540 строки
15 КиБ
Go
540 строки
15 КиБ
Go
//go:build stm32wlx
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package machine
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// Peripheral abstraction layer for the stm32wle5
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import (
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"device/stm32"
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"encoding/binary"
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"errors"
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"math/bits"
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"runtime/interrupt"
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"runtime/volatile"
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"unsafe"
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)
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const (
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AF0_SYSTEM = 0
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AF1_TIM1_2_LPTIM1 = 1
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AF2_TIM1_2 = 2
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AF3_SPIS2_TIM1_LPTIM3 = 3
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AF4_I2C1_2_3 = 4
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AF5_SPI1_SPI2S2 = 5
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AF6_RF = 6
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AF7_USART1_2 = 7
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AF8_LPUART1 = 8
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AF12_COMP1_2_TIM1 = 12
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AF13_DEBUG = 13
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AF14_TIM2_16_17_LPTIM2 = 14
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AF15_EVENTOUT = 15
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)
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const (
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SYSCLK = 48e6
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APB1_TIM_FREQ = SYSCLK
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APB2_TIM_FREQ = SYSCLK
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)
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func CPUFrequency() uint32 {
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return SYSCLK
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}
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const (
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PA0 = portA + 0
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PA1 = portA + 1
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PA2 = portA + 2
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PA3 = portA + 3
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PA4 = portA + 4
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PA5 = portA + 5
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PA6 = portA + 6
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PA7 = portA + 7
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PA8 = portA + 8
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PA9 = portA + 9
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PA10 = portA + 10
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PA11 = portA + 11
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PA12 = portA + 12
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PA13 = portA + 13
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PA14 = portA + 14
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PA15 = portA + 15
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PB0 = portB + 0
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PB1 = portB + 1
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PB2 = portB + 2
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PB3 = portB + 3
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PB4 = portB + 4
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PB5 = portB + 5
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PB6 = portB + 6
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PB7 = portB + 7
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PB8 = portB + 8
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PB9 = portB + 9
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PB10 = portB + 10
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PB11 = portB + 11
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PB12 = portB + 12
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PB13 = portB + 13
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PB14 = portB + 14
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PB15 = portB + 15
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PC0 = portC + 0
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PC1 = portC + 1
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PC2 = portC + 2
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PC3 = portC + 3
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PC4 = portC + 4
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PC5 = portC + 5
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PC6 = portC + 6
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PC7 = portC + 7
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PC8 = portC + 8
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PC9 = portC + 9
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PC10 = portC + 10
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PC11 = portC + 11
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PC12 = portC + 12
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PC13 = portC + 13
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PC14 = portC + 14
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PC15 = portC + 15
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PH3 = portH + 3
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)
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func (p Pin) getPort() *stm32.GPIO_Type {
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switch p / 16 {
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case 0:
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return stm32.GPIOA
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case 1:
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return stm32.GPIOB
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case 2:
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return stm32.GPIOC
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case 7:
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return stm32.GPIOH
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default:
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panic("machine: unknown port")
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}
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}
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// enableClock enables the clock for this desired GPIO port.
