stm32f103 (bluepill): add pwm

4 years ago · 003c96edc0
6 changed files with 419 additions and 111 deletions
--- a/src/examples/pwm/bluepill.go
+++ b/src/examples/pwm/bluepill.go
@ -0,0 +1,11 @@
+// +build bluepill
+
+package main
+
+import "machine"
+
+var (
+	pwm  = &machine.TIM2
+	pinA = machine.PA0
+	pinB = machine.PA1
+)
--- a/src/machine/board_bluepill.go
+++ b/src/machine/board_bluepill.go
@ -7,45 +7,6 @@ import (
 	"runtime/interrupt"
 )

-// https://wiki.stm32duino.com/index.php?title=File:Bluepillpinout.gif
-const (
-	PA0  = portA + 0
-	PA1  = portA + 1
-	PA2  = portA + 2
-	PA3  = portA + 3
-	PA4  = portA + 4
-	PA5  = portA + 5
-	PA6  = portA + 6
-	PA7  = portA + 7
-	PA8  = portA + 8
-	PA9  = portA + 9
-	PA10 = portA + 10
-	PA11 = portA + 11
-	PA12 = portA + 12
-	PA13 = portA + 13
-	PA14 = portA + 14
-	PA15 = portA + 15
-	PB0  = portB + 0
-	PB1  = portB + 1
-	PB2  = portB + 2
-	PB3  = portB + 3
-	PB4  = portB + 4
-	PB5  = portB + 5
-	PB6  = portB + 6
-	PB7  = portB + 7
-	PB8  = portB + 8
-	PB9  = portB + 9
-	PB10 = portB + 10
-	PB11 = portB + 11
-	PB12 = portB + 12
-	PB13 = portB + 13
-	PB14 = portB + 14
-	PB15 = portB + 15
-	PC13 = portC + 13
-	PC14 = portC + 14
-	PC15 = portC + 15
-)
-
 const (
 	LED = PC13
 )
--- a/src/machine/board_nucleof103rb.go
+++ b/src/machine/board_nucleof103rb.go
@ -7,76 +7,6 @@ import (
 	"runtime/interrupt"
 )

-const (
-	PA0  = portA + 0
-	PA1  = portA + 1
-	PA2  = portA + 2
-	PA3  = portA + 3
-	PA4  = portA + 4
-	PA5  = portA + 5
-	PA6  = portA + 6
-	PA7  = portA + 7
-	PA8  = portA + 8
-	PA9  = portA + 9
-	PA10 = portA + 10
-	PA11 = portA + 11
-	PA12 = portA + 12
-	PA13 = portA + 13
-	PA14 = portA + 14
-	PA15 = portA + 15
-
-	PB0  = portB + 0
-	PB1  = portB + 1
-	PB2  = portB + 2
-	PB3  = portB + 3
-	PB4  = portB + 4
-	PB5  = portB + 5
-	PB6  = portB + 6
-	PB7  = portB + 7
-	PB8  = portB + 8
-	PB9  = portB + 9
-	PB10 = portB + 10
-	PB11 = portB + 11
-	PB12 = portB + 12
-	PB13 = portB + 13
-	PB14 = portB + 14
-	PB15 = portB + 15
-
-	PC0  = portC + 0
-	PC1  = portC + 1
-	PC2  = portC + 2
-	PC3  = portC + 3
-	PC4  = portC + 4
-	PC5  = portC + 5
-	PC6  = portC + 6
-	PC7  = portC + 7
-	PC8  = portC + 8
-	PC9  = portC + 9
-	PC10 = portC + 10
-	PC11 = portC + 11
-	PC12 = portC + 12
-	PC13 = portC + 13
-	PC14 = portC + 14
-	PC15 = portC + 15
-
-	PD0  = portD + 0
-	PD1  = portD + 1
-	PD2  = portD + 2
-	PD3  = portD + 3
-	PD4  = portD + 4
-	PD5  = portD + 5
-	PD6  = portD + 6
-	PD7  = portD + 7
-	PD8  = portD + 8
-	PD9  = portD + 9
-	PD10 = portD + 10
-	PD11 = portD + 11
-	PD12 = portD + 12
-	PD13 = portD + 13
-	PD14 = portD + 14
-	PD15 = portD + 15
-)
-
 const (
 	LED         = LED_BUILTIN
 	LED_BUILTIN = LED_GREEN
--- a/src/machine/machine_stm32_tim.go
+++ b/src/machine/machine_stm32_tim.go
@ -1,4 +1,4 @@
-// +build stm32f4 stm32l5 stm32l0 stm32l4 stm32l5 stm32f7
+// +build stm32

