stm32f7: add pwm

4 years ago · ac54302301
4 changed files with 438 additions and 3 deletions
--- a/src/examples/pwm/nucleo-f722ze.go
+++ b/src/examples/pwm/nucleo-f722ze.go
@ -0,0 +1,11 @@
+// +build stm32f7
+
+package main
+
+import "machine"
+
+var (
+	pwm  = &machine.TIM1
+	pinA = machine.PA8
+	pinB = machine.PA9
+)
--- a/src/machine/machine_stm32_tim.go
+++ b/src/machine/machine_stm32_tim.go
@ -1,4 +1,4 @@
-// +build stm32f4 stm32l5 stm32l0 stm32l4
+// +build stm32f4 stm32l5 stm32l0 stm32l4 stm32l5 stm32f7

 package machine

--- a/src/machine/machine_stm32f7.go
+++ b/src/machine/machine_stm32f7.go
@ -6,9 +6,29 @@ package machine

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

+// Alternative peripheral pin functions
+const (
+	AF0_SYSTEM                               = 0
+	AF1_TIM1_2                               = 1
+	AF2_TIM3_4_5                             = 2
+	AF3_TIM8_9_10_11_LPTIM1                  = 3
+	AF4_I2C1_2_3_USART1                      = 4
+	AF5_SPI1_2_3_4_5_I2S1_2_3                = 5
+	AF6_SPI2_3_I2S2_3_SAI1_UART4             = 6
+	AF7_SPI2_3_I2S2_3_USART1_2_3_UART5       = 7
+	AF8_SAI2_USART6_UART4_5_7_8_OTG1_FS      = 8
+	AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS = 9
+	AF10_SAI2_QUADSPI_SDMMC2_OTG2_HS_OTG1_FS = 10
+	AF11_SDMMC2                              = 11
+	AF12_UART7_FMC_SDMMC1_OTG2_FS            = 12
+	AF15_EVENTOUT                            = 15
+)
+
 const (
 	PA0  = portA + 0
 	PA1  = portA + 1
@ -129,8 +149,39 @@ const (
 	PG14 = portG + 14
 	PG15 = portG + 15

-	PH0 = portH + 0
-	PH1 = portH + 1
+	PH0  = portH + 0
+	PH1  = portH + 1
+	PH2  = portH + 2
+	PH3  = portH + 3
+	PH4  = portH + 4
+	PH5  = portH + 5
+	PH6  = portH + 6
+	PH7  = portH + 7
+	PH8  = portH + 8
+	PH9  = portH + 9
+	PH10 = portH + 10
+	PH11 = portH + 11
+	PH12 = portH + 12
+	PH13 = portH + 13
+	PH14 = portH + 14
+	PH15 = portH + 15
+
+	PI0  = portI + 0
+	PI1  = portI + 1
+	PI2  = portI + 2
+	PI3  = portI + 3
+	PI4  = portI + 4
+	PI5  = portI + 5
+	PI6  = portI + 6
+	PI7  = portI + 7
+	PI8  = portI + 8
+	PI9  = portI + 9
+	PI10 = portI + 10
+	PI11 = portI + 11
+	PI12 = portI + 12
+	PI13 = portI + 13
+	PI14 = portI + 14
+	PI15 = portI + 15
 )