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func (p Pin) enableClock() {
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switch p / 16 {
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case 0:
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stm32.RCC.AHB2ENR.SetBits(stm32.RCC_AHB2ENR_GPIOAEN)
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case 1:
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stm32.RCC.AHB2ENR.SetBits(stm32.RCC_AHB2ENR_GPIOBEN)
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case 2:
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stm32.RCC.AHB2ENR.SetBits(stm32.RCC_AHB2ENR_GPIOCEN)
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case 7:
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stm32.RCC.AHB2ENR.SetBits(stm32.RCC_AHB2ENR_GPIOHEN)
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default:
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panic("machine: unknown port")
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}
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}
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// Enable peripheral clock
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func enableAltFuncClock(bus unsafe.Pointer) {
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switch bus {
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// APB1ENR1
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case unsafe.Pointer(stm32.LPTIM1): // LPTIM1 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_LPTIM1EN)
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case unsafe.Pointer(stm32.DAC): // DAC clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_DAC1EN)
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case unsafe.Pointer(stm32.I2C3): // I2C3 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_I2C3EN)
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case unsafe.Pointer(stm32.I2C2): // I2C2 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_I2C2EN)
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case unsafe.Pointer(stm32.I2C1): // I2C1 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_I2C1EN)
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case unsafe.Pointer(stm32.USART2): // USART2 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_USART2EN)
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case unsafe.Pointer(stm32.SPI2): // SPI2S2 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_SPI2S2EN)
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case unsafe.Pointer(stm32.WWDG): // Window watchdog clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_WWDGEN)
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case unsafe.Pointer(stm32.TIM2): // TIM2 clock enable
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stm32.RCC.APB1ENR1.SetBits(stm32.RCC_APB1ENR1_TIM2EN)
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// APB1ENR2
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case unsafe.Pointer(stm32.LPTIM3): // LPTIM3 clock enable
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stm32.RCC.APB1ENR2.SetBits(stm32.RCC_APB1ENR2_LPTIM3EN)
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case unsafe.Pointer(stm32.LPTIM2): // LPTIM2 clock enable
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stm32.RCC.APB1ENR2.SetBits(stm32.RCC_APB1ENR2_LPTIM2EN)
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case unsafe.Pointer(stm32.LPUART): // LPUART clock enable
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stm32.RCC.APB1ENR2.SetBits(stm32.RCC_APB1ENR2_LPUART1EN)
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//APB2ENR
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case unsafe.Pointer(stm32.TIM17): // TIM17 clock enable
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stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM17EN)
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case unsafe.Pointer(stm32.TIM16): // TIM16 clock enable
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stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM16EN)
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case unsafe.Pointer(stm32.USART1): // USART1 clock enable
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stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_USART1EN)
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case unsafe.Pointer(stm32.SPI1): // SPI1 clock enable
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stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_SPI1EN)
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case unsafe.Pointer(stm32.TIM1): // TIM1 clock enable
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stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_TIM1EN)
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case unsafe.Pointer(stm32.ADC): // ADC clock enable
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stm32.RCC.APB2ENR.SetBits(stm32.RCC_APB2ENR_ADCEN)
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}
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}
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func handlePinInterrupt(pin uint8) {
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if stm32.EXTI.PR1.HasBits(1 << pin) {
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// Writing 1 to the pending register clears the
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// pending flag for that bit
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stm32.EXTI.PR1.Set(1 << pin)
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callback := pinCallbacks[pin]
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if callback != nil {
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callback(interruptPins[pin])
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}
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}
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}
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func (p Pin) registerInterrupt() interrupt.Interrupt {
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pin := uint8(p) % 16
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switch pin {
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case 0:
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return interrupt.New(stm32.IRQ_EXTI0, func(interrupt.Interrupt) { handlePinInterrupt(0) })
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case 1:
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return interrupt.New(stm32.IRQ_EXTI1, func(interrupt.Interrupt) { handlePinInterrupt(1) })
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case 2:
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return interrupt.New(stm32.IRQ_EXTI2, func(interrupt.Interrupt) { handlePinInterrupt(2) })
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case 3:
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return interrupt.New(stm32.IRQ_EXTI3, func(interrupt.Interrupt) { handlePinInterrupt(3) })
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case 4:
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return interrupt.New(stm32.IRQ_EXTI4, func(interrupt.Interrupt) { handlePinInterrupt(4) })
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case 5:
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return interrupt.New(stm32.IRQ_EXTI9_5, func(interrupt.Interrupt) { handlePinInterrupt(5) })