 package machine

@ -178,7 +178,8 @@ func (t *TIM) Channel(pin Pin) (uint8, error) {
 	for chi, ch := range t.Channels {
 		for _, p := range ch.Pins {
 			if p.Pin == pin {
-				p.Pin.ConfigureAltFunc(PinConfig{Mode: PinModePWMOutput}, p.AltFunc)
+				t.configurePin(uint8(chi), p)
+				//p.Pin.ConfigureAltFunc(PinConfig{Mode: PinModePWMOutput}, p.AltFunc)
 				return uint8(chi), nil
 			}
 		}
--- a/src/machine/machine_stm32_tim_moder.go
+++ b/src/machine/machine_stm32_tim_moder.go
@ -0,0 +1,10 @@
+// +build stm32,!stm32f1
+
+package machine
+
+// Configuration of a GPIO pin for PWM output for STM32 MCUs with MODER
+// register (most MCUs except STM32F1 series).
+
+func (t *TIM) configurePin(channel uint8, pf PinFunction) {
+	pf.Pin.ConfigureAltFunc(PinConfig{Mode: PinModePWMOutput}, pf.AltFunc)
+}
--- a/src/machine/machine_stm32f103.go
+++ b/src/machine/machine_stm32f103.go
@ -6,6 +6,8 @@ package machine

 import (
 	"device/stm32"
+	"runtime/interrupt"
+	"runtime/volatile"
 	"unsafe"
 )

@ -13,6 +15,12 @@ func CPUFrequency() uint32 {
 	return 72000000
 }

+// Internal use: configured speed of the APB1 and APB2 timers, this should be kept
+// in sync with any changes to runtime package which configures the oscillators
+// and clock frequencies
+const APB1_TIM_FREQ = 72e6 // 72MHz
+const APB2_TIM_FREQ = 72e6 // 72MHz
+
 const (
 	PinInput       PinMode = 0 // Input mode
 	PinOutput10MHz PinMode = 1 // Output mode, max speed 10MHz
@ -31,6 +39,111 @@ const (
 	PinOutputModeAltOpenDrain PinMode = 12 // Output mode alt. purpose open drain
 )

