diff --git a/ChibiOS/os/hal/src/hal_qei_lld.c b/ChibiOS/os/hal/src/hal_qei_lld.c index cd1ab9b..be1c778 100644 --- a/ChibiOS/os/hal/src/hal_qei_lld.c +++ b/ChibiOS/os/hal/src/hal_qei_lld.c @@ -158,38 +158,38 @@ void qei_lld_start(QEIDriver *qeip) { /* Clock activation and timer reset.*/ #if STM32_QEI_USE_TIM1 if (&QEID1 == qeip) { - rccEnableTIM1(); + rccEnableTIM1(0); rccResetTIM1(); } #endif #if STM32_QEI_USE_TIM2 if (&QEID2 == qeip) { - rccEnableTIM2(); + rccEnableTIM2(0); rccResetTIM2(); } #endif #if STM32_QEI_USE_TIM3 if (&QEID3 == qeip) { - rccEnableTIM3(); + rccEnableTIM3(0); rccResetTIM3(); } #endif #if STM32_QEI_USE_TIM4 if (&QEID4 == qeip) { - rccEnableTIM4(); + rccEnableTIM4(0); rccResetTIM4(); } #endif #if STM32_QEI_USE_TIM5 if (&QEID5 == qeip) { - rccEnableTIM5(); + rccEnableTIM5(0); rccResetTIM5(); } #endif #if STM32_QEI_USE_TIM8 if (&QEID8 == qeip) { - rccEnableTIM8(); + rccEnableTIM8(0); rccResetTIM8(); } #endif diff --git a/code/Makefile b/code/Makefile index 6b91768..5c1aa3a 100644 --- a/code/Makefile +++ b/code/Makefile @@ -55,7 +55,7 @@ endif # Stack size to be allocated to the Cortex-M process stack. This stack is # the stack used by the main() thread. ifeq ($(USE_PROCESS_STACKSIZE),) - USE_PROCESS_STACKSIZE = 0x100 + USE_PROCESS_STACKSIZE = 0x400 endif # Stack size to the allocated to the Cortex-M main/exceptions stack. This @@ -86,7 +86,7 @@ endif PROJECT = ch # Target settings. -MCU = cortex-m0 +MCU = cortex-m4 # Imported source files and paths. CHIBIOS := ../ChibiOS @@ -97,20 +97,20 @@ DEPDIR := ./.dep # Licensing files. include $(CHIBIOS)/os/license/license.mk # Startup files. -include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk +include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk # HAL-OSAL files (optional). include $(CHIBIOS)/os/hal/hal.mk -include $(CHIBIOS)/os/hal/ports/STM32/STM32F0xx/platform.mk -include $(CHIBIOS)/os/hal/boards/uSDX/board.mk +include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk +include $(CHIBIOS)/os/hal/boards/BlackPill_F401/board.mk include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk # RTOS files (optional). -include $(CHIBIOS)/os/nil/nil.mk -include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk +include $(CHIBIOS)/os/rt/rt.mk +include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk # Auto-build files in ./source recursively. include $(CHIBIOS)/tools/mk/autobuild.mk # Define linker script file here -LDSCRIPT= $(STARTUPLD)/STM32F051x8.ld +LDSCRIPT= $(STARTUPLD)/STM32F401xC.ld # C sources that can be compiled in ARM or THUMB mode depending on the global # setting. diff --git a/code/cfg/chconf.h b/code/cfg/chconf.h index d65e7a7..ac629db 100644 --- a/code/cfg/chconf.h +++ b/code/cfg/chconf.h @@ -1,5 +1,5 @@ /* - ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + ChibiOS - Copyright (C) 2006..2020 Giovanni Di Sirio Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. @@ -15,12 +15,12 @@ */ /** - * @file nil/templates/chconf.h + * @file rt/templates/chconf.h * @brief Configuration file template. * @details A copy of this file must be placed in each project directory, it * contains the application specific kernel settings. * - * @addtogroup NIL_CONFIG + * @addtogroup config * @details Kernel related settings and hooks. * @{ */ @@ -28,41 +28,12 @@ #ifndef CHCONF_H #define CHCONF_H -#define _CHIBIOS_NIL_CONF_ -#define _CHIBIOS_NIL_CONF_VER_4_0_ +#define _CHIBIOS_RT_CONF_ +#define _CHIBIOS_RT_CONF_VER_6_1_ /*===========================================================================*/ /** - * @name Kernel parameters and options - * @{ - */ -/*===========================================================================*/ - -/** - * @brief Maximum number of user threads in the application. - * @note This number is not inclusive of the idle thread