From 43a31467d36412978804d54a71655695d31a1eb4 Mon Sep 17 00:00:00 2001 From: kenbell Date: Mon, 14 Dec 2020 21:51:35 -0800 Subject: [PATCH] Nucleo f722ze (#1526) machine/nucleo-f722ze: Add support for ST Micro NUCLEO-F722ZE --- Makefile | 2 + src/machine/board_nucleof722ze.go | 58 ++++++ src/machine/i2c.go | 2 +- src/machine/machine_stm32_f7_uart.go | 62 +++++++ src/machine/machine_stm32_i2c.go | 2 +- src/machine/machine_stm32_spi.go | 2 +- src/machine/machine_stm32_uart.go | 2 +- src/machine/machine_stm32f7.go | 259 +++++++++++++++++++++++++++ src/machine/machine_stm32f7x2.go | 44 +++++ src/machine/spi.go | 2 +- src/runtime/runtime_stm32f7x2.go | 208 +++++++++++++++++++++ targets/cortex-m7.json | 9 + targets/nucleo-f722ze.json | 11 ++ targets/stm32f7x2zetx.ld | 10 ++ 14 files changed, 668 insertions(+), 5 deletions(-) create mode 100644 src/machine/board_nucleof722ze.go create mode 100644 src/machine/machine_stm32_f7_uart.go create mode 100644 src/machine/machine_stm32f7.go create mode 100644 src/machine/machine_stm32f7x2.go create mode 100644 src/runtime/runtime_stm32f7x2.go create mode 100644 targets/cortex-m7.json create mode 100644 targets/nucleo-f722ze.json create mode 100644 targets/stm32f7x2zetx.ld diff --git a/Makefile b/Makefile index f3aa116a..11faad60 100644 --- a/Makefile +++ b/Makefile @@ -319,6 +319,8 @@ smoketest: @$(MD5SUM) test.hex $(TINYGO) build -size short -o test.hex -target=teensy36 examples/blinky1 @$(MD5SUM) test.hex + $(TINYGO) build -size short -o test.hex -target=nucleo-f722ze examples/blinky1 + @$(MD5SUM) test.hex # test pwm $(TINYGO) build -size short -o test.hex -target=itsybitsy-m0 examples/pwm @$(MD5SUM) test.hex diff --git a/src/machine/board_nucleof722ze.go b/src/machine/board_nucleof722ze.go new file mode 100644 index 00000000..2bce529e --- /dev/null +++ b/src/machine/board_nucleof722ze.go @@ -0,0 +1,58 @@ +// +build nucleof722ze + +package machine + +import ( + "device/stm32" + "runtime/interrupt" +) + +const ( + LED = LED_BUILTIN + LED_BUILTIN = LED_GREEN + LED_GREEN = PB0 + LED_BLUE = PB7 + LED_RED = PB14 +) + +const ( + BUTTON = BUTTON_USER + BUTTON_USER = PC13 +) + +// UART pins +const ( + // PD8 and PD9 are connected to the ST-Link Virtual Com Port (VCP) + UART_TX_PIN = PD8 + UART_RX_PIN = PD9 + UART_ALT_FN = 7 // GPIO_AF7_UART3 +) + +var ( + // USART3 is the hardware serial port connected to the onboard ST-LINK + // debugger to be exposed as virtual COM port over USB on Nucleo boards. + // Both UART0 and UART1 refer to USART2. + UART0 = UART{ + Buffer: NewRingBuffer(), + Bus: stm32.USART3, + AltFuncSelector: UART_ALT_FN, + } + UART1 = &UART0 +) + +func init() { + UART0.Interrupt = interrupt.New(stm32.IRQ_USART3, UART0.handleInterrupt) +} + +// SPI pins +const ( + SPI0_SCK_PIN = PA5 + SPI0_SDI_PIN = PA6 + SPI0_SDO_PIN = PA7 +) + +// I2C pins +const ( + SCL_PIN = PB6 + SDA_PIN = PB7 +) diff --git a/src/machine/i2c.go b/src/machine/i2c.go index 8b2862af..9a461d02 100644 --- a/src/machine/i2c.go +++ b/src/machine/i2c.go @@ -1,4 +1,4 @@ -// +build avr nrf sam stm32,!stm32f407 fe310 k210 +// +build avr nrf sam stm32,!stm32f407,!stm32f7x2 fe310 k210 package machine diff --git a/src/machine/machine_stm32_f7_uart.go b/src/machine/machine_stm32_f7_uart.go new file mode 100644 index 00000000..d1de87a2 --- /dev/null +++ b/src/machine/machine_stm32_f7_uart.go @@ -0,0 +1,62 @@ +// +build stm32f7 + +package machine + +// Peripheral abstraction layer for UARTs on the stm32 family. + +import ( + "device/stm32" + "runtime/interrupt" + "unsafe" +) + +// Configure the UART. +func (uart UART) Configure(config UARTConfig) { + // Default baud rate to 115200. + if config.BaudRate == 0 { + config.BaudRate = 115200 + } + + // Set the GPIO