+// Pin constants for all stm32f103 package sizes
+const (
+	PA0  = portA + 0
+	PA1  = portA + 1
+	PA2  = portA + 2
+	PA3  = portA + 3
+	PA4  = portA + 4
+	PA5  = portA + 5
+	PA6  = portA + 6
+	PA7  = portA + 7
+	PA8  = portA + 8
+	PA9  = portA + 9
+	PA10 = portA + 10
+	PA11 = portA + 11
+	PA12 = portA + 12
+	PA13 = portA + 13
+	PA14 = portA + 14
+	PA15 = portA + 15
+
+	PB0  = portB + 0
+	PB1  = portB + 1
+	PB2  = portB + 2
+	PB3  = portB + 3
+	PB4  = portB + 4
+	PB5  = portB + 5
+	PB6  = portB + 6
+	PB7  = portB + 7
+	PB8  = portB + 8
+	PB9  = portB + 9
+	PB10 = portB + 10
+	PB11 = portB + 11
+	PB12 = portB + 12
+	PB13 = portB + 13
+	PB14 = portB + 14
+	PB15 = portB + 15
+
+	PC0  = portC + 0
+	PC1  = portC + 1
+	PC2  = portC + 2
+	PC3  = portC + 3
+	PC4  = portC + 4
+	PC5  = portC + 5
+	PC6  = portC + 6
+	PC7  = portC + 7
+	PC8  = portC + 8
+	PC9  = portC + 9
+	PC10 = portC + 10
+	PC11 = portC + 11
+	PC12 = portC + 12
+	PC13 = portC + 13
+	PC14 = portC + 14
+	PC15 = portC + 15
+
+	PD0  = portD + 0
+	PD1  = portD + 1
+	PD2  = portD + 2
+	PD3  = portD + 3
+	PD4  = portD + 4
+	PD5  = portD + 5
+	PD6  = portD + 6
+	PD7  = portD + 7
+	PD8  = portD + 8
+	PD9  = portD + 9
+	PD10 = portD + 10
+	PD11 = portD + 11
+	PD12 = portD + 12
+	PD13 = portD + 13
+	PD14 = portD + 14
+	PD15 = portD + 15
+
+	PE0  = portE + 0
+	PE1  = portE + 1
+	PE2  = portE + 2
+	PE3  = portE + 3
+	PE4  = portE + 4
+	PE5  = portE + 5
+	PE6  = portE + 6
+	PE7  = portE + 7
+	PE8  = portE + 8
+	PE9  = portE + 9
+	PE10 = portE + 10
+	PE11 = portE + 11
+	PE12 = portE + 12
+	PE13 = portE + 13
+	PE14 = portE + 14
+	PE15 = portE + 15
+
+	PF0  = portF + 0
+	PF1  = portF + 1
+	PF2  = portF + 2
+	PF3  = portF + 3
+	PF4  = portF + 4
+	PF5  = portF + 5
+	PF6  = portF + 6
+	PF7  = portF + 7
+	PF8  = portF + 8
+	PF9  = portF + 9
+	PF10 = portF + 10
+	PF11 = portF + 11
+	PF12 = portF + 12
+	PF13 = portF + 13
+	PF14 = portF + 14
+	PF15 = portF + 15
+)
+
 // Configure this pin with the given I/O settings.
 // stm32f1xx uses different technique for setting the GPIO pins than the stm32f407
 func (p Pin) Configure(config PinConfig) {
@ -280,3 +393,285 @@ func (i2c *I2C) getSpeed(config I2CConfig) uint32 {
 		}
 	}
 }
+
+//---------- Timer related code
+
+// For Pin Mappings see RM0008, pg 179
+// https://www.st.com/resource/en/reference_manual/cd00171190-stm32f101xx-stm32f102xx-stm32f103xx-stm32f105xx-and-stm32f107xx-advanced-arm-based-32-bit-mcus-stmicroelectronics.pdf
+//
+// Note: for STM32F1 series the pin mapping is done 'per timer' not per channel,
+// not all channels on a timer have the same degrees of flexibility, and some
+// combinations are only available on some packages - so care is needed at app
+// level to ensure valid combinations of pins are used.
+//
+
+var (
+	TIM1 = TIM{
+		EnableRegister: &stm32.RCC.APB2ENR,
+		EnableFlag:     stm32.RCC_APB2ENR_TIM1EN,
+		Device:         stm32.TIM1,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PE9, 0b11}, {PA8, 0b00}}},
+			TimerChannel{Pins: []PinFunction{{PE11, 0b11}, {PA9, 0b00}}},
+			TimerChannel{Pins: []PinFunction{{PE13, 0b11}, {PA10, 0b00}}},
+			TimerChannel{Pins: []PinFunction{{PE14, 0b11}, {PA11, 0b00}}},
+		},
+		busFreq: APB2_TIM_FREQ,
+	}
+
+	TIM2 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM2EN,