which is - * implicitly handled. - * @note Set this value to be exactly equal to the number of threads you - * will use or you would be wasting RAM and cycles. - * @note This values also defines the number of available priorities - * (0..CH_CFG_MAX_THREADS-1). - */ -#if !defined(CH_CFG_MAX_THREADS) -#define CH_CFG_MAX_THREADS 8 -#endif - -/** - * @brief Auto starts threads when @p chSysInit() is invoked. - */ -#if !defined(CH_CFG_AUTOSTART_THREADS) -#define CH_CFG_AUTOSTART_THREADS TRUE -#endif - -/** @} */ - -/*===========================================================================*/ -/** - * @name System timer settings + * @name System timers settings * @{ */ /*===========================================================================*/ @@ -77,12 +48,27 @@ /** * @brief System tick frequency. - * @note This value together with the @p CH_CFG_ST_RESOLUTION - * option defines the maximum amount of time allowed for - * timeouts. + * @details Frequency of the system timer that drives the system ticks. This + * setting also defines the system tick time unit. */ #if !defined(CH_CFG_ST_FREQUENCY) -#define CH_CFG_ST_FREQUENCY 1000 +#define CH_CFG_ST_FREQUENCY 10000 +#endif + +/** + * @brief Time intervals data size. + * @note Allowed values are 16, 32 or 64 bits. + */ +#if !defined(CH_CFG_INTERVALS_SIZE) +#define CH_CFG_INTERVALS_SIZE 32 +#endif + +/** + * @brief Time types data size. + * @note Allowed values are 16 or 32 bits. + */ +#if !defined(CH_CFG_TIME_TYPES_SIZE) +#define CH_CFG_TIME_TYPES_SIZE 32 #endif /** @@ -99,6 +85,63 @@ /** @} */ +/*===========================================================================*/ +/** + * @name Kernel parameters and options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Round robin interval. + * @details This constant is the number of system ticks allowed for the + * threads before preemption occurs. Setting this value to zero + * disables the preemption for threads with equal priority and the + * round robin becomes cooperative. Note that higher priority + * threads can still preempt, the kernel is always preemptive. + * @note Disabling the round robin preemption makes the kernel more compact + * and generally faster. + * @note The round robin preemption is not supported in tickless mode and + * must be set to zero in that case. + */ +#if !defined(CH_CFG_TIME_QUANTUM) +#define CH_CFG_TIME_QUANTUM 0 +#endif + +/** + * @brief Idle thread automatic spawn suppression. + * @details When this option is activated the function @p chSysInit() + * does not spawn the idle thread. The application @p main() + * function becomes the idle thread and must implement an + * infinite loop. + */ +#if !defined(CH_CFG_NO_IDLE_THREAD) +#define CH_CFG_NO_IDLE_THREAD FALSE +#endif + +/** @} */ + +/*===========================================================================*/ +/** + * @name Performance options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief OS optimization. + * @details If enabled then time efficient rather than space efficient code + * is used when two possible implementations exist. + * + * @note This is not related to the compiler optimization options. + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_OPTIMIZE_SPEED) +#define CH_CFG_OPTIMIZE_SPEED TRUE +#endif + +/** @} */ + /*===========================================================================*/ /** * @name Subsystem options @@ -106,6 +149,38 @@ */ /*===========================================================================*/ +/** + * @brief Time Measurement APIs. + * @details If enabled then the time measurement APIs are included in + * the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_TM) +#define CH_CFG_USE_TM TRUE +#endif + +/** + * @brief Time Stamps APIs. + * @details If enabled then the time time stamps APIs are included