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case 6:
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return interrupt.New(stm32.IRQ_EXTI9_5, func(interrupt.Interrupt) { handlePinInterrupt(6) })
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case 7:
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return interrupt.New(stm32.IRQ_EXTI9_5, func(interrupt.Interrupt) { handlePinInterrupt(7) })
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case 8:
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return interrupt.New(stm32.IRQ_EXTI9_5, func(interrupt.Interrupt) { handlePinInterrupt(8) })
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case 9:
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return interrupt.New(stm32.IRQ_EXTI9_5, func(interrupt.Interrupt) { handlePinInterrupt(9) })
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case 10:
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return interrupt.New(stm32.IRQ_EXTI15_10, func(interrupt.Interrupt) { handlePinInterrupt(10) })
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case 11:
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return interrupt.New(stm32.IRQ_EXTI15_10, func(interrupt.Interrupt) { handlePinInterrupt(11) })
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case 12:
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return interrupt.New(stm32.IRQ_EXTI15_10, func(interrupt.Interrupt) { handlePinInterrupt(12) })
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case 13:
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return interrupt.New(stm32.IRQ_EXTI15_10, func(interrupt.Interrupt) { handlePinInterrupt(13) })
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case 14:
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return interrupt.New(stm32.IRQ_EXTI15_10, func(interrupt.Interrupt) { handlePinInterrupt(14) })
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case 15:
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return interrupt.New(stm32.IRQ_EXTI15_10, func(interrupt.Interrupt) { handlePinInterrupt(15) })
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}
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return interrupt.Interrupt{}
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}
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// -- SPI ----------------------------------------------------------------------
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type SPI struct {
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Bus *stm32.SPI_Type
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AltFuncSelector uint8
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}
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func (spi SPI) config8Bits() {
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// Set rx threshold to 8-bits, so RXNE flag is set for 1 byte
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// (common STM32 SPI implementation does 8-bit transfers only)
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spi.Bus.CR2.SetBits(stm32.SPI_CR2_FRXTH)
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}
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func (spi SPI) configurePins(config SPIConfig) {
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config.SCK.ConfigureAltFunc(PinConfig{Mode: PinModeSPICLK}, spi.AltFuncSelector)
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config.SDO.ConfigureAltFunc(PinConfig{Mode: PinModeSPISDO}, spi.AltFuncSelector)
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config.SDI.ConfigureAltFunc(PinConfig{Mode: PinModeSPISDI}, spi.AltFuncSelector)
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}
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func (spi SPI) getBaudRate(config SPIConfig) uint32 {
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var clock uint32
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// We keep this switch and separate management of SPI Clocks
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// for future improvement of system/bus clocks and prescalers
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switch spi.Bus {
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case stm32.SPI1:
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clock = CPUFrequency()
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case stm32.SPI2, stm32.SPI3:
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clock = CPUFrequency()
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}
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// limit requested frequency to bus frequency and min frequency (DIV256)
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freq := config.Frequency
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if min := clock / 256; freq < min {
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freq = min
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} else if freq > clock {
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freq = clock
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}
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// calculate the exact clock divisor (freq=clock/div -> div=clock/freq).
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// truncation is fine, since it produces a less-than-or-equal divisor, and
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// thus a greater-than-or-equal frequency.
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// divisors only come in consecutive powers of 2, so we can use log2 (or,
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// equivalently, bits.Len - 1) to convert to respective enum value.
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div := bits.Len32(clock/freq) - 1
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// but DIV1 (2^0) is not permitted, as the least divisor is DIV2 (2^1), so
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// subtract 1 from the log2 value, keeping a lower bound of 0
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if div < 0 {
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div = 0
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} else if div > 0 {
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div--
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}
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// finally, shift the enumerated value into position for SPI CR1
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return uint32(div) << stm32.SPI_CR1_BR_Pos
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}
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//---------- I2C related code
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// Gets the value for TIMINGR register
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func (i2c *I2C) getFreqRange() uint32 {
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// This is a 'magic' value calculated by STM32CubeMX
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// for 48Mhz PCLK1.
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// TODO: Do calculations based on PCLK1
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return 0x20303E5D
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}
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//---------- UART related code
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// Configure the UART.
