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Konstantin Sharlaimov
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feat(machine/stm32): add STM32H7 and NUCLEO-H753ZI support
1 parent a5d4ea3 commit e1472f6

27 files changed

Lines changed: 2576 additions & 11 deletions

‎GNUmakefile‎

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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=pico -gc=leaking examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=pico-w examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=nano-33-ble examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=nano-rp2040 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=pico2 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=pico2-w examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=tiny2350 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=badger2350 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=blinky2350 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=pico-plus2 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=metro-rp2350 examples/blinky1
@@ -888,6 +896,8 @@ ifneq ($(STM32), 0)
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=nucleo-f722ze examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=nucleo-h753zi examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=nucleo-l031k6 examples/blinky1
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@$(MD5SUM) test.hex
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$(TINYGO) build -size short -o test.hex -target=nucleo-l432kc examples/blinky1

‎src/examples/pwm/nucleo-h753zi.go‎

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//go:build stm32h7
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package main
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import "machine"
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var (
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pwm = &machine.TIM1
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pinA = machine.PA8
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pinB = machine.PA9
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)

‎src/examples/wwdg/main.go‎

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package main
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import (
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"machine"
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"time"
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)
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func main() {
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time.Sleep(2 * time.Second)
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println("configuring window watchdog")
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config := machine.WindowWatchdogConfig{
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TimeoutMicros: 100000, // 100ms
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WindowPercent: 50, // 50ms to 100ms refresh window
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}
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machine.WindowWatchdog.Configure(config)
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machine.WindowWatchdog.Start()
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println("updating wwdg for 1 second")
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for i := 0; i < 10; i++ {
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time.Sleep(75 * time.Millisecond) // middle of the window
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machine.WindowWatchdog.Update()
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println("alive")
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}
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println("entering tight loop (will reset)")
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for {
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time.Sleep(10 * time.Millisecond)
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}
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}

‎src/machine/board_nucleoh753zi.go‎

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//go:build nucleoh753zi
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package machine
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import (
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"device/stm32"
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"runtime/interrupt"
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)
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const xtalHz = 8_000_000
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const hseBypass = true
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const (
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// Arduino Pins
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A0 = PA3
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A1 = PC0
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A2 = PC3
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A3 = PB1
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A4 = PC2
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A5 = PF10
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D0 = PG9
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D1 = PG14
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D2 = PF15
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D3 = PE13
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D4 = PF14
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D5 = PE11
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D6 = PE9
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D7 = PF13
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D8 = PF12
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D9 = PD15
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D10 = PD14
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D11 = PA7
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D12 = PA6
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D13 = PA5
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D14 = PB9
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D15 = PB8
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)
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const (
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LED = LED_BUILTIN
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LED_BUILTIN = LED_GREEN
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LED_GREEN = PB0
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LED_YELLOW = PE1
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LED_RED = PB14
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)
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const (
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BUTTON = BUTTON_USER
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BUTTON_USER = PC13
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)
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// UART pins
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const (
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// PD8 and PD9 are connected to the ST-Link Virtual Com Port (VCP)
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UART_TX_PIN = PD8
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UART_RX_PIN = PD9
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UART_ALT_FN = AF7_SPI2_3_USART1_2_3_UART5_SPDIFRX
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)
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var (
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// USART3 is the hardware serial port connected to the onboard ST-LINK
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// debugger to be exposed as virtual COM port over USB on Nucleo boards.
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UART1 = &_UART1
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_UART1 = UART{
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Buffer: NewRingBuffer(),
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Bus: stm32.USART3,
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TxAltFuncSelector: UART_ALT_FN,
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RxAltFuncSelector: UART_ALT_FN,
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}
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DefaultUART = UART1
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)
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func init() {
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UART1.Interrupt = interrupt.New(stm32.IRQ_USART3, _UART1.handleInterrupt)
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}
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// SPI pins
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const (
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SPI0_SCK_PIN = PA5
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SPI0_SDI_PIN = PA6
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SPI0_SDO_PIN = PA7
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)
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var (
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SPI1 = &SPI{
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Bus: stm32.SPI1,
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AltFuncSelector: AF5_SPI1_2_3_4_5_6_I2S,
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}
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SPI0 = SPI1
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)
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// I2C pins
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const (
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I2C0_SCL_PIN = PB8
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I2C0_SDA_PIN = PB9
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)
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var (
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I2C1 = &I2C{
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Bus: stm32.I2C1,
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AltFuncSelector: AF4_I2C1_2_3_4_USART1,
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}
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I2C0 = I2C1
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)