+		Device:         stm32.TIM2,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PA0, 0b00}, {PA15, 0b01}}},
+			TimerChannel{Pins: []PinFunction{{PA1, 0b00}, {PB3, 0b01}}},
+			TimerChannel{Pins: []PinFunction{{PA2, 0b00}, {PB10, 0b10}}},
+			TimerChannel{Pins: []PinFunction{{PA3, 0b00}, {PB11, 0b10}}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM3 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM3EN,
+		Device:         stm32.TIM3,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PA6, 0b00}, {PC6, 0b11}, {PB4, 0b10}}},
+			TimerChannel{Pins: []PinFunction{{PA7, 0b00}, {PC7, 0b11}, {PB5, 0b10}}},
+			TimerChannel{Pins: []PinFunction{{PB0, 0b00}, {PC8, 0b11}}},
+			TimerChannel{Pins: []PinFunction{{PB1, 0b00}, {PC9, 0b11}}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM4 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM4EN,
+		Device:         stm32.TIM4,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PD12, 0b1}, {PB6, 0}}},
+			TimerChannel{Pins: []PinFunction{{PD13, 0b1}, {PB7, 0}}},
+			TimerChannel{Pins: []PinFunction{{PD14, 0b1}, {PB8, 0}}},
+			TimerChannel{Pins: []PinFunction{{PD15, 0b1}, {PB9, 0}}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM5 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM5EN,
+		Device:         stm32.TIM5,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{{PA3, 0b0}}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM6 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM6EN,
+		Device:         stm32.TIM6,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM7 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM7EN,
+		Device:         stm32.TIM7,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM8 = TIM{
+		EnableRegister: &stm32.RCC.APB2ENR,
+		EnableFlag:     stm32.RCC_APB2ENR_TIM8EN,
+		Device:         stm32.TIM8,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB2_TIM_FREQ,
+	}
+
+	TIM9 = TIM{
+		EnableRegister: &stm32.RCC.APB2ENR,
+		EnableFlag:     stm32.RCC_APB2ENR_TIM9EN,
+		Device:         stm32.TIM9,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PA2, 0b0}, {PE5, 0b1}}},
+			TimerChannel{Pins: []PinFunction{{PA3, 0b0}, {PE6, 0b1}}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB2_TIM_FREQ,
+	}
+
+	TIM10 = TIM{
+		EnableRegister: &stm32.RCC.APB2ENR,
+		EnableFlag:     stm32.RCC_APB2ENR_TIM10EN,
+		Device:         stm32.TIM10,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PB8, 0b0}, {PF6, 0b1}}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB2_TIM_FREQ,
+	}
+
+	TIM11 = TIM{
+		EnableRegister: &stm32.RCC.APB2ENR,
+		EnableFlag:     stm32.RCC_APB2ENR_TIM11EN,
+		Device:         stm32.TIM11,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PB9, 0b0}, {PF7, 0b1}}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB2_TIM_FREQ,
+	}
+
+	TIM12 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM12EN,
+		Device:         stm32.TIM12,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{}}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM13 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM13EN,
+		Device:         stm32.TIM13,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PA6, 0b0}, {PF8, 0b1}}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM14 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM14EN,