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func (uart UART) configurePins(config UARTConfig) {
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// enable the alternate functions on the TX and RX pins
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config.TX.ConfigureAltFunc(PinConfig{Mode: PinModeUARTTX}, uart.TxAltFuncSelector)
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config.RX.ConfigureAltFunc(PinConfig{Mode: PinModeUARTRX}, uart.RxAltFuncSelector)
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}
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// UART baudrate calc based on the bus and clockspeed
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// NOTE: keep this in sync with the runtime/runtime_stm32wle5.go clock init code
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func (uart *UART) getBaudRateDivisor(baudRate uint32) uint32 {
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var br uint32
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uartClock := CPUFrequency() // No Prescaler configuration
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br = uint32((uartClock + baudRate/2) / baudRate)
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return (br)
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}
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// Register names vary by ST processor, these are for STM L5
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func (uart *UART) setRegisters() {
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uart.rxReg = &uart.Bus.RDR
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uart.txReg = &uart.Bus.TDR
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uart.statusReg = &uart.Bus.ISR
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uart.txEmptyFlag = stm32.USART_ISR_TXFNF //(TXFNF == TXE == bit 7, but depends alternate RM0461/1094)
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}
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//---------- Timer related code
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var (
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TIM1 = TIM{
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EnableRegister: &stm32.RCC.APB2ENR,
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EnableFlag: stm32.RCC_APB2ENR_TIM1EN,
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Device: stm32.TIM1,
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Channels: [4]TimerChannel{
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TimerChannel{Pins: []PinFunction{{PA8, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{{PA9, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{{PA10, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{{PA11, AF1_TIM1_2_LPTIM1}}},
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},
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busFreq: APB2_TIM_FREQ,
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}
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TIM2 = TIM{
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EnableRegister: &stm32.RCC.APB1ENR1,
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EnableFlag: stm32.RCC_APB1ENR1_TIM2EN,
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Device: stm32.TIM2,
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Channels: [4]TimerChannel{
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TimerChannel{Pins: []PinFunction{{PA0, AF1_TIM1_2_LPTIM1}, {PA5, AF1_TIM1_2_LPTIM1}, {PA15, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{{PA1, AF1_TIM1_2_LPTIM1}, {PB3, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{{PA2, AF1_TIM1_2_LPTIM1}, {PB10, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{{PA3, AF1_TIM1_2_LPTIM1}, {PB11, AF1_TIM1_2_LPTIM1}}},
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},
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busFreq: APB1_TIM_FREQ,
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}
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TIM16 = TIM{
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EnableRegister: &stm32.RCC.APB2ENR,
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EnableFlag: stm32.RCC_APB2ENR_TIM16EN,
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Device: stm32.TIM16,
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Channels: [4]TimerChannel{
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TimerChannel{Pins: []PinFunction{{PA6, AF14_TIM2_16_17_LPTIM2}}},
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TimerChannel{Pins: []PinFunction{}},
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TimerChannel{Pins: []PinFunction{}},
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TimerChannel{Pins: []PinFunction{}},
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},
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busFreq: APB2_TIM_FREQ,
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}
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TIM17 = TIM{
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EnableRegister: &stm32.RCC.APB2ENR,
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EnableFlag: stm32.RCC_APB2ENR_TIM17EN,
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Device: stm32.TIM17,
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Channels: [4]TimerChannel{
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TimerChannel{Pins: []PinFunction{{PA7, AF1_TIM1_2_LPTIM1}, {PB9, AF1_TIM1_2_LPTIM1}}},
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TimerChannel{Pins: []PinFunction{}},
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TimerChannel{Pins: []PinFunction{}},
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TimerChannel{Pins: []PinFunction{}},
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},
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busFreq: APB2_TIM_FREQ,
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}
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)
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func (t *TIM) registerUPInterrupt() interrupt.Interrupt {
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switch t {
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case &TIM1:
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return interrupt.New(stm32.IRQ_TIM1_UP, TIM1.handleUPInterrupt)
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case &TIM2:
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return interrupt.New(stm32.IRQ_TIM2, TIM2.handleUPInterrupt)
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case &TIM16:
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return interrupt.New(stm32.IRQ_TIM16, TIM16.handleUPInterrupt)
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case &TIM17:
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return interrupt.New(stm32.IRQ_TIM17, TIM17.handleUPInterrupt)
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}
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return interrupt.Interrupt{}
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}
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func (t *TIM) registerOCInterrupt() interrupt.Interrupt {
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switch t {
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case &TIM1:
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return interrupt.New(stm32.IRQ_TIM1_CC, TIM1.handleOCInterrupt)
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case &TIM2:
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return interrupt.New(stm32.IRQ_TIM2, TIM2.handleOCInterrupt)
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case &TIM16:
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return interrupt.New(stm32.IRQ_TIM16, TIM16.handleOCInterrupt)
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case &TIM17:
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return interrupt.New(stm32.IRQ_TIM17, TIM17.handleOCInterrupt)
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}
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return interrupt.Interrupt{}
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}
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func (t *TIM) enableMainOutput() {
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t.Device.BDTR.SetBits(stm32.TIM_BDTR_MOE)
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}
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func initRNG() {
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stm32.RCC.AHB3ENR.SetBits(stm32.RCC_AHB3ENR_RNGEN)
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// Enable RNG with config.A (See RM0453 22.6.2)
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stm32.RNG.CR.Set(0x40F00D40) // RNG Config. A
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stm32.RNG.HTCR.Set(0x17590ABC) // MAGIC NUMBER
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stm32.RNG.HTCR.Set(0x0000AA74) // HTCR VALUE
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stm32.RNG.CR.Set(0x00F00D4C) // CONFIG A + RNG_EN=1 + IE=1
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}
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//----------
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type arrtype = uint32
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type arrRegType = volatile.Register32
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const (
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ARR_MAX = 0x10000
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PSC_MAX = 0x10000
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)
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//---------- Flash related code
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const eraseBlockSizeValue = 2048
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// eraseBlock of the passed in block number
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func eraseBlock(block uint32) error {
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waitUntilFlashDone()
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// check if operation is allowed.