in + * the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_TIMESTAMP) +#define CH_CFG_USE_TIMESTAMP TRUE +#endif + +/** + * @brief Threads registry APIs. + * @details If enabled then the registry APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#if !defined(CH_CFG_USE_REGISTRY) +#define CH_CFG_USE_REGISTRY TRUE +#endif + /** * @brief Threads synchronization APIs. * @details If enabled then the @p chThdWait() function is included in @@ -127,15 +202,63 @@ #define CH_CFG_USE_SEMAPHORES TRUE #endif +/** + * @brief Semaphores queuing mode. + * @details If enabled then the threads are enqueued on semaphores by + * priority rather than in FIFO order. + * + * @note The default is @p FALSE. Enable this if you have special + * requirements. + * @note Requires @p CH_CFG_USE_SEMAPHORES. + */ +#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) +#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE +#endif + /** * @brief Mutexes APIs. * @details If enabled then the mutexes APIs are included in the kernel. * - * @note Feature not currently implemented. - * @note The default is @p FALSE. + * @note The default is @p TRUE. */ #if !defined(CH_CFG_USE_MUTEXES) -#define CH_CFG_USE_MUTEXES FALSE +#define CH_CFG_USE_MUTEXES TRUE +#endif + +/** + * @brief Enables recursive behavior on mutexes. + * @note Recursive mutexes are heavier and have an increased + * memory footprint. + * + * @note The default is @p FALSE. + * @note Requires @p CH_CFG_USE_MUTEXES. + */ +#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE) +#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE +#endif + +/** + * @brief Conditional Variables APIs. + * @details If enabled then the conditional variables APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MUTEXES. + */ +#if !defined(CH_CFG_USE_CONDVARS) +#define CH_CFG_USE_CONDVARS TRUE +#endif + +/** + * @brief Conditional Variables APIs with timeout. + * @details If enabled then the conditional variables APIs with timeout + * specification are included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_CONDVARS. + */ +#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) +#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE #endif /** @@ -148,6 +271,18 @@ #define CH_CFG_USE_EVENTS TRUE #endif +/** + * @brief Events Flags APIs with timeout. + * @details If enabled then the events APIs with timeout specification + * are included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_EVENTS. + */ +#if !defined(CH_CFG_USE_EVENTS_TIMEOUT) +#define CH_CFG_USE_EVENTS_TIMEOUT TRUE +#endif + /** * @brief Synchronous Messages APIs. * @details If enabled then the synchronous messages APIs are included @@ -159,6 +294,32 @@ #define CH_CFG_USE_MESSAGES TRUE #endif +/** + * @brief Synchronous Messages queuing mode. + * @details If enabled then messages are served by priority rather than in + * FIFO order. + * + * @note The default is @p FALSE. Enable this if you have special + * requirements. + * @note Requires @p CH_CFG_USE_MESSAGES. + */ +#if !defined(CH_CFG_USE_MESSAGES_PRIORITY) +#define CH_CFG_USE_MESSAGES_PRIORITY FALSE +#endif + +/** + * @brief Dynamic Threads APIs. + * @details If enabled then the dynamic threads creation APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_WAITEXIT. + * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS. + */ +#if !defined(CH_CFG_USE_DYNAMIC) +#define CH_CFG_USE_DYNAMIC TRUE +#endif + /** @} */ /*===========================================================================*/ @@ -212,6 +373,9 @@ * in the kernel. * * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or + * @p CH_CFG_USE_SEMAPHORES. + * @note Mutexes are recommended. */ #if !defined(CH_CFG_USE_HEAP) #define CH_CFG_USE_HEAP TRUE @@ -229,7 +393,7 @@ #endif /** - * @brief Objects FIFOs APIs. + * @brief Objects FIFOs