PATH) \ -L $(LD_SERIES_PATH) \ -L $(LD_MEM_PATH) \ - -L $(LDDIR) + -L $(LDDIR) $(TARGET_FLAGS) -mthumb TARGET_FLAGS += -mthumb -DBOARD_$(BOARD) -DMCU_$(MCU) \ -DERROR_LED_PORT=$(ERROR_LED_PORT) \ -DERROR_LED_PIN=$(ERROR_LED_PIN) \ -D$(VECT_BASE_ADDR) - -LIBMAPLE_MODULE_SERIES := $(LIBMAPLE_PATH)/$(MCU_SERIES) diff --git a/examples/test-bkp.cpp b/tests/test-bkp.cpp index 719cac7..719cac7 100644 --- a/examples/test-bkp.cpp +++ b/tests/test-bkp.cpp diff --git a/examples/test-dac.cpp b/tests/test-dac.cpp index af188cc..af188cc 100644 --- a/examples/test-dac.cpp +++ b/tests/test-dac.cpp diff --git a/examples/test-fsmc.cpp b/tests/test-fsmc.cpp index 1621317..1621317 100644 --- a/examples/test-fsmc.cpp +++ b/tests/test-fsmc.cpp diff --git a/examples/test-print.cpp b/tests/test-print.cpp index bdc1894..bdc1894 100644 --- a/examples/test-print.cpp +++ b/tests/test-print.cpp diff --git a/examples/test-ring-buffer-insertion.cpp b/tests/test-ring-buffer-insertion.cpp index 2188b03..2188b03 100644 --- a/examples/test-ring-buffer-insertion.cpp +++ b/tests/test-ring-buffer-insertion.cpp diff --git a/examples/test-serial-flush.cpp b/tests/test-serial-flush.cpp index 409d1f9..409d1f9 100644 --- a/examples/test-serial-flush.cpp +++ b/tests/test-serial-flush.cpp diff --git a/examples/test-serialusb.cpp b/tests/test-serialusb.cpp index 098e445..098e445 100644 --- a/examples/test-serialusb.cpp +++ b/tests/test-serialusb.cpp diff --git a/examples/test-servo.cpp b/tests/test-servo.cpp index 6f6e3ba..6f6e3ba 100644 --- a/examples/test-servo.cpp +++ b/tests/test-servo.cpp diff --git a/examples/test-session.cpp b/tests/test-session.cpp index 284b4b0..2cc000f 100644 --- a/examples/test-session.cpp +++ b/tests/test-session.cpp @@ -891,8 +891,10 @@ void enable_usarts(void) { Serial1.begin(BAUD); Serial2.begin(BAUD); Serial3.begin(BAUD); -#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6) +#if defined(BOARD_HAVE_USART4) Serial4.begin(BAUD); +#endif +#if defined(BOARD_HAVE_USART5) Serial5.begin(BAUD); #endif } @@ -901,8 +903,10 @@ void disable_usarts(void) { Serial1.end(); Serial2.end(); Serial3.end(); -#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6) +#if defined(BOARD_HAVE_USART4) Serial4.end(); +#endif +#if defined(BOARD_HAVE_USART5) Serial5.end(); #endif } diff --git a/examples/test-spi-roundtrip.cpp b/tests/test-spi-roundtrip.cpp index ddc9875..ddc9875 100644 --- a/examples/test-spi-roundtrip.cpp +++ b/tests/test-spi-roundtrip.cpp diff --git a/examples/test-systick.cpp b/tests/test-systick.cpp index 356f302..356f302 100644 --- a/examples/test-systick.cpp +++ b/tests/test-systick.cpp diff --git a/examples/test-timers.cpp b/tests/test-timers.cpp index e646916..e646916 100644 --- a/examples/test-timers.cpp +++ b/tests/test-timers.cpp diff --git a/examples/test-usart-dma.cpp b/tests/test-usart-dma.cpp index d10dc68..7d6d8b9 100644 --- a/examples/test-usart-dma.cpp +++ b/tests/test-usart-dma.cpp @@ -1,5 +1,5 @@ /** - * @file examples/test-usart-dma.cpp + * @file tests/test-usart-dma.cpp * @author Marti Bolivar <mbolivar@leaflabs.com> * * Simple test of DMA used with a USART receiver. diff --git a/wirish/HardwareSPI.cpp b/wirish/HardwareSPI.cpp index 94985eb..1acba76 100644 --- a/wirish/HardwareSPI.cpp +++ b/wirish/HardwareSPI.cpp @@ -2,6 +2,7 @@ * The MIT License * * Copyright (c) 2010 Perry Hung. + * Copyright 2014 Google, Inc. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation @@ -59,23 +60,32 @@ static void enable_device(spi_dev *dev, spi_mode mode); static const spi_pins board_spi_pins[] __FLASH__ = { +#if BOARD_HAVE_SPI1 {BOARD_SPI1_NSS_PIN, BOARD_SPI1_SCK_PIN, BOARD_SPI1_MISO_PIN, BOARD_SPI1_MOSI_PIN}, +#else + {0, 0, 0, 0}, +#endif +#if BOARD_HAVE_SPI2 {BOARD_SPI2_NSS_PIN, BOARD_SPI2_SCK_PIN, BOARD_SPI2_MISO_PIN, BOARD_SPI2_MOSI_PIN}, -#ifdef STM32_HIGH_DENSITY +#else + {0, 0, 0, 0}, +#endif +#if BOARD_HAVE_SPI3 {BOARD_SPI3_NSS_PIN, BOARD_SPI3_SCK_PIN, BOARD_SPI3_MISO_PIN, BOARD_SPI3_MOSI_PIN}, +#else + {0, 0, 0, 0}, #endif }; - /* * Constructor */ @@ -235,12 +245,26 @@ static spi_baud_rate determine_baud_rate(spi_dev *dev, SPIFrequency freq); static const spi_pins* dev_to_spi_pins(spi_dev *dev) { switch (dev->clk_id) { - case RCC_SPI1: return board_spi_pins; - case RCC_SPI2: return board_spi_pins + 1; -#ifdef STM32_HIGH_DENSITY - case RCC_SPI3: return board_spi_pins + 2; + case RCC_SPI1: +#if BOARD_HAVE_SPI1 + return board_spi_pins; +#else + return NULL; +#endif + case RCC_SPI2: +#if BOARD_HAVE_SPI2 + return board_spi_pins + 1; +#else + return NULL; #endif - default: return NULL; + case RCC_SPI3: +#if BOARD_HAVE_SPI3 + return board_spi_pins + 2; +#else + return NULL; +#endif + default: + return NULL; } } diff --git a/wirish/HardwareTimer.cpp b/wirish/HardwareTimer.cpp index 4f68ad7..1d9fe61 100644 --- a/wirish/HardwareTimer.cpp +++ b/wirish/HardwareTimer.cpp @@ -2,6 +2,7 @@ * The MIT License * * Copyright (c) 2010 Bryan Newbold. + * Copyright 2014 Google, Inc. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation @@ -26,6 +27,7 @@ #include <wirish/HardwareTimer.h> +#include <libmaple/stm32.h> #include <libmaple/rcc.h> #include <wirish/ext_interrupts.h> // for noInterrupts(), interrupts() #include <wirish/wirish_math.h> @@ -144,13 +146,27 @@ void HardwareTimer::refresh(void) { /* -- Deprecated predefined instances -------------------------------------- */ +#if STM32_TIMER_MASK & (1 << 1) HardwareTimer Timer1(1); +#endif +#if STM32_TIMER_MASK & (1 << 2) HardwareTimer Timer2(2); +#endif +#if STM32_TIMER_MASK & (1 << 3) HardwareTimer Timer3(3); +#endif +#if STM32_TIMER_MASK & (1 << 4) HardwareTimer Timer4(4); -#ifdef STM32_HIGH_DENSITY +#endif +#if STM32_TIMER_MASK & (1 << 5) HardwareTimer Timer5(5); +#endif +#if STM32_TIMER_MASK & (1 << 6) HardwareTimer Timer6(6); +#endif +#if STM32_TIMER_MASK & (1 << 7) HardwareTimer Timer7(7); +#endif +#if STM32_TIMER_MASK & (1 << 8) HardwareTimer Timer8(8); #endif diff --git a/wirish/Print.cpp b/wirish/Print.cpp index f6bc0c6..cf0f74b 100644 --- a/wirish/Print.cpp +++ b/wirish/Print.cpp @@ -196,7 +196,7 @@ void Print::printNumber(unsigned long long n, uint8 base) { * nextafter((double)numeric_limits<long long>::max(), 0.0) ~= 9.22337e+18 * * This slightly smaller value was picked semi-arbitrarily. */ -#define LARGE_DOUBLE_TRESHOLD (9.1e18) +#define LARGE_DOUBLE_TRESHOLD ((double)9.1e18) /* THIS FUNCTION SHOULDN'T BE USED IF YOU NEED ACCURATE RESULTS. * @@ -211,7 +211,7 @@ void Print::printNumber(unsigned long long n, uint8 base) { void Print::printFloat(double number, uint8 digits) { // Hackish fail-fast behavior for large-magnitude doubles if (abs(number) >= LARGE_DOUBLE_TRESHOLD) { - if (number < 0.0) { + if (number < (double)0.0) { print('-'); } print("<large double>"); @@ -219,16 +219,16 @@ void Print::printFloat(double number, uint8 digits) { } // Handle negative numbers - if (number < 0.0) { + if (number < (double)0.0) { print('-'); number = -number; } // Simplistic rounding strategy so that e.g. print(1.999, 2) // prints as "2.00" - double rounding = 0.5; + double rounding = (double)0.5; for (uint8 i = 0; i < digits; i++) { - rounding /= 10.0; + rounding /= (double)10.0; } number += rounding; @@ -244,7 +244,7 @@ void Print::printFloat(double number, uint8 digits) { // Extract digits from the remainder one at a time while (digits-- > 0) { - remainder *= 10.0; + remainder *= (double)10.0; int to_print = (int)remainder; print(to_print); remainder -= to_print; diff --git a/wirish/boards.cpp b/wirish/boards.cpp index 77a05de..6b0c74b 100644 --- a/wirish/boards.cpp +++ b/wirish/boards.cpp @@ -3,6 +3,7 @@ * * Copyright (c) 2010 Perry Hung. * Copyright (c) 2011, 2012 LeafLabs, LLC. + * Copyright 2014 Google, Inc. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation @@ -45,6 +46,8 @@ * notice. */ +#pragma GCC diagnostic ignored "-Wunused-function" + #include <wirish/boards.h> #include <libmaple/libmaple_types.h> #include <libmaple/flash.h> @@ -52,24 +55,16 @@ #include <libmaple/systick.h> #include "boards_private.h" -static void setup_flash(void); -static void setup_clocks(void); static void setup_nvic(void); -static void setup_adcs(void); -static void setup_timers(void); - -/* - * Exported functions - */ void init(void) { - setup_flash(); - setup_clocks(); + wirish::priv::board_setup_flash(); + wirish::priv::board_setup_clocks(); setup_nvic(); systick_init(SYSTICK_RELOAD_VAL); wirish::priv::board_setup_gpio(); - setup_adcs(); - setup_timers(); + wirish::priv::board_setup_adcs(); + wirish::priv::board_setup_timers(); wirish::priv::board_setup_usb(); wirish::priv::series_init(); boardInit(); @@ -91,20 +86,54 @@ bool boardUsesPin(uint8 pin) { } /* - * Auxiliary routines + * These addresses are where usercode starts when a bootloader is + * present. If no bootloader is present, the user NVIC usually starts + * at the Flash base address, 0x08000000. */ +#if defined(BOOTLOADER_maple) +#define USER_ADDR_ROM 0x08005000 +#elif defined(BOOTLOADER_robotis) +#define USER_ADDR_ROM 0x08003000 +#endif +#define USER_ADDR_RAM 0x20000C00 +extern char __text_start__; + +static void setup_nvic(void) { +#ifdef VECT_TAB_FLASH + nvic_init(USER_ADDR_ROM, 0); +#elif defined VECT_TAB_RAM + nvic_init(USER_ADDR_RAM, 0); +#elif defined VECT_TAB_BASE + nvic_init((uint32)0x08000000, 0); +#elif defined VECT_TAB_ADDR + // A numerically supplied value + nvic_init((uint32)VECT_TAB_ADDR, 0); +#else + // Use the __text_start__ value from the linker script; this + // should be the start of the vector table. + nvic_init((uint32)&__text_start__, 0); +#endif +} + +/* + * Default