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Add STM32F103 port

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Add a fully functional STM32F1 port, currently mostly targeting STM32F103
microcontrollers. This requires an 8 MHz XTAL. The maximum possible step rate
is around 282K steps per second.

This uses stm32flash to burn the firmware. The bootloader needs to be started
by setting BOOT0 to 1 and resetting the MCU. There is no automatic bootloader,
unlike on Arduino.

Signed-off-by: Grigori Goronzy <greg@kinoho.net>
This commit is contained in:
Grigori Goronzy 2018-03-31 15:34:59 +02:00 • committed by KevinOConnor
parent e097b08520
commit 75d5737211
173 changed files with 267435 additions and 0 deletions
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166
src/stm32f1/serial.c Normal file
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// STM32F1 serial port
//
// Copyright (C) 2018 Grigori Goronzy <greg@kinoho.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memmove
#include "autoconf.h" // CONFIG_SERIAL_BAUD
#include "command.h" // DECL_CONSTANT
#include "stm32f1xx.h" // UART
#include "stm32f1xx_ll_bus.h"
#include "stm32f1xx_ll_rcc.h"
#include "stm32f1xx_ll_usart.h"
#include "stm32f1xx_ll_gpio.h"
#include "board/irq.h"
#include "board/io.h"
#include "sched.h" // DECL_INIT
#define SERIAL_BUFFER_SIZE 96
static char receive_buf[SERIAL_BUFFER_SIZE];
static uint32_t receive_pos;
static char transmit_buf[SERIAL_BUFFER_SIZE];
static uint32_t transmit_pos, transmit_max;
/****************************************************************
* Serial hardware
****************************************************************/
DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD);
void
serial_init(void)
{
const uint32_t pclk = __LL_RCC_CALC_PCLK2_FREQ(SystemCoreClock, LL_RCC_GetAPB2Prescaler());
LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_USART1);
LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_USART1);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
LL_USART_SetBaudRate(USART1, pclk, CONFIG_SERIAL_BAUD);
LL_USART_SetDataWidth(USART1, LL_USART_DATAWIDTH_8B);
LL_USART_SetParity(USART1, LL_USART_PARITY_NONE);
LL_USART_SetStopBitsLength(USART1, LL_USART_STOPBITS_1);
LL_USART_SetHWFlowCtrl(USART1, LL_USART_HWCONTROL_NONE);
LL_USART_SetTransferDirection(USART1, LL_USART_DIRECTION_TX_RX);
LL_USART_EnableIT_RXNE(USART1);
NVIC_EnableIRQ(USART1_IRQn);
NVIC_SetPriority(USART1_IRQn, 1);
LL_USART_Enable(USART1);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
LL_GPIO_AF_DisableRemap_USART1();
LL_GPIO_SetPinPull(GPIOA, LL_GPIO_PIN_9, LL_GPIO_PULL_UP);
LL_GPIO_SetPinMode(GPIOA, LL_GPIO_PIN_9, LL_GPIO_MODE_ALTERNATE);
LL_GPIO_SetPinPull(GPIOA, LL_GPIO_PIN_10, LL_GPIO_PULL_UP);
LL_GPIO_SetPinMode(GPIOA, LL_GPIO_PIN_10, LL_GPIO_MODE_INPUT);
}
DECL_INIT(serial_init);
void __visible
USART1_IRQHandler(void)
{
if (LL_USART_IsActiveFlag_RXNE(USART1) || LL_USART_IsActiveFlag_ORE(USART1)) {
uint8_t data = LL_USART_ReceiveData8(USART1);
if (data == MESSAGE_SYNC)
sched_wake_tasks();
if (receive_pos >= sizeof(receive_buf))
// Serial overflow - ignore it as crc error will force retransmit
return;
receive_buf[receive_pos++] = data;
return;
}
if (LL_USART_IsActiveFlag_TXE(USART1)) {
if (transmit_pos >= transmit_max)
LL_USART_DisableIT_TXE(USART1);
else
LL_USART_TransmitData8(USART1, transmit_buf[transmit_pos++]);
}
}
// Enable tx interrupts
static void
enable_tx_irq(void)
{
LL_USART_EnableIT_TXE(USART1);
}
/****************************************************************
* Console access functions
****************************************************************/
// Remove from the receive buffer the given number of bytes
static void
console_pop_input(uint32_t len)
{
uint32_t copied = 0;
for (;;) {
uint32_t rpos = readl(&receive_pos);
uint32_t needcopy = rpos - len;
if (needcopy) {
memmove(&receive_buf[copied], &receive_buf[copied + len]
, needcopy - copied);
copied = needcopy;
sched_wake_tasks();
}
irqstatus_t flag = irq_save();
if (rpos != readl(&receive_pos)) {
// Raced with irq handler - retry
irq_restore(flag);
continue;
}
receive_pos = needcopy;
irq_restore(flag);
break;
}
}
// Process any incoming commands
void
console_task(void)
{
uint8_t pop_count;
uint32_t rpos = readl(&receive_pos);
int8_t ret = command_find_block(receive_buf, rpos, &pop_count);
if (ret > 0)
command_dispatch(receive_buf, pop_count);
if (ret)
console_pop_input(pop_count);
}
DECL_TASK(console_task);
// Encode and transmit a "response" message
void
console_sendf(const struct command_encoder *ce, va_list args)
{
// Verify space for message
uint32_t tpos = readl(&transmit_pos), tmax = readl(&transmit_max);
if (tpos >= tmax) {
tpos = tmax = 0;
writel(&transmit_max, 0);
writel(&transmit_pos, 0);
}
uint32_t max_size = ce->max_size;
if (tmax + max_size > sizeof(transmit_buf)) {
if (tmax + max_size - tpos > sizeof(transmit_buf))
// Not enough space for message
return;
// Disable TX irq and move buffer
writel(&transmit_max, 0);
tpos = readl(&transmit_pos);
tmax -= tpos;
memmove(&transmit_buf[0], &transmit_buf[tpos], tmax);
writel(&transmit_pos, 0);
writel(&transmit_max, tmax);
enable_tx_irq();
}
// Generate message
char *buf = &transmit_buf[tmax];
uint32_t msglen = command_encodef(buf, ce, args);
command_add_frame(buf, msglen);
// Start message transmit
writel(&transmit_max, tmax + msglen);
enable_tx_irq();
}