APIs. * @details If enabled then the objects FIFOs APIs are included * in the kernel. * @@ -350,7 +514,7 @@ /** * @brief Enables factory for Pipes. */ -#if !defined(CH_CFG_FACTORY_PIPES) +#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__) #define CH_CFG_FACTORY_PIPES TRUE #endif @@ -366,7 +530,6 @@ /** * @brief Debug option, kernel statistics. * - * @note Feature not currently implemented. * @note The default is @p FALSE. */ #if !defined(CH_DBG_STATISTICS) @@ -375,6 +538,8 @@ /** * @brief Debug option, system state check. + * @details If enabled the correct call protocol for system APIs is checked + * at runtime. * * @note The default is @p FALSE. */ @@ -384,6 +549,8 @@ /** * @brief Debug option, parameters checks. + * @details If enabled then the checks on the API functions input + * parameters are activated. * * @note The default is @p FALSE. */ @@ -392,7 +559,10 @@ #endif /** - * @brief System assertions. + * @brief Debug option, consistency checks. + * @details If enabled then all the assertions in the kernel code are + * activated. This includes consistency checks inside the kernel, + * runtime anomalies and port-defined checks. * * @note The default is @p FALSE. */ @@ -401,14 +571,63 @@ #endif /** - * @brief Stack check. + * @brief Debug option, trace buffer. + * @details If enabled then the trace buffer is activated. + * + * @note The default is @p CH_DBG_TRACE_MASK_DISABLED. + */ +#if !defined(CH_DBG_TRACE_MASK) +#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED +#endif + +/** + * @brief Trace buffer entries. + * @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is + * different from @p CH_DBG_TRACE_MASK_DISABLED. + */ +#if !defined(CH_DBG_TRACE_BUFFER_SIZE) +#define CH_DBG_TRACE_BUFFER_SIZE 128 +#endif + +/** + * @brief Debug option, stack checks. + * @details If enabled then a runtime stack check is performed. * * @note The default is @p FALSE. + * @note The stack check is performed in a architecture/port dependent way. + * It may not be implemented or some ports. + * @note The default failure mode is to halt the system with the global + * @p panic_msg variable set to @p NULL. */ #if !defined(CH_DBG_ENABLE_STACK_CHECK) #define CH_DBG_ENABLE_STACK_CHECK FALSE #endif +/** + * @brief Debug option, stacks initialization. + * @details If enabled then the threads working area is filled with a byte + * value when a thread is created. This can be useful for the + * runtime measurement of the used stack. + * + * @note The default is @p FALSE. + */ +#if !defined(CH_DBG_FILL_THREADS) +#define CH_DBG_FILL_THREADS FALSE +#endif + +/** + * @brief Debug option, threads profiling. + * @details If enabled then a field is added to the @p thread_t structure that + * counts the system ticks occurred while executing the thread. + * + * @note The default is @p FALSE. + * @note This debug option is not currently compatible with the + * tickless mode. + */ +#if !defined(CH_DBG_THREADS_PROFILING) +#define CH_DBG_THREADS_PROFILING FALSE +#endif + /** @} */ /*===========================================================================*/ @@ -418,31 +637,69 @@ */ /*===========================================================================*/ +/** + * @brief System structure extension. + * @details User fields added to the end of the @p ch_system_t structure. + */ +#define CH_CFG_SYSTEM_EXTRA_FIELDS \ + /* Add threads custom fields here.*/ + /** * @brief System initialization hook. + * @details User initialization code added to the @p chSysInit() function + * just before interrupts are enabled globally. */ #define CH_CFG_SYSTEM_INIT_HOOK() { \ + /* Add threads initialization code here.*/ \ } /** * @brief Threads descriptor structure extension. * @details User fields added to the end of the @p thread_t structure. */ -#define CH_CFG_THREAD_EXT_FIELDS \ +#define CH_CFG_THREAD_EXTRA_FIELDS \ /* Add threads custom fields here.