 func (p Pin) getPort() *stm32.GPIO_Type {
@ -257,3 +308,370 @@ func enableAltFuncClock(bus unsafe.Pointer) {
 		stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM1EN)
 	}
 }
+
+//---------- Timer related code
+
+var (
+	TIM1 = TIM{
+		EnableRegister: &stm32.RCC.APB2ENR,
+		EnableFlag:     stm32.RCC_APB2ENR_TIM1EN,
+		Device:         stm32.TIM1,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{
+				{PA8, AF1_TIM1_2},
+				{PE9, AF1_TIM1_2},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA9, AF1_TIM1_2},
+				{PE11, AF1_TIM1_2},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA10, AF1_TIM1_2},
+				{PE13, AF1_TIM1_2},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA11, AF1_TIM1_2},
+				{PE14, AF1_TIM1_2},
+			}},
+		},
+		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, AF1_TIM1_2},
+				{PA5, AF1_TIM1_2},
+				{PA15, AF1_TIM1_2},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA1, AF1_TIM1_2},
+				{PB3, AF1_TIM1_2},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA2, AF1_TIM1_2},
+				{PB10, AF1_TIM1_2},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA3, AF1_TIM1_2},
+				{PB11, AF1_TIM1_2},
+			}},
+		},
+		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, AF2_TIM3_4_5},
+				{PB4, AF2_TIM3_4_5},
+				{PC6, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA7, AF2_TIM3_4_5},
+				{PB5, AF2_TIM3_4_5},
+				{PC7, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PB0, AF2_TIM3_4_5},
+				{PC8, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PB1, AF2_TIM3_4_5},
+				{PC9, AF2_TIM3_4_5},
+			}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM4 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM4EN,
+		Device:         stm32.TIM4,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{
+				{PB6, AF2_TIM3_4_5},
+				{PD12, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PB7, AF2_TIM3_4_5},
+				{PD13, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PB8, AF2_TIM3_4_5},
+				{PD14, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PB9, AF2_TIM3_4_5},
+				{PD15, AF2_TIM3_4_5},
+			}},
+		},
+		busFreq: APB1_TIM_FREQ,
+	}
+
+	TIM5 = TIM{
+		EnableRegister: &stm32.RCC.APB1ENR,
+		EnableFlag:     stm32.RCC_APB1ENR_TIM5EN,
+		Device:         stm32.TIM5,
+		Channels: [4]TimerChannel{
+			TimerChannel{Pins: []PinFunction{
+				{PA0, AF2_TIM3_4_5},
+				{PH10, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA1, AF2_TIM3_4_5},
+				{PH11, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA2, AF2_TIM3_4_5},
+				{PH12, AF2_TIM3_4_5},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA3, AF2_TIM3_4_5},
+				{PI0, AF2_TIM3_4_5},
+			}},
+		},
+		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{
+				{PC6, AF3_TIM8_9_10_11_LPTIM1},
+				{PI5, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PC7, AF3_TIM8_9_10_11_LPTIM1},
+				{PI6, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PC8, AF3_TIM8_9_10_11_LPTIM1},
+				{PI7, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PC9, AF3_TIM8_9_10_11_LPTIM1},
+				{PI2, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+		},
+		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, AF3_TIM8_9_10_11_LPTIM1},
+				{PE5, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PA3, AF3_TIM8_9_10_11_LPTIM1},
+				{PE6, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			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, AF3_TIM8_9_10_11_LPTIM1},
+				{PF6, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			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, AF3_TIM8_9_10_11_LPTIM1},
+				{PF7, AF3_TIM8_9_10_11_LPTIM1},
+			}},
+			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{
+				{PB14, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+				{PH6, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+			}},
+			TimerChannel{Pins: []PinFunction{
+				{PB15, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+				{PH9, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+			}},
+			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, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+				{PF8, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+			}},
+			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, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+				{PF9, AF9_CAN1_TIM12_13_14_QUADSPI_FMC_OTG2_HS},
+			}},
+			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_TIM10, 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_DAC, TIM6.handleUPInterrupt)
+	case &TIM7:
+		return interrupt.New(stm32.IRQ_TIM7, TIM7.handleUPInterrupt)
+	case &TIM8:
+		return interrupt.New(stm32.IRQ_TIM8_UP_TIM13, TIM8.handleUPInterrupt)
+	case &TIM9:
+		return interrupt.New(stm32.IRQ_TIM1_BRK_TIM9, TIM9.handleUPInterrupt)
+	case &TIM10:
+		return interrupt.New(stm32.IRQ_TIM1_UP_TIM10, TIM10.handleUPInterrupt)
+	case &TIM11:
+		return interrupt.New(stm32.IRQ_TIM1_TRG_COM_TIM11, TIM11.handleUPInterrupt)
+	case &TIM12:
+		return interrupt.New(stm32.IRQ_TIM8_BRK_TIM12, TIM12.handleUPInterrupt)
+	case &TIM13:
+		return interrupt.New(stm32.IRQ_TIM8_UP_TIM13, TIM13.handleUPInterrupt)
+	case &TIM14:
+		return interrupt.New(stm32.IRQ_TIM8_TRG_COM_TIM14, TIM14.handleUPInterrupt)
+	}
+
+	return interrupt.Interrupt{}
+}
+
+func (t *TIM) registerOCInterrupt() interrupt.Interrupt {
+	switch t {
+	case &TIM1:
+		return interrupt.New(stm32.IRQ_TIM1_CC, TIM1.handleUPInterrupt)
+	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_DAC, TIM6.handleOCInterrupt)
+	case &TIM7:
+		return interrupt.New(stm32.IRQ_TIM7, TIM7.handleOCInterrupt)
+	case &TIM8:
+		return interrupt.New(stm32.IRQ_TIM8_CC, TIM8.handleOCInterrupt)
+	case &TIM9:
+		return interrupt.New(stm32.IRQ_TIM1_BRK_TIM9, TIM9.handleOCInterrupt)
+	case &TIM10:
+		return interrupt.New(stm32.IRQ_TIM1_UP_TIM10, TIM10.handleOCInterrupt)
+	case &TIM11:
+		return interrupt.New(stm32.IRQ_TIM1_TRG_COM_TIM11, TIM11.handleOCInterrupt)
+	case &TIM12:
+		return interrupt.New(stm32.IRQ_TIM8_BRK_TIM12, TIM12.handleOCInterrupt)
+	case &TIM13:
+		return interrupt.New(stm32.IRQ_TIM8_UP_TIM13, TIM13.handleOCInterrupt)
+	case &TIM14:
+		return interrupt.New(stm32.IRQ_TIM8_TRG_COM_TIM14, TIM14.handleOCInterrupt)
+	}
+
+	return interrupt.Interrupt{}
+}
+
+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
+)
--- a/src/machine/machine_stm32f7x2.go
+++ b/src/machine/machine_stm32f7x2.go
@ -12,6 +12,12 @@ func CPUFrequency() uint32 {
 	return 216000000
 }

+// 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 = 54e6  // 54MHz
+const APB2_TIM_FREQ = 216e6 // 216MHz
+
 //---------- UART related code

 // Configure the UART.