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if stm32.FLASH.GetSR_PESD() != 0 {
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return errFlashCannotErasePage
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}
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// clear any previous errors
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|
stm32.FLASH.SR.SetBits(0x3FA)
|
|
|
|
// page erase operation
|
|
stm32.FLASH.SetCR_PER(1)
|
|
defer stm32.FLASH.SetCR_PER(0)
|
|
|
|
// set the address to the page to be written
|
|
stm32.FLASH.SetCR_PNB(block)
|
|
defer stm32.FLASH.SetCR_PNB(0)
|
|
|
|
// start the page erase
|
|
stm32.FLASH.SetCR_STRT(1)
|
|
|
|
waitUntilFlashDone()
|
|
|
|
if err := checkError(); err != nil {
|
|
return err
|
|
}
|
|
|
|
return nil
|
|
}
|
|
|
|
const writeBlockSize = 8
|
|
|
|
func writeFlashData(address uintptr, data []byte) (int, error) {
|
|
if len(data)%writeBlockSize != 0 {
|
|
return 0, errFlashInvalidWriteLength
|
|
}
|
|
|
|
waitUntilFlashDone()
|
|
|
|
// check if operation is allowed
|
|
if stm32.FLASH.GetSR_PESD() != 0 {
|
|
return 0, errFlashNotAllowedWriteData
|
|
}
|
|
|
|
// clear any previous errors
|
|
stm32.FLASH.SR.SetBits(0x3FA)
|
|
|
|
for j := 0; j < len(data); j += writeBlockSize {
|
|
// start page write operation
|
|
stm32.FLASH.SetCR_PG(1)
|
|
|
|
// write first word using double-word high order word
|
|
*(*uint32)(unsafe.Pointer(address)) = binary.LittleEndian.Uint32(data[j : j+writeBlockSize/2])
|
|
|
|
address += writeBlockSize / 2
|
|
|
|
// write second word using double-word low order word
|
|
*(*uint32)(unsafe.Pointer(address)) = binary.LittleEndian.Uint32(data[j+writeBlockSize/2 : j+writeBlockSize])
|
|
|
|
waitUntilFlashDone()
|
|
|
|
if err := checkError(); err != nil {
|
|
return j, err
|
|
}
|
|
|
|
// end flash write
|
|
stm32.FLASH.SetCR_PG(0)
|
|
address += writeBlockSize / 2
|
|
}
|
|
|
|
return len(data), nil
|
|
}
|
|
|
|
func waitUntilFlashDone() {
|
|
for stm32.FLASH.GetSR_BSY() != 0 {
|
|
}
|
|
|
|
for stm32.FLASH.GetSR_CFGBSY() != 0 {
|
|
}
|
|
}
|
|
|
|
var (
|
|
errFlashPGS = errors.New("errFlashPGS")
|
|
errFlashSIZE = errors.New("errFlashSIZE")
|
|
errFlashPGA = errors.New("errFlashPGA")
|
|
errFlashWRP = errors.New("errFlashWRP")
|
|
errFlashPROG = errors.New("errFlashPROG")
|
|
)
|
|
|
|
func checkError() error {
|
|
switch {
|
|
case stm32.FLASH.GetSR_PGSERR() != 0:
|
|
return errFlashPGS
|
|
case stm32.FLASH.GetSR_SIZERR() != 0:
|
|
return errFlashSIZE
|
|
case stm32.FLASH.GetSR_PGAERR() != 0:
|
|
return errFlashPGA
|
|
case stm32.FLASH.GetSR_WRPERR() != 0:
|
|
return errFlashWRP
|
|
case stm32.FLASH.GetSR_PROGERR() != 0:
|
|
return errFlashPROG
|
|
}
|
|
|
|
return nil
|
|
}
|