*/ /** * @brief Threads initialization hook. + * @details User initialization code added to the @p _thread_init() function. + * + * @note It is invoked from within @p _thread_init() and implicitly from all + * the threads creation APIs. */ -#define CH_CFG_THREAD_EXT_INIT_HOOK(tr) { \ - /* Add custom threads initialization code here.*/ \ +#define CH_CFG_THREAD_INIT_HOOK(tp) { \ + /* Add threads initialization code here.*/ \ } /** * @brief Threads finalization hook. * @details User finalization code added to the @p chThdExit() API. */ -#define CH_CFG_THREAD_EXIT_HOOK(tp) {} +#define CH_CFG_THREAD_EXIT_HOOK(tp) { \ + /* Add threads finalization code here.*/ \ +} + +/** + * @brief Context switch hook. + * @details This hook is invoked just before switching between threads. + */ +#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \ + /* Context switch code here.*/ \ +} + +/** + * @brief ISR enter hook. + */ +#define CH_CFG_IRQ_PROLOGUE_HOOK() { \ + /* IRQ prologue code here.*/ \ +} + +/** + * @brief ISR exit hook. + */ +#define CH_CFG_IRQ_EPILOGUE_HOOK() { \ + /* IRQ epilogue code here.*/ \ +} /** * @brief Idle thread enter hook. @@ -451,6 +708,7 @@ * @note This macro can be used to activate a power saving mode. */ #define CH_CFG_IDLE_ENTER_HOOK() { \ + /* Idle-enter code here.*/ \ } /** @@ -460,18 +718,48 @@ * @note This macro can be used to deactivate a power saving mode. */ #define CH_CFG_IDLE_LEAVE_HOOK() { \ + /* Idle-leave code here.*/ \ +} + +/** + * @brief Idle Loop hook. + * @details This hook is continuously invoked by the idle thread loop. + */ +#define CH_CFG_IDLE_LOOP_HOOK() { \ + /* Idle loop code here.*/ \ +} + +/** + * @brief System tick event hook. + * @details This hook is invoked in the system tick handler immediately + * after processing the virtual timers queue. + */ +#define CH_CFG_SYSTEM_TICK_HOOK() { \ + /* System tick event code here.*/ \ } /** * @brief System halt hook. + * @details This hook is invoked in case to a system halting error before + * the system is halted. */ #define CH_CFG_SYSTEM_HALT_HOOK(reason) { \ + /* System halt code here.*/ \ +} + +/** + * @brief Trace hook. + * @details This hook is invoked each time a new record is written in the + * trace buffer. + */ +#define CH_CFG_TRACE_HOOK(tep) { \ + /* Trace code here.*/ \ } /** @} */ /*===========================================================================*/ -/* Port-specific settings (override port settings defaulted in nilcore.h). */ +/* Port-specific settings (override port settings defaulted in chcore.h). */ /*===========================================================================*/ #endif /* CHCONF_H */ diff --git a/code/cfg/halconf.h b/code/cfg/halconf.h index 59cb08e..4002931 100644 --- a/code/cfg/halconf.h +++ b/code/cfg/halconf.h @@ -65,7 +65,7 @@ * @brief Enables the DAC subsystem. */ #if !defined(HAL_USE_DAC) || defined(__DOXYGEN__) -#define HAL_USE_DAC TRUE +#define HAL_USE_DAC FALSE #endif /** @@ -79,7 +79,7 @@ * @brief Enables the GPT subsystem. */ #if !defined(HAL_USE_GPT) || defined(__DOXYGEN__) -#define HAL_USE_GPT TRUE +#define HAL_USE_GPT FALSE #endif /** @@ -100,7 +100,7 @@ * @brief Enables the ICU subsystem. */ #if !defined(HAL_USE_ICU) || defined(__DOXYGEN__) -#define HAL_USE_ICU FALSE +#define HAL_USE_ICU TRUE #endif /** @@ -225,7 +225,7 @@ * @note Disabling this option saves both code and data space. */ #if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__) -#define PAL_USE_WAIT TRUE +#define PAL_USE_WAIT FALSE #endif /*===========================================================================*/ @@ -305,7 +305,7 @@ * @note Disabling this option saves both code and data space. */ #if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) -#define