implementations for some board-specific routines. + */ + +namespace wirish { +namespace priv { -static void setup_flash(void) { +__weak rcc_clk w_board_pll_in_clk = RCC_CLK_HSE; + +__weak void board_setup_flash(void) { // Turn on as many Flash "go faster" features as // possible. flash_enable_features() just ignores any flags it // can't support. flash_enable_features(FLASH_PREFETCH | FLASH_ICACHE | FLASH_DCACHE); - // Configure the wait states, assuming we're operating at "close - // enough" to 3.3V. + // FLASH_SAFE_WAIT_STATES is a hack that needs to go away. flash_set_latency(FLASH_SAFE_WAIT_STATES); } -static void setup_clocks(void) { +__weak void board_setup_clocks(void) { // Turn on HSI. We'll switch to and run off of this while we're // setting up the main PLL. rcc_turn_on_clk(RCC_CLK_HSI); @@ -115,15 +144,17 @@ static void setup_clocks(void) { RCC_BASE->CFGR = 0x00000000; rcc_disable_css(); rcc_turn_off_clk(RCC_CLK_PLL); - rcc_turn_off_clk(RCC_CLK_HSE); + if (w_board_pll_in_clk != RCC_CLK_HSI) { + rcc_turn_off_clk(w_board_pll_in_clk); + } wirish::priv::board_reset_pll(); // Clear clock readiness interrupt flags and turn off clock // readiness interrupts. RCC_BASE->CIR = 0x00000000; - // Enable HSE, and wait until it's ready. - rcc_turn_on_clk(RCC_CLK_HSE); - while (!rcc_is_clk_ready(RCC_CLK_HSE)) + // Enable the PLL input clock, and wait until it's ready. + rcc_turn_on_clk(w_board_pll_in_clk); + while (!rcc_is_clk_ready(w_board_pll_in_clk)) ; // Configure AHBx, APBx, etc. prescalers and the main PLL. @@ -139,42 +170,12 @@ static void setup_clocks(void) { rcc_switch_sysclk(RCC_CLKSRC_PLL); } -/* - * These addresses are where usercode starts when a bootloader is - * present. If no bootloader is present, the user NVIC usually starts - * at the Flash base address, 0x08000000. - */ -#if defined(BOOTLOADER_maple) -#define USER_ADDR_ROM 0x08005000 -#elif defined(BOOTLOADER_robotis) -#define USER_ADDR_ROM 0x08003000 -#endif -#define USER_ADDR_RAM 0x20000C00 -extern char __text_start__; - -static void setup_nvic(void) { -#ifdef VECT_TAB_FLASH - nvic_init(USER_ADDR_ROM, 0); -#elif defined VECT_TAB_RAM - nvic_init(USER_ADDR_RAM, 0); -#elif defined VECT_TAB_BASE - nvic_init((uint32)0x08000000, 0); -#elif defined VECT_TAB_ADDR - // A numerically supplied value - nvic_init((uint32)VECT_TAB_ADDR, 0); -#else - // Use the __text_start__ value from the linker script; this - // should be the start of the vector table. - nvic_init((uint32)&__text_start__, 0); -#endif -} - static void adc_default_config(const adc_dev *dev) { adc_enable_single_swstart(dev); adc_set_sample_rate(dev, wirish::priv::w_adc_smp); } -static void setup_adcs(void) { +__weak void board_setup_adcs(void) { adc_set_prescaler(wirish::priv::w_adc_pre); adc_foreach(adc_default_config); } @@ -214,6 +215,9 @@ static void timer_default_config(timer_dev *dev) { timer_resume(dev); } -static void setup_timers(void) { +__weak void board_setup_timers(void) { timer_foreach(timer_default_config); } + +} +} diff --git a/wirish/boards/cm900/board.cpp b/wirish/boards/robotis_cm900/board.cpp index ec747b3..735bf33 100644 --- a/wirish/boards/cm900/board.cpp +++ b/wirish/boards/robotis_cm900/board.cpp @@ -1,5 +1,5 @@ /* - * cm900.cpp + * robotis_cm900.cpp * * Created on: 2012. 10. 14. * Author: in2storm @@ -31,12 +31,6 @@ * SOFTWARE. *****************************************************************************/ -/** - * @file maple.cpp - * @author Marti Bolivar <mbolivar@leaflabs.com> - * @brief Maple PIN_MAP and boardInit(). - */ - #include <board/board.h> // For this board's header file #include <wirish/wirish_types.h> // For stm32_pin_info and its contents diff --git a/wirish/boards/cm900/include/board/board.h b/wirish/boards/robotis_cm900/include/board/board.h index fed1a1b..7eab980 100644 --- a/wirish/boards/cm900/include/board/board.h +++ b/wirish/boards/robotis_cm900/include/board/board.h @@ -27,7 +27,7 @@ /* - * CM900.h + * robotis_cm900.h * * Created on: 2012. 10. 14. * Author: ROBOTIS[sm6787@robotis.com] diff --git a/wirish/boards/opencm904/board.cpp b/wirish/boards/robotis_opencm904/board.cpp index b3c600b..19220fb 100644 --- a/wirish/boards/opencm904/board.cpp +++ b/wirish/boards/robotis_opencm904/board.cpp @@ -24,11 +24,6 @@ * SOFTWARE. *****************************************************************************/ -/** - * @file maple.cpp - * @author Marti Bolivar <mbolivar@leaflabs.com> - * @brief Maple PIN_MAP and boardInit(). - */ /* * CM904.cpp ported from CM900.cpp * diff --git a/wirish/boards/opencm904/include/board/board.h b/wirish/boards/robotis_opencm904/include/board/board.h index 274a2a7..274a2a7 100644 --- a/wirish/boards/opencm904/include/board/board.h +++ b/wirish/boards/robotis_opencm904/include/board/board.h diff --git