‎src/machine/machine_stm32.go‎

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@@ -86,12 +86,6 @@ func (p Pin) PortMaskClear() (*uint32, uint32) {
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return &port.BSRR.Reg, 1 << (pin + 16)
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}
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89-
// EnterBootloader resets the chip into the bootloader.
90-
// This is currently a stub for STM32, required to satisfy machine.EnterBootloader
91-
// called by machine/usb/cdc.
92-
func EnterBootloader() {
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}
94-
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var deviceID [12]byte
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// DeviceID returns an identifier that is unique within

‎src/machine/machine_stm32_adc_h7.go‎

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//go:build stm32h7
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package machine
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import (
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"device/arm"
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"device/stm32"
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)
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// InitADC initializes the registers needed for ADC1 and ADC3.
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func InitADC() {
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// 1. Enable ADC bus clocks
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stm32.RCC.AHB1ENR.SetBits(stm32.RCC_AHB1ENR_ADC12EN)
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stm32.RCC.AHB4ENR.SetBits(stm32.RCC_AHB4ENR_ADC3EN)
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// 2. Configure ADC clock mode (Async from kernel clock)
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// CCR is at offset 0x308 from ADC base.
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stm32.ADC12_Common.CR.ReplaceBits(0x0, 0x3, 16) // CKMODE = 00
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stm32.ADC3_Common.CR.ReplaceBits(0x0, 0x3, 16) // CKMODE = 00
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// 3. Exit deep power-down mode
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stm32.ADC1.CR.ClearBits(stm32.ADC_CR_DEEPPWD)
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stm32.ADC3.CR.ClearBits(stm32.ADC_CR_DEEPPWD)
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// 4. Enable voltage regulators
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stm32.ADC1.CR.SetBits(stm32.ADC_CR_ADVREGEN)
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stm32.ADC3.CR.SetBits(stm32.ADC_CR_ADVREGEN)
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// Wait for T_ADCVREG_STUP (min 10us). The nop keeps the compiler from
29+
// eliminating the loop as free of side effects.
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for i := 0; i < 10000; i++ {
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arm.Asm("nop")
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}
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// Set BOOST[1:0]=0b11 for ADC kernel clock >25MHz (RM0433 §25.4.3 Table 121).
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// The kernel clock is 80MHz (PLL2_P), so BOOST must be enabled.
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stm32.ADC1.CR.ReplaceBits(0b11, 0x3, stm32.ADC_CR_BOOST_Pos)
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stm32.ADC3.CR.ReplaceBits(0b11, 0x3, stm32.ADC_CR_BOOST_Pos)
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// 5. Calibration
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// ADC1
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stm32.ADC1.CR.SetBits(stm32.ADC_CR_ADCAL | stm32.ADC_CR_ADCALLIN)
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for stm32.ADC1.CR.HasBits(stm32.ADC_CR_ADCAL) {
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}
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// ADC3
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stm32.ADC3.CR.SetBits(stm32.ADC_CR_ADCAL | stm32.ADC_CR_ADCALLIN)
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for stm32.ADC3.CR.HasBits(stm32.ADC_CR_ADCAL) {
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}
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// 6. Enable ADCs
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// ADC1
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stm32.ADC1.ISR.SetBits(stm32.ADC_ISR_ADRDY) // Clear ADRDY by writing 1
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stm32.ADC1.CR.SetBits(stm32.ADC_CR_ADEN)
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for !stm32.ADC1.ISR.HasBits(stm32.ADC_ISR_ADRDY) {
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}
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// ADC3
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stm32.ADC3.ISR.SetBits(stm32.ADC_ISR_ADRDY) // Clear ADRDY by writing 1
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stm32.ADC3.CR.SetBits(stm32.ADC_CR_ADEN)
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for !stm32.ADC3.ISR.HasBits(stm32.ADC_ISR_ADRDY) {
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}
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// 7. Configure resolution (16-bit)
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// RES[2:0] is at bits 4:2 in CFGR. 000: 16-bit.
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stm32.ADC1.CFGR.ReplaceBits(0x0, 0x7, 2)
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stm32.ADC3.CFGR.ReplaceBits(0x0, 0x7, 2)
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}
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// Configure configures an ADC pin to be able to read analog data.
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func (a ADC) Configure(config ADCConfig) {
69+
a.Pin.Configure(PinConfig{Mode: PinInputAnalog})
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// Set sampling time.
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// H7 has SMPR1 (channels 0-9) and SMPR2 (channels 10-19).
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// Each channel has 3 bits.
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ch := a.getChannel()
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adc, _ := a.getPeripheral()
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const smpVal = 0x2 // 8.5 cycles
77+
if ch <= 9 {
78+
adc.SMPR1.ReplaceBits(uint32(smpVal), 0x7, uint8(ch)*3)
79+
} else {
80+
adc.SMPR2.ReplaceBits(uint32(smpVal), 0x7, uint8(ch-10)*3)
81+
}
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}
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// Get returns the current value of an ADC pin in the range 0..0xffff.