pins to defaults if they're not set + if config.TX == 0 && config.RX == 0 { + config.TX = UART_TX_PIN + config.RX = UART_RX_PIN + } + + // Enable USART clock + enableAltFuncClock(unsafe.Pointer(uart.Bus)) + + uart.configurePins(config) + + // Set baud rate + uart.SetBaudRate(config.BaudRate) + + // Enable USART port, tx, rx and rx interrupts + uart.Bus.CR1.Set(stm32.USART_CR1_TE | stm32.USART_CR1_RE | stm32.USART_CR1_RXNEIE | stm32.USART_CR1_UE) + + // Enable RX IRQ + uart.Interrupt.SetPriority(0xc0) + uart.Interrupt.Enable() +} + +// handleInterrupt should be called from the appropriate interrupt handler for +// this UART instance. +func (uart *UART) handleInterrupt(interrupt.Interrupt) { + uart.Receive(byte((uart.Bus.RDR.Get() & 0xFF))) +} + +// SetBaudRate sets the communication speed for the UART. Defer to chip-specific +// routines for calculation +func (uart UART) SetBaudRate(br uint32) { + divider := uart.getBaudRateDivisor(br) + uart.Bus.BRR.Set(divider) +} + +// WriteByte writes a byte of data to the UART. +func (uart UART) WriteByte(c byte) error { + uart.Bus.TDR.Set(uint32(c)) + + for !uart.Bus.ISR.HasBits(stm32.USART_ISR_TXE) { + } + return nil +} diff --git a/src/machine/machine_stm32_i2c.go b/src/machine/machine_stm32_i2c.go index 68133a6e..899e55a7 100644 --- a/src/machine/machine_stm32_i2c.go +++ b/src/machine/machine_stm32_i2c.go @@ -1,4 +1,4 @@ -// +build stm32,!stm32f103xx,!stm32f407 +// +build stm32,!stm32f103xx,!stm32f407,!stm32f7x2 package machine diff --git a/src/machine/machine_stm32_spi.go b/src/machine/machine_stm32_spi.go index dd69137f..15573ed7 100644 --- a/src/machine/machine_stm32_spi.go +++ b/src/machine/machine_stm32_spi.go @@ -1,4 +1,4 @@ -// +build stm32 +// +build stm32,!stm32f7x2 package machine diff --git a/src/machine/machine_stm32_uart.go b/src/machine/machine_stm32_uart.go index 80d2440a..9d2bab9c 100644 --- a/src/machine/machine_stm32_uart.go +++ b/src/machine/machine_stm32_uart.go @@ -1,4 +1,4 @@ -// +build stm32 +// +build stm32,!stm32f7 package machine diff --git a/src/machine/machine_stm32f7.go b/src/machine/machine_stm32f7.go new file mode 100644 index 00000000..a84e19cf --- /dev/null +++ b/src/machine/machine_stm32f7.go @@ -0,0 +1,259 @@ +// +build stm32f7 + +package machine + +// Peripheral abstraction layer for the stm32f4 + +import ( + "device/stm32" + "unsafe" +) + +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 + + PG0 = portG + 0 + PG1 = portG + 1 + PG2 = portG + 2 + PG3 = portG + 3 + PG4 = portG + 4 + PG5 = portG + 5 + PG6 = portG + 6 + PG7 = portG + 7 + PG8 = portG + 8 + PG9 = portG + 9 + PG10 = portG + 10 + PG11 = portG + 11 + PG12 = portG + 12 + PG13 = portG + 13 + PG14 = portG + 14 + PG15 = portG + 15 + + PH0 = portH + 0 + PH1 = portH + 1 +) + +func (p Pin) getPort() *stm32.GPIO_Type { + switch p / 16 { + case 0: + return stm32.GPIOA + case 1: + return stm32.GPIOB + case 2: + return stm32.GPIOC + case 3: + return stm32.GPIOD + case 4: + return stm32.GPIOE + case 5: + return stm32.GPIOF + case 6: + return stm32.GPIOG + case 7: + return stm32.GPIOH + case 8: + return stm32.GPIOI + default: + panic("machine: unknown port") + } +} + +// enableClock enables the clock for this desired GPIO port. +func (p Pin) enableClock() { + switch p / 16 { + case 0: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOAEN) + case 1: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOBEN) + case 2: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOCEN) + case 3: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIODEN) + case 4: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOEEN) + case 5: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOFEN) + case 6: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOGEN) + case 