a/wirish/boards/nucleo/board.cpp b/wirish/boards/st_nucleo_f103rb/board.cpp index 641f542..ea2f5c6 100644 --- a/wirish/boards/nucleo/board.cpp +++ b/wirish/boards/st_nucleo_f103rb/board.cpp @@ -25,9 +25,9 @@ *****************************************************************************/ /** - * @file wirish/boards/nucleo/board.cpp + * @file wirish/boards/st_nucleo_f103rb/board.cpp * @author Grégoire Passault <g.passault@gmail.com> - * @brief Nucleo board file + * @brief st_nucleo_f103rb board file * * This mapping was done using the NUCLEO documentation and may be incomplete * or contains error diff --git a/wirish/boards/nucleo/include/board/board.h b/wirish/boards/st_nucleo_f103rb/include/board/board.h index f7e3a38..7788cd8 100644 --- a/wirish/boards/nucleo/include/board/board.h +++ b/wirish/boards/st_nucleo_f103rb/include/board/board.h @@ -25,9 +25,9 @@ *****************************************************************************/ /** - * @file wirish/boards/maple/include/board/board.h - * @author Marti Bolivar <mbolivar@leaflabs.com> - * @brief Maple board header. + * @file wirish/boards/st_nucleo_f103rb/include/board/board.h + * @author Grégoire Passault <g.passault@gmail.com> + * @brief st_nucleo_f103rb board header. */ #ifndef _BOARD_MAPLE_H_ diff --git a/wirish/boards/st_stm32f401cdiscovery/board.cpp b/wirish/boards/st_stm32f401cdiscovery/board.cpp new file mode 100644 index 0000000..7f89ab6 --- /dev/null +++ b/wirish/boards/st_stm32f401cdiscovery/board.cpp @@ -0,0 +1,177 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2011 LeafLabs, LLC. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ + +/** + * @file wirish/boards/maple/board.cpp + * @author Perry Huang <iperry@leaflabs.com>, Bryan Newbold <bnewbold@robocracy.org + * @brief STM32F401C Discovery board file. + */ + +#include <board/board.h> // For this board's header file + +#include <wirish/wirish_types.h> // For stm32_pin_info and its contents + // (these go into PIN_MAP). + +#include "boards_private.h" // For PMAP_ROW(), which makes + // PIN_MAP easier to read. + +// boardInit(): nothing special to do for Maple. +// +// When defining your own board.cpp, you can put extra code in this +// function if you have anything you want done on reset, before main() +// or setup() are called. +// +// If there's nothing special you need done, feel free to leave this +// function out. +void boardInit(void) { + // Disable on-board MEMS Gycroscope by pulling PE3 high (nCS line). + // If this isn't done, use of SPI peripheral 1 will fail mysteriously due + // to the Gyro writing to MISO. + // To re-enable and use the gyro, pull PE3 (D67) low in setup(). + gpio_set_mode(GPIOE, 3, GPIO_MODE_OUTPUT); + gpio_write_bit(GPIOE, 3, 1); +} + +// Pin map: this lets the basic I/O functions (digitalWrite(), +// analogRead(), pwmWrite()) translate from pin numbers to STM32 +// peripherals. +// +// PMAP_ROW() lets us specify a row (really a struct stm32_pin_info) +// in the pin map. Its arguments are: +// +// - GPIO device for the pin (GPIOA, etc.) +// - GPIO bit for the pin (0 through 15) +// - Timer device, or NULL if none +// - Timer channel (1 to 4, for PWM), or 0 if none +// - ADC device, or NULL if none +// - ADC channel, or ADCx if none +// +// TODO: This table is definately not complete for the STM32F401C!! +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = { + PMAP_ROW(GPIOA, 0, NULL, 0, NULL, ADCx), /* D0/PA0 */ + PMAP_ROW(GPIOA, 1, NULL, 0, NULL, ADCx), /* D1/PA1 */ + PMAP_ROW(GPIOA, 2, NULL, 0, NULL, ADCx), /* D2/PA2 */ + PMAP_ROW(GPIOA, 3, NULL, 0, NULL, ADCx), /* D3/PA3 */ + PMAP_ROW(GPIOA, 4, NULL, 0, NULL, ADCx), /* D4/PA4 */ + PMAP_ROW(GPIOA, 5, NULL, 0, NULL, ADCx), /* D5/PA5 */ + PMAP_ROW(GPIOA, 6, NULL, 0, NULL, ADCx), /* D6/PA6 */ + PMAP_ROW(GPIOA, 7, NULL, 0, NULL, ADCx), /* D7/PA7 */ + PMAP_ROW(GPIOA, 8, NULL, 0, NULL, ADCx), /* D8/PA8 */ + PMAP_ROW(GPIOA, 9, NULL, 0, NULL, ADCx), /* D9/PA9 */ + PMAP_ROW(GPIOA, 10, NULL, 0, NULL, ADCx), /* D10/PA10 */ + PMAP_ROW(GPIOA, 11, NULL, 0, NULL, ADCx), /* D11/PA11 */ + PMAP_ROW(GPIOA, 12, NULL, 0, NULL, ADCx), /* D12/PA12 */ + PMAP_ROW(GPIOA, 13, NULL, 0, NULL, ADCx), /* D13/PA13 */ + PMAP_ROW(GPIOA, 14, NULL, 0, NULL, ADCx), /* D14/PA14 */ + PMAP_ROW(GPIOA, 15, NULL, 0, NULL, ADCx), /* D15/PA15 */ + + PMAP_ROW(GPIOB, 0, NULL, 0, NULL, ADCx), /* D16/PB0 */ + PMAP_ROW(GPIOB, 1, NULL, 0, NULL, ADCx), /* D17/PB1 */ + PMAP_ROW(GPIOB, 2, NULL, 0, NULL, ADCx), /* D18/PB2 */ + PMAP_ROW(GPIOB, 3, NULL, 0, NULL, ADCx), /* D19/PB3 */ + PMAP_ROW(GPIOB, 4, NULL, 0, NULL, ADCx), /* D20/PB4 */ + PMAP_ROW(GPIOB, 5, NULL, 0, NULL, ADCx), /* D21/PB5 */ + PMAP_ROW(GPIOB, 6, NULL, 0, NULL, ADCx), /* D22/PB6 */ + PMAP_ROW(GPIOB, 7, NULL, 0, NULL, ADCx), /* D23/PB7 */ + PMAP_ROW(GPIOB, 8, NULL, 0, NULL, ADCx), /* D24/PB8 */ + PMAP_ROW(GPIOB, 9, NULL, 0, NULL, ADCx), /* D25/PB9 */ + PMAP_ROW(GPIOB, 10, NULL, 0, NULL, ADCx), /* D26/PB10 */ + PMAP_ROW(GPIOB, 11, NULL, 0, NULL, ADCx), /* D27/PB11 */ + PMAP_ROW(GPIOB, 12, NULL, 0, NULL, ADCx), /* D28/PB12 */ + PMAP_ROW(GPIOB, 13, NULL, 0, NULL, ADCx), /* D29/PB13 */ + PMAP_ROW(GPIOB, 14, NULL, 0, NULL, ADCx), /* D30/PB14 */ + PMAP_ROW(GPIOB, 15, NULL, 0, NULL, ADCx), /* D31/PB15 */ + + PMAP_ROW(GPIOC, 0, NULL, 0, NULL, ADCx), /* D32/PC0 */ + PMAP_ROW(GPIOC, 1, NULL, 0, NULL, ADCx), /* D33/PC1 */ + PMAP_ROW(GPIOC, 2, NULL, 0, NULL, ADCx), /* D34/PC2 */ + PMAP_ROW(GPIOC, 3, NULL, 0, NULL, ADCx), /* D35/PC3 */ + PMAP_ROW(GPIOC, 4, NULL, 0, NULL, ADCx), /* D36/PC4 */ + PMAP_ROW(GPIOC, 5, NULL, 0, NULL, ADCx), /* D37/PC5 */ + PMAP_ROW(GPIOC, 6, NULL, 0, NULL, ADCx), /* D38/PC6 */ + PMAP_ROW(GPIOC, 7, NULL, 0, NULL, ADCx), /* D39/PC7 */ + PMAP_ROW(GPIOC, 8, NULL, 0, NULL, ADCx), /* D40/PC8 */ + PMAP_ROW(GPIOC, 9, NULL, 0, NULL, ADCx), /* D41/PC9 */ + PMAP_ROW(GPIOC, 10, NULL, 0, NULL, ADCx), /* D42/PC10 */ + PMAP_ROW(GPIOC, 11, NULL, 0, NULL, ADCx), /* D43/PC11 */ + PMAP_ROW(GPIOC, 12, NULL, 0, NULL, ADCx), /* D44/PC12 */ + PMAP_ROW(GPIOC, 13, NULL, 0, NULL, ADCx), /* D45/PC13 */ + PMAP_ROW(GPIOC, 14, NULL, 0, NULL, ADCx), /* D46/PC14 */ + PMAP_ROW(GPIOC, 15, NULL, 0, NULL, ADCx), /* D47/PC15 */ + + PMAP_ROW(GPIOD, 0, NULL, 0, NULL, ADCx), /* D48/PD0 */ + PMAP_ROW(GPIOD, 1, NULL, 0, NULL, ADCx), /* D49/PD1 */ + PMAP_ROW(GPIOD, 2, NULL, 0, NULL, ADCx), /* D50/PD2 */ + PMAP_ROW(GPIOD, 3, NULL, 0, NULL, ADCx), /* D51/PD3 */ + PMAP_ROW(GPIOD, 4, NULL, 0, NULL, ADCx), /* D52/PD4 */ + PMAP_ROW(GPIOD, 5, NULL, 0, NULL, ADCx), /* D53/PD5 */ + PMAP_ROW(GPIOD, 6, NULL, 0, NULL, ADCx), /* D54/PD6 */ + PMAP_ROW(GPIOD, 7, NULL, 0, NULL, ADCx), /* D55/PD7 */ + PMAP_ROW(GPIOD, 8, NULL, 0, NULL, ADCx), /* D56/PD8 */ + PMAP_ROW(GPIOD, 9, NULL, 0, NULL, ADCx), /* D57/PD9 */ + PMAP_ROW(GPIOD, 10, NULL, 0, NULL, ADCx), /* D58/PD10 */ + PMAP_ROW(GPIOD, 11, NULL, 0, NULL, ADCx), /* D59/PD11 */ + PMAP_ROW(GPIOD, 12, NULL, 0, NULL, ADCx), /* D60/PD12 */ + PMAP_ROW(GPIOD, 13, NULL, 0, NULL, ADCx), /* D61/PD13 */ + PMAP_ROW(GPIOD, 14, NULL, 0, NULL, ADCx), /* D62/PD14 */ + PMAP_ROW(GPIOD, 15, NULL, 0, NULL, ADCx), /* D63/PD15 */ + + PMAP_ROW(GPIOE, 0, NULL, 0, NULL, ADCx), /* D64/PE0 */ + PMAP_ROW(GPIOE, 1, NULL, 0, NULL, ADCx), /* D65/PE1 */ + PMAP_ROW(GPIOE, 2, NULL, 0, NULL, ADCx), /* D66/PE2 */ + PMAP_ROW(GPIOE, 3, NULL, 0, NULL, ADCx), /* D67/PE3 */ + PMAP_ROW(GPIOE, 4, NULL, 0, NULL, ADCx), /* D68/PE4 */ + PMAP_ROW(GPIOE, 5, NULL, 0, NULL, ADCx), /* D69/PE5 */ + PMAP_ROW(GPIOE, 6, NULL, 0, NULL, ADCx), /* D70/PE6 */ + PMAP_ROW(GPIOE, 7, NULL, 0, NULL, ADCx), /* D71/PE7 */ + PMAP_ROW(GPIOE, 8, NULL, 0, NULL, ADCx), /* D72/PE8 */ + PMAP_ROW(GPIOE, 9, NULL, 0, NULL, ADCx), /* D73/PE9 */ + PMAP_ROW(GPIOE, 10, NULL, 0, NULL, ADCx), /* D74/PE10 */ + PMAP_ROW(GPIOE, 11, NULL, 0, NULL, ADCx), /* D75/PE11 */ + PMAP_ROW(GPIOE, 12, NULL, 0, NULL, ADCx), /* D76/PE12 */ + PMAP_ROW(GPIOE, 13, NULL, 0, NULL, ADCx), /* D77/PE13 */ + PMAP_ROW(GPIOE, 14, NULL, 0, NULL, ADCx), /* D78/PE14 */ + PMAP_ROW(GPIOE, 15, NULL, 0, NULL, ADCx), /* D79/PE15 */ +}; + +// Array of pins you can use for pwmWrite(). Keep it in Flash because +// it doesn't change, and so we don't waste RAM. +extern const uint8 boardPWMPins[] __FLASH__ = { + 0, 1, 2, 3, 5, 6, 7, 8, 9, 11, 12, 14, 24, 27, 28 +}; + +// Array of pins you can use for analogRead(). +extern const uint8 boardADCPins[] __FLASH__ = { + 0, +}; + +// Array of pins that the board uses for something special. Other than +// the button and the LED, it's usually best to leave these pins alone +// unless you know what you're doing. +extern const uint8 boardUsedPins[] __FLASH__ = { + BOARD_LED_PIN, BOARD_BUTTON_PIN, BOARD_JTMS_SWDIO_PIN, + BOARD_JTCK_SWCLK_PIN, BOARD_JTDI_PIN, BOARD_JTDO_PIN, BOARD_NJTRST_PIN +}; diff --git a/wirish/boards/st_stm32f401cdiscovery/include/board/board.h b/wirish/boards/st_stm32f401cdiscovery/include/board/board.h new file mode 100644 index 0000000..d93bc30 --- /dev/null +++ b/wirish/boards/st_stm32f401cdiscovery/include/board/board.h @@ -0,0 +1,127 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2011 LeafLabs, LLC. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ + +/** + * @file wirish/boards/maple/include/board/board.h + * @author Perry Huang <iperry@leaflabs.com>, Bryan Newbold <bnewbold@robocracy.org + * @brief STM32F401C Discovery board file. + */ + +#ifndef _BOARD_STM32F401_DISCOVERY_H_ +#define _BOARD_STM32F401_DISCOVERY_H_ + +/* 84 MHz -> 84 cycles per microsecond. */ +#define CYCLES_PER_MICROSECOND 84 + +// PLL config for 8 MHz external crystal +// --> 84 MHz SYSCLK, with 48 MHz PLL48CK. +// +// Additional constraints: +// ASSERT_FAULT((data->pllq >= 4) && (data->pllq <= 15)); +// ASSERT_FAULT((data->pllp >= 2) && (data->pllp <= 8)); +// ASSERT_FAULT(!