DAC_USE_MUTUAL_EXCLUSION FALSE +#define DAC_USE_MUTUAL_EXCLUSION TRUE #endif /*===========================================================================*/ diff --git a/code/cfg/mcuconf.h b/code/cfg/mcuconf.h index 6792f1d..4805f66 100644 --- a/code/cfg/mcuconf.h +++ b/code/cfg/mcuconf.h @@ -18,75 +18,79 @@ #define MCUCONF_H /* - * STM32F0xx drivers configuration. + * STM32F4xx drivers configuration. * The following settings override the default settings present in * the various device driver implementation headers. * Note that the settings for each driver only have effect if the whole * driver is enabled in halconf.h. * * IRQ priorities: - * 3...0 Lowest...Highest. + * 15...0 Lowest...Highest. * * DMA priorities: * 0...3 Lowest...Highest. */ -#define STM32F0xx_MCUCONF +#define STM32F4xx_MCUCONF /* * HAL driver system settings. */ #define STM32_NO_INIT FALSE +#define STM32_HSI_ENABLED TRUE +#define STM32_LSI_ENABLED TRUE +#define STM32_HSE_ENABLED TRUE +#define STM32_LSE_ENABLED FALSE +#define STM32_CLOCK48_REQUIRED TRUE +#define STM32_SW STM32_SW_PLL +#define STM32_PLLSRC STM32_PLLSRC_HSE +#define STM32_PLLM_VALUE 8 +#define STM32_PLLN_VALUE 336 +#define STM32_PLLP_VALUE 4 +#define STM32_PLLQ_VALUE 7 +#define STM32_HPRE STM32_HPRE_DIV1 +#define STM32_PPRE1 STM32_PPRE1_DIV2 +#define STM32_PPRE2 STM32_PPRE2_DIV1 +#define STM32_RTCSEL STM32_RTCSEL_LSI +#define STM32_RTCPRE_VALUE 8 +#define STM32_MCO1SEL STM32_MCO1SEL_HSI +#define STM32_MCO1PRE STM32_MCO1PRE_DIV1 +#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK +#define STM32_MCO2PRE STM32_MCO2PRE_DIV5 +#define STM32_I2SSRC STM32_I2SSRC_CKIN +#define STM32_PLLI2SN_VALUE 192 +#define STM32_PLLI2SR_VALUE 5 #define STM32_PVD_ENABLE FALSE #define STM32_PLS STM32_PLS_LEV0 -#define STM32_HSI_ENABLED TRUE -#define STM32_HSI14_ENABLED TRUE -#define STM32_LSI_ENABLED TRUE -#define STM32_HSE_ENABLED FALSE -#define STM32_LSE_ENABLED FALSE -#define STM32_SW STM32_SW_PLL -#define STM32_PLLSRC STM32_PLLSRC_HSI_DIV2 -#define STM32_PREDIV_VALUE 1 -#define STM32_PLLMUL_VALUE 12 -#define STM32_HPRE STM32_HPRE_DIV1 -#define STM32_PPRE STM32_PPRE_DIV1 -#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK -#define STM32_MCOPRE STM32_MCOPRE_DIV1 -#define STM32_PLLNODIV STM32_PLLNODIV_DIV2 -#define STM32_USBSW STM32_USBSW_HSI48 -#define STM32_CECSW STM32_CECSW_HSI -#define STM32_I2C1SW STM32_I2C1SW_HSI -#define STM32_USART1SW STM32_USART1SW_PCLK -#define STM32_RTCSEL STM32_RTCSEL_LSI +#define STM32_BKPRAM_ENABLE FALSE /* * IRQ system settings. */ -#define STM32_IRQ_EXTI0_1_IRQ_PRIORITY 3 -#define STM32_IRQ_EXTI2_3_IRQ_PRIORITY 3 -#define STM32_IRQ_EXTI4_15_IRQ_PRIORITY 3 -#define STM32_IRQ_EXTI16_IRQ_PRIORITY 3 -#define STM32_IRQ_EXTI17_20_IRQ_PRIORITY 3 -#define STM32_IRQ_EXTI21_22_IRQ_PRIORITY 3 -#define STM32_IRQ_USART1_PRIORITY 3 -#define STM32_IRQ_USART2_PRIORITY 3 +#define STM32_IRQ_EXTI0_PRIORITY 6 +#define STM32_IRQ_EXTI1_PRIORITY 6 +#define STM32_IRQ_EXTI2_PRIORITY 6 +#define STM32_IRQ_EXTI3_PRIORITY 6 +#define STM32_IRQ_EXTI4_PRIORITY 6 +#define STM32_IRQ_EXTI5_9_PRIORITY 6 +#define STM32_IRQ_EXTI10_15_PRIORITY 6 +#define STM32_IRQ_EXTI16_PRIORITY 6 +#define STM32_IRQ_EXTI17_PRIORITY 15 +#define STM32_IRQ_EXTI18_PRIORITY 6 +#define STM32_IRQ_EXTI19_PRIORITY 6 +#define STM32_IRQ_EXTI20_PRIORITY 6 +#define STM32_IRQ_EXTI21_PRIORITY 15 +#define STM32_IRQ_EXTI22_PRIORITY 15 /* * ADC driver system settings. */ +#define STM32_ADC_ADCPRE ADC_CCR_ADCPRE_DIV4 #define STM32_ADC_USE_ADC1 TRUE -#define STM32_ADC_ADC1_CKMODE STM32_ADC_CKMODE_ADCCLK +#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4) #define STM32_ADC_ADC1_DMA_PRIORITY 2 -#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 2 -#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(1, 1) - -/* - * DAC driver system settings. - */ -#define