7: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOHEN) + case 8: + stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_GPIOIEN) + default: + panic("machine: unknown port") + } +} + +// Enable peripheral clock +func enableAltFuncClock(bus unsafe.Pointer) { + switch bus { + case unsafe.Pointer(stm32.DAC): // DAC interface clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_DACEN) + case unsafe.Pointer(stm32.PWR): // Power interface clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_PWREN) + case unsafe.Pointer(stm32.CAN1): // CAN 1 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_CAN1EN) + case unsafe.Pointer(stm32.I2C3): // I2C3 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_I2C3EN) + case unsafe.Pointer(stm32.I2C2): // I2C2 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_I2C2EN) + case unsafe.Pointer(stm32.I2C1): // I2C1 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_I2C1EN) + case unsafe.Pointer(stm32.UART5): // UART5 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_UART5EN) + case unsafe.Pointer(stm32.UART4): // UART4 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_UART4EN) + case unsafe.Pointer(stm32.USART3): // USART3 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_USART3EN) + case unsafe.Pointer(stm32.USART2): // USART2 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_USART2EN) + case unsafe.Pointer(stm32.SPI3): // SPI3 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_SPI3EN) + case unsafe.Pointer(stm32.SPI2): // SPI2 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_SPI2EN) + case unsafe.Pointer(stm32.WWDG): // Window watchdog clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_WWDGEN) + case unsafe.Pointer(stm32.TIM14): // TIM14 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM14EN) + case unsafe.Pointer(stm32.TIM13): // TIM13 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM13EN) + case unsafe.Pointer(stm32.TIM12): // TIM12 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM12EN) + case unsafe.Pointer(stm32.TIM7): // TIM7 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM7EN) + case unsafe.Pointer(stm32.TIM6): // TIM6 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM6EN) + case unsafe.Pointer(stm32.TIM5): // TIM5 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM5EN) + case unsafe.Pointer(stm32.TIM4): // TIM4 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM4EN) + case unsafe.Pointer(stm32.TIM3): // TIM3 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM3EN) + case unsafe.Pointer(stm32.TIM2): // TIM2 clock enable + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM2EN) + case unsafe.Pointer(stm32.TIM11): // TIM11 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM11EN) + case unsafe.Pointer(stm32.TIM10): // TIM10 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM10EN) + case unsafe.Pointer(stm32.TIM9): // TIM9 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM9EN) + case unsafe.Pointer(stm32.SYSCFG): // System configuration controller clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_SYSCFGEN) + case unsafe.Pointer(stm32.SPI1): // SPI1 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_SPI1EN) + case unsafe.Pointer(stm32.ADC3): // ADC3 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_ADC3EN) + case unsafe.Pointer(stm32.ADC2): // ADC2 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_ADC2EN) + case unsafe.Pointer(stm32.ADC1): // ADC1 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_ADC1EN) + case unsafe.Pointer(stm32.USART6): // USART6 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_USART6EN) + case unsafe.Pointer(stm32.USART1): // USART1 