(data->pllp & 1)); +// ASSERT_FAULT((data->plln >= 192) && (data->plln <= 432)); +// ASSERT_FAULT((data->pllm >= 2) && (data->pllm <= 63)); +// +// f_VCO = (INPUT) X (PLL_N / PLL_M) +#define BOARD_PLL_N 336 +#define BOARD_PLL_M 8 +// SYSCLK = f_PLL = f_VCO / PLL_P; PLL_P = {2, 4, 6, 8} +#define BOARD_PLL_P 4 +// PLL48CK = f_USBETC = f_VCO / PLL_Q; 2 <= PLL_Q <= 15 +#define BOARD_PLL_Q 7 // should be 2? + +/* Pin number for the built-in button (USER button on STM32F401DISCOVERY) */ +#define BOARD_BUTTON_PIN PA0 + +/* Pin number for the built-in LED (blue LED on STM32F401DISCOVERY) */ +#define BOARD_LED_PIN PD15 + +/* Number of USARTs/UARTs whose pins are broken out to headers. */ +#define BOARD_NR_USARTS 3 + +/* USART pin numbers. */ +#define BOARD_USART1_TX_PIN PA9 +#define BOARD_USART1_RX_PIN PA10 +#define BOARD_USART2_TX_PIN PA2 +#define BOARD_USART2_RX_PIN PA3 +#define BOARD_USART3_TX_PIN PB10 +#define BOARD_USART3_RX_PIN PB11 + +/* Number of SPI ports broken out to headers. */ +#define BOARD_NR_SPI 2 + +/* SPI pin numbers. */ +#define BOARD_SPI1_NSS_PIN PA4 +#define BOARD_SPI1_MOSI_PIN PA7 +#define BOARD_SPI1_MISO_PIN PA6 +#define BOARD_SPI1_SCK_PIN PA5 + +#define BOARD_SPI2_NSS_PIN 28 +#define BOARD_SPI2_MOSI_PIN 31 +#define BOARD_SPI2_MISO_PIN 30 +#define BOARD_SPI2_SCK_PIN 29 + +/* Total number of GPIO pins that are broken out to headers and + * intended for use. This includes pins like the LED, button, and + * debug port (JTAG/SWD) pins. */ +#define BOARD_NR_GPIO_PINS 80 + +/* Number of pins capable of PWM output. */ +#define BOARD_NR_PWM_PINS 5 + +/* Number of pins capable of ADC conversion. */ +#define BOARD_NR_ADC_PINS 1 + +/* Number of pins already connected to external hardware. For Maple, + * these are just BOARD_LED_PIN, BOARD_BUTTON_PIN, and the debug port + * pins (see below). */ +#define BOARD_NR_USED_PINS 7 + +/* Debug port pins. */ +#define BOARD_JTMS_SWDIO_PIN 39 +#define BOARD_JTCK_SWCLK_PIN 40 +#define BOARD_JTDI_PIN 41 +#define BOARD_JTDO_PIN 42 +#define BOARD_NJTRST_PIN 43 + +/* USB configuration. BOARD_USB_DISC_DEV is the GPIO port containing + * the USB_DISC pin, and BOARD_USB_DISC_BIT is that pin's bit. */ +#define BOARD_USB_DISC_DEV GPIOC +#define BOARD_USB_DISC_BIT 12 + +/* Pin aliases: these give the GPIO port/bit for each pin as an + * enum. These are optional, but recommended. They make it easier to + * write code using low-level GPIO functionality. */ +enum { + PA0, PA1, PA2, PA3, PA4, PA5, PA6, PA7, PA8, PA9, PA10, PA11, PA12, PA13, PA14, PA15, + PB0, PB1, PB2, PB3, PB4, PB5, PB6, PB7, PB8, PB9, PB10, PB11, PB12, PB13, PB14, PB15, + PC0, PC1, PC2, PC3, PC4, PC5, PC6, PC7, PC8, PC9, PC10, PC11, PC12, PC13, PC14, PC15, + PD0, PD1, PD2, PD3, PD4, PD5, PD6, PD7, PD8, PD9, PD10, PD11, PD12, PD13, PD14, PD15, + PE0, PE1, PE2, PE3, PE4, PE5, PE6, PE7, PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15, +}; + +#endif diff --git a/wirish/boards/VLDiscovery/board.cpp b/wirish/boards/st_stm32vldiscovery/board.cpp index c86204d..a787472 100644 --- a/wirish/boards/VLDiscovery/board.cpp +++ b/wirish/boards/st_stm32vldiscovery/board.cpp @@ -25,9 +25,9 @@ *****************************************************************************/ /** - * @file wirish/boards/VLDiscovery/board.cpp + * @file wirish/boards/st_stm32vldiscovery/board.cpp * @author Anton Eltchaninov <anton.eltchaninov@gmail.com> - * @brief VLDiscovery board file. + * @brief st_stm32vldiscovery board file. */ #include <board/board.h> diff --git a/wirish/boards/VLDiscovery/include/board/board.h b/wirish/boards/st_stm32vldiscovery/include/board/board.h index 04d21c7..e976add 100644 --- a/wirish/boards/VLDiscovery/include/board/board.h +++ b/wirish/boards/st_stm32vldiscovery/include/board/board.h @@ -25,9 +25,9 @@ *****************************************************************************/ /** - * @file wirish/boards/VLDiscovery/include/board/board.h + * @file wirish/boards/st_stm32vldiscovery/include/board/board.h * @author Anton Eltchaninov <anton.eltchaninov@gmail.com> - * @brief VLDiscovery board header. + * @brief st_stm32vldiscovery board header. */ #ifndef _BOARD_VLDISCOVERY_H_ diff --git a/wirish/boards_private.h b/wirish/boards_private.h index 49867ca..642a9ee 100644 --- a/wirish/boards_private.h +++ b/wirish/boards_private.h @@ -48,21 +48,30 @@ namespace wirish { namespace priv { /* - * Chip-specific initialization data + * Chip- and board-specific initialization data */ extern rcc_pll_cfg w_board_pll_cfg; + extern rcc_clk w_board_pll_in_clk; extern adc_prescaler w_adc_pre; extern adc_smp_rate w_adc_smp; /* - * Chip-specific initialization routines and helper functions. + * Chip- and