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func (a ADC) Get() uint16 {
86+
ch := uint32(a.getChannel())
87+
adc, ok := a.getPeripheral()
88+
if !ok {
89+
return 0
90+
}
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// Select channel (PCSEL register)
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// Refer to RM0433 §25.4.12: Only one PCSELx bit must be set at a time.
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adc.PCSEL.Set(1 << ch)
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// Set rank 1 to channel
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// SQ1[4:0] at bits 10:6. L[3:0] at bits 3:0.
98+
adc.SQR1.ReplaceBits(ch, 0x1F, 6)
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adc.SQR1.ReplaceBits(0x0, 0xF, 0) // L=0 (1 conversion)
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// Start conversion
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adc.CR.SetBits(stm32.ADC_CR_ADSTART)
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// Wait for end of conversion
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for !adc.ISR.HasBits(stm32.ADC_ISR_EOC) {
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}
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// Read 16-bit result
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result := uint16(adc.DR.Get())
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// Clear EOC
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adc.ISR.SetBits(stm32.ADC_ISR_EOC)
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// Deselect channel
115+
adc.PCSEL.Set(0)
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return result
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}
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func (a ADC) getPeripheral() (*stm32.ADC_Type, bool) {
121+
switch a.Pin {
122+
case PF3, PF4, PF5, PF6, PF7, PF8, PF9, PF10:
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return stm32.ADC3, true
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default:
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// Assume ADC1 for PA/PB/PC pins
126+
return stm32.ADC1, true
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}
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}
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// getChannel returns the ADC channel number for a given GPIO pin.
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// Mapping for STM32H743 per RM0433 and DS12110.
132+
func (a ADC) getChannel() uint8 {
133+
switch a.Pin {
134+
case PA0:
135+
return 16
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case PA1:
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return 17
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case PA2:
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return 14
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case PA3:
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return 15
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case PA4:
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return 18
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case PA5:
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return 19
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case PA6:
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return 3
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case PA7:
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return 7
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case PB0:
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return 9
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case PB1:
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return 5
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case PC0:
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return 10
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case PC1:
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return 11
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case PC2:
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return 12
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case PC3:
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return 13
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case PC4:
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return 4
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case PC5:
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return 8
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case PF3:
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return 5
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case PF4:
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return 9
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case PF5:
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return 4
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case PF6:
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return 8
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case PF7:
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return 3
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case PF8:
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return 7
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case PF9:
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return 2
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case PF10:
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return 6
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}
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return 0
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}

‎src/machine/machine_stm32_bootloader.go‎

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//go:build stm32 && !stm32h7
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package machine
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// EnterBootloader resets the chip into the bootloader.
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// This is currently a stub for STM32, required to satisfy machine.EnterBootloader
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// called by machine/usb/cdc.
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func EnterBootloader() {
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}

‎src/machine/machine_stm32_exti_syscfg.go‎

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//go:build stm32 && !stm32f1 && !stm32l5 && !stm32wlx && !stm32g0 && !stm32u5 && !stm32u0
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//go:build stm32 && !stm32f1 && !stm32l5 && !stm32wlx && !stm32g0 && !stm32u5 && !stm32u0 && !stm32h7
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package machine
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