+		Device:         stm32.TIM14,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{{PA7, 0b0}, {PF9, 0b1}}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+			TimerChannel{Pins: []PinFunction{}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+)
+
+func (t *TIM) registerUPInterrupt() interrupt.Interrupt {
+	switch t {
+	case &TIM1:
+		return interrupt.New(stm32.IRQ_TIM1_UP, TIM1.handleUPInterrupt)
+	case &TIM2:
+		return interrupt.New(stm32.IRQ_TIM2, TIM2.handleUPInterrupt)
+	case &TIM3:
+		return interrupt.New(stm32.IRQ_TIM3, TIM3.handleUPInterrupt)
+	case &TIM4:
+		return interrupt.New(stm32.IRQ_TIM4, TIM4.handleUPInterrupt)
+	case &TIM5:
+		return interrupt.New(stm32.IRQ_TIM5, TIM5.handleUPInterrupt)
+	case &TIM6:
+		return interrupt.New(stm32.IRQ_TIM6, TIM6.handleUPInterrupt)
+	case &TIM7:
+		return interrupt.New(stm32.IRQ_TIM7, TIM7.handleUPInterrupt)
+	case &TIM8:
+		return interrupt.New(stm32.IRQ_TIM8_UP, TIM8.handleUPInterrupt)
+	}
+
+	return interrupt.Interrupt{}
+}
+
+func (t *TIM) registerOCInterrupt() interrupt.Interrupt {
+	switch t {
+	case &TIM1:
+		return interrupt.New(stm32.IRQ_TIM1_CC, TIM1.handleOCInterrupt)
+	case &TIM2:
+		return interrupt.New(stm32.IRQ_TIM2, TIM2.handleOCInterrupt)
+	case &TIM3:
+		return interrupt.New(stm32.IRQ_TIM3, TIM3.handleOCInterrupt)
+	case &TIM4:
+		return interrupt.New(stm32.IRQ_TIM4, TIM4.handleOCInterrupt)
+	case &TIM5:
+		return interrupt.New(stm32.IRQ_TIM5, TIM5.handleOCInterrupt)
+	case &TIM6:
+		return interrupt.New(stm32.IRQ_TIM6, TIM6.handleOCInterrupt)
+	case &TIM7:
+		return interrupt.New(stm32.IRQ_TIM7, TIM7.handleOCInterrupt)
+	case &TIM8:
+		return interrupt.New(stm32.IRQ_TIM8_CC, TIM8.handleOCInterrupt)
+	}
+
+	return interrupt.Interrupt{}
+}
+
+func (t *TIM) configurePin(channel uint8, pf PinFunction) {
+	remap := uint32(pf.AltFunc)
+
+	switch t {
+	case &TIM1:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR_TIM1_REMAP_Pos, stm32.AFIO_MAPR_TIM1_REMAP_Msk, 0)
+	case &TIM2:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR_TIM2_REMAP_Pos, stm32.AFIO_MAPR_TIM2_REMAP_Msk, 0)
+	case &TIM3:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR_TIM3_REMAP_Pos, stm32.AFIO_MAPR_TIM3_REMAP_Msk, 0)
+	case &TIM4:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR_TIM4_REMAP_Pos, stm32.AFIO_MAPR_TIM4_REMAP_Msk, 0)
+	case &TIM5:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR_TIM5CH4_IREMAP_Pos, stm32.AFIO_MAPR_TIM5CH4_IREMAP_Msk, 0)
+	case &TIM9:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR2_TIM9_REMAP_Pos, stm32.AFIO_MAPR2_TIM9_REMAP_Msk, 0)
+	case &TIM10:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR2_TIM10_REMAP_Pos, stm32.AFIO_MAPR2_TIM10_REMAP_Msk, 0)
+	case &TIM11:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR2_TIM11_REMAP_Pos, stm32.AFIO_MAPR2_TIM11_REMAP_Msk, 0)
+	case &TIM13:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR2_TIM13_REMAP_Pos, stm32.AFIO_MAPR2_TIM13_REMAP_Msk, 0)
+	case &TIM14:
+		stm32.AFIO.MAPR.ReplaceBits(remap<<stm32.AFIO_MAPR2_TIM14_REMAP_Pos, stm32.AFIO_MAPR2_TIM14_REMAP_Msk, 0)
+	}
+
+	pf.Pin.Configure(PinConfig{Mode: PinOutput + PinOutputModeAltPushPull})
+}
+
+func (t *TIM) enableMainOutput() {
+	t.Device.BDTR.SetBits(stm32.TIM_BDTR_MOE)
+}
+
+type arrtype = uint32
+type arrRegType = volatile.Register32
+
+const (
+	ARR_MAX = 0x10000
+	PSC_MAX = 0x10000
+)