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_USART1EN) + case unsafe.Pointer(stm32.TIM8): // TIM8 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM8EN) + case unsafe.Pointer(stm32.TIM1): // TIM1 clock enable + stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM1EN) + } +} diff --git a/src/machine/machine_stm32f7x2.go b/src/machine/machine_stm32f7x2.go new file mode 100644 index 00000000..632a7700 --- /dev/null +++ b/src/machine/machine_stm32f7x2.go @@ -0,0 +1,44 @@ +// +build stm32f7x2 + +package machine + +// Peripheral abstraction layer for the stm32f407 + +import ( + "device/stm32" + "runtime/interrupt" +) + +func CPUFrequency() uint32 { + return 216000000 +} + +//---------- UART related types and code + +// UART representation +type UART struct { + Buffer *RingBuffer + Bus *stm32.USART_Type + Interrupt interrupt.Interrupt + AltFuncSelector stm32.AltFunc +} + +// Configure the UART. +func (uart UART) configurePins(config UARTConfig) { + // enable the alternate functions on the TX and RX pins + config.TX.ConfigureAltFunc(PinConfig{Mode: PinModeUARTTX}, uart.AltFuncSelector) + config.RX.ConfigureAltFunc(PinConfig{Mode: PinModeUARTRX}, uart.AltFuncSelector) +} + +// UART baudrate calc based on the bus and clockspeed +// NOTE: keep this in sync with the runtime/runtime_stm32f7x2.go clock init code +func (uart UART) getBaudRateDivisor(baudRate uint32) uint32 { + var clock uint32 + switch uart.Bus { + case stm32.USART1, stm32.USART6: + clock = CPUFrequency() / 2 // APB2 Frequency + case stm32.USART2, stm32.USART3, stm32.UART4, stm32.UART5: + clock = CPUFrequency() / 8 // APB1 Frequency + } + return clock / baudRate +} diff --git a/src/machine/spi.go b/src/machine/spi.go index 51b18dd5..a10df267 100644 --- a/src/machine/spi.go +++ b/src/machine/spi.go @@ -1,4 +1,4 @@ -// +build !baremetal sam stm32 fe310 k210 +// +build !baremetal sam stm32,!stm32f7x2 fe310 k210 package machine diff --git a/src/runtime/runtime_stm32f7x2.go b/src/runtime/runtime_stm32f7x2.go new file mode 100644 index 00000000..76c80ace --- /dev/null +++ b/src/runtime/runtime_stm32f7x2.go @@ -0,0 +1,208 @@ +// +build stm32,stm32f7x2 + +package runtime + +import ( + "device/arm" + "device/stm32" + "machine" + "runtime/interrupt" + "runtime/volatile" +) + +func init() { + initCLK() + initTIM3() + machine.UART0.Configure(machine.UARTConfig{}) + initTIM7() +} + +func putchar(c byte) { + machine.UART0.WriteByte(c) +} + +const ( + HSE_STARTUP_TIMEOUT = 0x0500 + PLL_M = 4 + PLL_N = 216 + PLL_P = 2 + PLL_Q = 2 +) + +/* + clock settings + +-------------+--------+ + | HSE | 8mhz | + | SYSCLK | 216mhz | + | HCLK | 216mhz | + | APB1(PCLK1) | 27mhz | + | APB2(PCLK2) | 108mhz | + +-------------+--------+ +*/ +func initCLK() { + // PWR_CLK_ENABLE + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_PWREN) + _ = stm32.RCC.APB1ENR.Get() + + // PWR_VOLTAGESCALING_CONFIG + stm32.PWR.CR1.ReplaceBits(0x3< 7 { + stm32.FLASH.ACR.ReplaceBits(7, stm32.FLASH_ACR_LATENCY_Msk, 0) + } + + // Set APB1 and APB2 clocks (0x1800 = DIV8, 0x1000 = DIV2) + stm32.RCC.CFGR.ReplaceBits(0x1800, stm32.RCC_CFGR_PPRE1_Msk, 0) + stm32.RCC.CFGR.ReplaceBits(0x1000<<3, stm32.RCC_CFGR_PPRE2_Msk, 0) +} + +func initOsc() { + // Enable HSE, wait until ready + stm32.RCC.CR.SetBits(stm32.RCC_CR_HSEON) + for !stm32.RCC.CR.HasBits(stm32.RCC_CR_HSERDY) { + } + + // Disable the PLL, wait until disabled + stm32.RCC.CR.ClearBits(stm32.RCC_CR_PLLON) + for stm32.RCC.CR.HasBits(stm32.RCC_CR_PLLRDY) { + } + + // Configure the PLL + stm32.RCC.PLLCFGR.Set(0x20000000 | + (1 << stm32.RCC_PLLCFGR_PLLSRC_Pos) | // 1 = HSE + PLL_M | + (PLL_N << stm32.RCC_PLLCFGR_PLLN0_Pos) | + (((PLL_P >> 1) - 1) << stm32.RCC_PLLCFGR_PLLP0_Pos) | + (PLL_Q << stm32.RCC_PLLCFGR_PLLQ0_Pos)) + + // Enable the PLL, wait until ready + stm32.RCC.CR.SetBits(stm32.RCC_CR_PLLON) + for !stm32.RCC.CR.HasBits(stm32.RCC_CR_PLLRDY) { + } +} + +var ( + // tick in milliseconds + tickCount timeUnit +) + +var timerWakeup volatile.Register8 + +func ticksToNanoseconds(ticks timeUnit) int64 { + return int64(ticks) * 1000 +} + +func nanosecondsToTicks(ns int64) timeUnit { + return timeUnit(ns / 1000) +} + +// Enable the TIM3 clock.