board-specific initialization routines and helper + * functions. + * + * Some of these have default (weak) implementations in + * boards.cpp; define them in your board file to override. */ void board_reset_pll(void); void board_setup_clock_prescalers(void); void board_setup_gpio(void); void board_setup_usb(void); + void board_setup_flash(void); + void board_setup_adcs(void); + void board_setup_timers(void); + void board_setup_clocks(void); void series_init(void); } diff --git a/wirish/include/wirish/ext_interrupts.h b/wirish/include/wirish/ext_interrupts.h index ce1ca03..7b82c40 100644 --- a/wirish/include/wirish/ext_interrupts.h +++ b/wirish/include/wirish/ext_interrupts.h @@ -106,7 +106,7 @@ void detachInterrupt(uint8 pin); * * @see noInterrupts() */ -static __always_inline void interrupts() { +static inline void interrupts() { nvic_globalirq_enable(); } @@ -120,7 +120,7 @@ static __always_inline void interrupts() { * * @see interrupts() */ -static __always_inline void noInterrupts() { +static inline void noInterrupts() { nvic_globalirq_disable(); } diff --git a/wirish/include/wirish/wirish.h b/wirish/include/wirish/wirish.h index 610aa3f..606aac0 100644 --- a/wirish/include/wirish/wirish.h +++ b/wirish/include/wirish/wirish.h @@ -58,8 +58,13 @@ /* Wiring macros and bit defines */ -#define true 0x1 -#define false 0x0 +// These may have been defined if stdbool.h was included +#ifndef true +# define true 0x1 +#endif +#ifndef false +# define false 0x0 +#endif #define LSBFIRST 0 #define MSBFIRST 1 diff --git a/wirish/include/wirish/wirish_math.h b/wirish/include/wirish/wirish_math.h index 39f16a0..ff264dc 100644 --- a/wirish/include/wirish/wirish_math.h +++ b/wirish/include/wirish/wirish_math.h @@ -93,7 +93,8 @@ static inline long map(long value, long fromStart, long fromEnd, #define min(a,b) ((a)<(b)?(a):(b)) #define max(a,b) ((a)>(b)?(a):(b)) #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) -#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) +#define round(x) ((x)>=0?(long)((x)+(double)0.5):(long)((x)-(double)0.5)) +#define roundf(x) ((x)>=0?(long)((x)+(float)0.5):(long)((x)-(float)0.5)) #define radians(deg) ((deg)*DEG_TO_RAD) #define degrees(rad) ((rad)*RAD_TO_DEG) #define sq(x) ((x)*(x)) diff --git a/wirish/rules.mk b/wirish/rules.mk index 1cac74a..13da229 100644 --- a/wirish/rules.mk +++ b/wirish/rules.mk @@ -4,15 +4,25 @@ dirstack_$(sp) := $(d) d := $(dir) BUILDDIRS += $(BUILD_PATH)/$(d) -# Add board directory and MCU-specific directory to BUILDDIRS. These -# are in subdirectories, but they're logically part of the Wirish -# submodule. +# Add board directory and target-specific directory to +# BUILDDIRS. These are in subdirectories, but they're logically part +# of the Wirish submodule. That's a bit inconsistent with libmaple +# proper, and should be fixed. +# Optionally support out-of-tree board files if WIRISH_BOARD_PATH was exported +ifeq ($(WIRISH_BOARD_PATH),) WIRISH_BOARD_PATH := boards/$(BOARD) +WIRISH_BOARD_INCLUDE := $(d)/$(WIRISH_BOARD_PATH)/include +WIRISH_BOARD_CPP_FILE := $(d)/$(WIRISH_BOARD_PATH)/board.cpp BUILDDIRS += $(BUILD_PATH)/$(d)/$(WIRISH_BOARD_PATH) -BUILDDIRS += $(BUILD_PATH)/$(d)/$(MCU_SERIES) +else +WIRISH_BOARD_INCLUDE := $(WIRISH_BOARD_PATH)/include +WIRISH_BOARD_CPP_FILE := $(WIRISH_BOARD_PATH)/board.cpp +BUILDDIRS += $(BUILD_PATH)/$(WIRISH_BOARD_PATH) +endif +BUILDDIRS += $(BUILD_PATH)/$(d)/$(TARGET_SERIES_MODULE) # Safe includes for Wirish. -WIRISH_INCLUDES := -I$(d)/include -I$(d)/$(WIRISH_BOARD_PATH)/include +WIRISH_INCLUDES := -I$(d)/include -I$(WIRISH_BOARD_INCLUDE) # Local flags. Add -I$(d) to allow for private includes. CFLAGS_$(d) := $(LIBMAPLE_INCLUDES) $(WIRISH_INCLUDES) -I$(d) @@ -21,7 +31,7 @@ CFLAGS_$(d) := $(LIBMAPLE_INCLUDES) $(WIRISH_INCLUDES) -I$(d) sSRCS_$(d) := start.S cSRCS_$(d) := start_c.c cSRCS_$(d) += syscalls.c -cSRCS_$(d) += $(MCU_SERIES)/util_hooks.c +cSRCS_$(d) += $(TARGET_SERIES_MODULE)/util_hooks.c cppSRCS_$(d) := boards.cpp cppSRCS_$(d) += cxxabi-compat.cpp cppSRCS_$(d) += ext_interrupts.cpp @@ -38,15 +48,18 @@ cppSRCS_$(d) += wirish_digital.cpp cppSRCS_$(d) += wirish_math.cpp cppSRCS_$(d) += wirish_shift.cpp cppSRCS_$(d) += wirish_time.cpp -cppSRCS_$(d) += $(MCU_SERIES)/boards_setup.cpp -cppSRCS_$(d) += $(MCU_SERIES)/wirish_digital.cpp -cppSRCS_$(d) += $(MCU_SERIES)/wirish_debug.cpp -cppSRCS_$(d) += $(WIRISH_BOARD_PATH)/board.cpp +cppSRCS_$(d) += $(TARGET_SERIES_MODULE)/boards_setup.cpp +cppSRCS_$(d) += $(TARGET_SERIES_MODULE)/wirish_digital.cpp +cppSRCS_$(d) += $(TARGET_SERIES_MODULE)/wirish_debug.cpp sFILES_$(d) := $(sSRCS_$(d):%=$(d)/%) cFILES_$(d) := $(cSRCS_$(d):%=$(d)/%) cppFILES_$(d) := $(cppSRCS_$(d):%=$(d)/%) +# board.cpp is a special case, because it may be out of tree +cppSRCS_$(d) += $(WIRISH_BOARD_PATH)/board.cpp +cppFILES_$(d) += $(WIRISH_BOARD_CPP_FILE) + OBJS_$(d) := $(sFILES_$(d):%.S=$(BUILD_PATH)/%.o) \ $(cFILES_$(d):%.c=$(BUILD_PATH)/%.o) \ $(cppFILES_$(d):%.cpp=$(BUILD_PATH)/%.o) diff --git a/wirish/stm32f2/boards_setup.cpp b/wirish/stm32f2-f4/boards_setup.cpp index 5764dd0..aa44a11 100644 --- a/wirish/stm32f2/boards_setup.cpp +++ b/wirish/stm32f2-f4/boards_setup.cpp @@ -42,19 +42,43 @@ #include <wirish/wirish_types.h> #include <board/board.h> -// PLL config for 25 MHz external crystal --> 120 MHz SYSCLK, with -// 48 MHz PLL48CK. -#ifndef BOARD_PLL_Q -#define BOARD_PLL_Q 5 -#endif -#ifndef BOARD_PLL_P -#define BOARD_PLL_P 2 -#endif -#ifndef BOARD_PLL_N -#define BOARD_PLL_N 240 -#endif -#ifndef BOARD_PLL_M -#define BOARD_PLL_M 25 +// Not used by STM32F2 +#define FPU_CPACR 0xE000ED88 + +/* See libmaple/stm32f2-f4/rcc.c for constraints on these values, or the vendor + * user manual */ +#if STM32_MCU_SERIES == STM32_SERIES_F2 + // PLL config for 25 MHz external crystal --> 120 MHz SYSCLK, with + // 48 MHz PLL48CK. +# ifndef BOARD_PLL_Q +# define BOARD_PLL_Q 5 +# endif +# ifndef BOARD_PLL_P +# define BOARD_PLL_P 2 +# endif +# ifndef BOARD_PLL_N +# define BOARD_PLL_N 240 +# endif +# ifndef BOARD_PLL_M +# define BOARD_PLL_M 25 +# endif +#elif STM32_MCU_SERIES == STM32_SERIES_F4 + // PLL config for 8 MHz external crystal --> 84 MHz SYSCLK, with + // 48 MHz PLL48CK. +# ifndef BOARD_PLL_Q +# define BOARD_PLL_Q 7 +# endif +# ifndef BOARD_PLL_P +# define BOARD_PLL_P 4 +# endif +# ifndef BOARD_PLL_N +# define BOARD_PLL_N 336 +# endif +# ifndef BOARD_PLL_M +# define BOARD_PLL_M 8 +# endif +#else +# error "Unsupported STM32_MCU_SERIES" #endif static stm32f2_rcc_pll_data pll_data = {BOARD_PLL_Q, @@ -89,6 +113,7 @@ namespace wirish { } __weak void board_setup_clock_prescalers(void) { +#if STM32_MCU_SERIES == STM32_SERIES_F2 // On F2, with f_SYSCLK = 120 MHz (as determined by // board_pll_cfg), // @@ -98,6 +123,19 @@ namespace wirish { rcc_set_prescaler(RCC_PRESCALER_AHB, RCC_AHB_SYSCLK_DIV_1); rcc_set_prescaler(RCC_PRESCALER_APB1, RCC_APB1_HCLK_DIV_4); rcc_set_prescaler(RCC_PRESCALER_APB2, RCC_APB2_HCLK_DIV_2); +#elif STM32_MCU_SERIES == STM32_SERIES_F4 + // On F2, with f_SYSCLK = 84 MHz (as determined by + // board_pll_cfg), + // + // f_AHB = f_SYSCLK / 1 = 84 MHz + // f_APB1 = f_AHB / 2 = 42 MHz + // f_APB2 = f_AHB / 1 = 84 MHz + rcc_set_prescaler(RCC_PRESCALER_AHB, RCC_AHB_SYSCLK_DIV_1); + rcc_set_prescaler(RCC_PRESCALER_APB1, RCC_APB1_HCLK_DIV_2); + rcc_set_prescaler(RCC_PRESCALER_APB2, RCC_APB2_HCLK_DIV_1); +#else +# error "Unsupported STM32_MCU_SERIES" +#endif } __weak void board_setup_gpio(void) { @@ -114,6 +152,11 @@ namespace wirish { // Turn on the I/O compensation cell, since we drive the // GPIOs quickly by default. syscfg_enable_io_compensation(); + +#if STM32_MCU_SERIES == STM32_SERIES_F4 + /* enable fpu with full access */ + *(volatile unsigned int*)FPU_CPACR |= 0xF << 20; +#endif } } diff --git a/wirish/stm32f2/util_hooks.c b/wirish/stm32f2-f4/util_hooks.c index 1b519ab..a18dfe8 100644 --- a/wirish/stm32f2/util_hooks.c +++ b/wirish/stm32f2-f4/util_hooks.c @@ -30,16 +30,50 @@ */ #include <libmaple/nvic.h> +#include <libmaple/gpio.h> +#include <libmaple/stm32.h> +#include <libmaple/timer.h> +#include <libmaple/adc.h> +#include <libmaple/usart.h> + +/* Failed ASSERT()s send out a message using this USART config. */ +#ifndef ERROR_USART +#define ERROR_USART USART1 +#define ERROR_USART_BAUD 115200 +#define ERROR_TX_PORT GPIOA +#define ERROR_TX_PIN 9 +#endif /* * Disables all peripheral interrupts. Called by __error() with global * interrupts disabled. */ void __lm_error(void) { + /* Turn off peripheral interrupts */ nvic_irq_disable_all(); + + /* Turn off timers */ + timer_disable_all(); + + /* Turn off ADC */ + adc_disable_all(); + + /* Turn off all USARTs */ + usart_disable_all(); + +#if STM32_HAVE_USB + /* Turn the USB interrupt back on so the bootloader keeps on functioning */ + nvic_irq_enable(NVIC_USB_HP_CAN_TX); + nvic_irq_enable(NVIC_USB_LP_CAN_RX0); +#endif } /* * Enable the error USART for writing. */ -/* usart_dev* __lm_enable_error_usart(void) { (TODO) } */ +usart_dev* __lm_enable_error_usart() { + // FIXME: gpio_set_mode(ERROR_TX_PORT, ERROR_TX_PIN, GPIO_AF_OUTPUT_PP); + usart_init(ERROR_USART); + usart_set_baud_rate(ERROR_USART, USART_USE_PCLK, ERROR_USART_BAUD); + return ERROR_USART; +} diff --git a/wirish/stm32f2/wirish_debug.cpp b/wirish/stm32f2-f4/wirish_debug.cpp index af6c78b..af6c78b 100644 --- a/wirish/stm32f2/wirish_debug.cpp +++ b/wirish/stm32f2-f4/wirish_debug.cpp diff --git a/wirish/stm32f2/wirish_digital.cpp b/wirish/stm32f2-f4/wirish_digital.cpp index 4d46f1c..4d46f1c 100644 --- a/wirish/stm32f2/wirish_digital.cpp +++ b/wirish/stm32f2-f4/wirish_digital.cpp |