(sleep count) +func initTIM3() { + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM3EN) + + intr := interrupt.New(stm32.IRQ_TIM3, handleTIM3) + intr.SetPriority(0xc3) + intr.Enable() +} + +// Enable the TIM7 clock.(tick count) +func initTIM7() { + stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM7EN) + + // CK_INT = APB1 x2 = 54mhz + stm32.TIM7.PSC.Set(54000000/10000 - 1) // 54mhz to 10khz(0.1ms) + stm32.TIM7.ARR.Set(10 - 1) // interrupt per 1ms + + // Enable the hardware interrupt. + stm32.TIM7.DIER.SetBits(stm32.TIM_DIER_UIE) + + // Enable the timer. + stm32.TIM7.CR1.SetBits(stm32.TIM_CR1_CEN) + + intr := interrupt.New(stm32.IRQ_TIM7, handleTIM7) + intr.SetPriority(0xc1) + intr.Enable() +} + +const asyncScheduler = false + +// sleepTicks should sleep for specific number of microseconds. +func sleepTicks(d timeUnit) { + timerSleep(uint32(d)) +} + +// number of ticks (microseconds) since start. +func ticks() timeUnit { + // milliseconds to microseconds + return tickCount * 1000 +} + +// ticks are in microseconds +func timerSleep(ticks uint32) { + timerWakeup.Set(0) + + // CK_INT = APB1 x2 = 54mhz + // prescale counter down from 54mhz to 10khz aka 0.1 ms frequency. + stm32.TIM3.PSC.Set(54000000/10000 - 1) + + // set duty aka duration + arr := (ticks / 100) - 1 // convert from microseconds to 0.1 ms + if arr == 0 { + arr = 1 // avoid blocking + } + stm32.TIM3.ARR.Set(arr) + + // Enable the hardware interrupt. + stm32.TIM3.DIER.SetBits(stm32.TIM_DIER_UIE) + + // Enable the timer. + stm32.TIM3.CR1.SetBits(stm32.TIM_CR1_CEN) + + // wait till timer wakes up + for timerWakeup.Get() == 0 { + arm.Asm("wfi") + } +} + +func handleTIM3(interrupt.Interrupt) { + if stm32.TIM3.SR.HasBits(stm32.TIM_SR_UIF) { + // Disable the timer. + stm32.TIM3.CR1.ClearBits(stm32.TIM_CR1_CEN) + + // clear the update flag + stm32.TIM3.SR.ClearBits(stm32.TIM_SR_UIF) + + // timer was triggered + timerWakeup.Set(1) + } +} + +func handleTIM7(interrupt.Interrupt) { + if stm32.TIM7.SR.HasBits(stm32.TIM_SR_UIF) { + // clear the update flag + stm32.TIM7.SR.ClearBits(stm32.TIM_SR_UIF) + tickCount++ + } +} diff --git a/targets/cortex-m7.json b/targets/cortex-m7.json new file mode 100644 index 00000000..42780866 --- /dev/null +++ b/targets/cortex-m7.json @@ -0,0 +1,9 @@ +{ + "inherits": ["cortex-m"], + "llvm-target": "armv7em-none-eabi", + "cflags": [ + "--target=armv7em-none-eabi", + "-Qunused-arguments" + ], + "gdb": "arm-none-eabi-gdb" +} diff --git a/targets/nucleo-f722ze.json b/targets/nucleo-f722ze.json new file mode 100644 index 00000000..25a388b9 --- /dev/null +++ b/targets/nucleo-f722ze.json @@ -0,0 +1,11 @@ +{ + "inherits": ["cortex-m7"], + "build-tags": ["nucleof722ze", "stm32f7x2", "stm32f7", "stm32"], + "linkerscript": "targets/stm32f7x2zetx.ld", + "extra-files": [ + "src/device/stm32/stm32f7x2.s" + ], + "flash-method": "openocd", + "openocd-interface": "stlink-v2-1", + "openocd-target": "stm32f7x" +} diff --git a/targets/stm32f7x2zetx.ld b/targets/stm32f7x2zetx.ld new file mode 100644 index 00000000..83454f4e --- /dev/null +++ b/targets/stm32f7x2zetx.ld @@ -0,0 +1,10 @@ + +MEMORY +{ + FLASH_TEXT (rw) : ORIGIN = 0x08000000, LENGTH = 512K + RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 256K +} + +_stack_size = 4K; + +INCLUDE "targets/arm.ld"