STM32_DAC_USE_DAC1_CH1 TRUE -#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 3 -#define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2 -#define STM32_DAC_DAC1_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) +#define STM32_ADC_IRQ_PRIORITY 6 +#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 6 /* * GPT driver system settings. @@ -94,105 +98,130 @@ #define STM32_GPT_USE_TIM1 FALSE #define STM32_GPT_USE_TIM2 FALSE #define STM32_GPT_USE_TIM3 FALSE -#define STM32_GPT_USE_TIM14 TRUE -#define STM32_GPT_TIM1_IRQ_PRIORITY 2 -#define STM32_GPT_TIM2_IRQ_PRIORITY 2 -#define STM32_GPT_TIM3_IRQ_PRIORITY 2 -#define STM32_GPT_TIM14_IRQ_PRIORITY 2 +#define STM32_GPT_USE_TIM4 FALSE +#define STM32_GPT_USE_TIM5 FALSE +#define STM32_GPT_USE_TIM9 FALSE +#define STM32_GPT_USE_TIM11 FALSE +#define STM32_GPT_TIM1_IRQ_PRIORITY 7 +#define STM32_GPT_TIM2_IRQ_PRIORITY 7 +#define STM32_GPT_TIM3_IRQ_PRIORITY 7 +#define STM32_GPT_TIM4_IRQ_PRIORITY 7 +#define STM32_GPT_TIM5_IRQ_PRIORITY 7 +#define STM32_GPT_TIM9_IRQ_PRIORITY 7 +#define STM32_GPT_TIM11_IRQ_PRIORITY 7 /* * I2C driver system settings. */ #define STM32_I2C_USE_I2C1 TRUE -#define STM32_I2C_USE_I2C2 FALSE +#define STM32_I2C_USE_I2C2 TRUE +#define STM32_I2C_USE_I2C3 FALSE #define STM32_I2C_BUSY_TIMEOUT 50 -#define STM32_I2C_I2C1_IRQ_PRIORITY 3 -#define STM32_I2C_I2C2_IRQ_PRIORITY 3 -#define STM32_I2C_USE_DMA TRUE -#define STM32_I2C_I2C1_DMA_PRIORITY 1 -#define STM32_I2C_I2C2_DMA_PRIORITY 1 -#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) -#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) -#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) -#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) +#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) +#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) +#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) +#define STM32_I2C_I2C3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) +#define STM32_I2C_I2C3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_I2C_I2C1_IRQ_PRIORITY 5 +#define STM32_I2C_I2C2_IRQ_PRIORITY 5 +#define STM32_I2C_I2C3_IRQ_PRIORITY 5 +#define STM32_I2C_I2C1_DMA_PRIORITY 3 +#define STM32_I2C_I2C2_DMA_PRIORITY 3 +#define STM32_I2C_I2C3_DMA_PRIORITY 3 #define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") /* * I2S driver system settings. */ -#define STM32_I2S_USE_SPI1 FALSE #define STM32_I2S_USE_SPI2 FALSE -#define STM32_I2S_SPI1_MODE (STM32_I2S_MODE_MASTER | \ - STM32_I2S_MODE_RX) -#define STM32_I2S_SPI2_MODE (STM32_I2S_MODE_MASTER | \ - STM32_I2S_MODE_RX) -#define STM32_I2S_SPI1_IRQ_PRIORITY 2 -#define STM32_I2S_SPI2_IRQ_PRIORITY 2 -#define STM32_I2S_SPI1_DMA_PRIORITY 1 +#define STM32_I2S_USE_SPI3 FALSE +#define STM32_I2S_SPI2_IRQ_PRIORITY 10 +#define STM32_I2S_SPI3_IRQ_PRIORITY 10 #define STM32_I2S_SPI2_DMA_PRIORITY 1 -#define STM32_I2S_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) -#define STM32_I2S_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) -#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) -#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) +#define STM32_I2S_SPI3_DMA_PRIORITY 1 +#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) +#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) +#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) #define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure") /* * ICU driver system settings. */ #define STM32_ICU_USE_TIM1 FALSE -#define STM32_ICU_USE_TIM2 FALSE +#define STM32_ICU_USE_TIM2 FALSE //FIXME: Used by another service? #define STM32_ICU_USE_TIM3 FALSE -#define STM32_ICU_TIM1_IRQ_PRIORITY 3 -#define STM32_ICU_TIM2_IRQ_PRIORITY 3 -#define STM32_ICU_TIM3_IRQ_PRIORITY 3 +#define STM32_ICU_USE_TIM4 FALSE +#define STM32_ICU_USE_TIM5 TRUE +#define STM32_ICU_USE_TIM9 FALSE +#define STM32_ICU_TIM1_IRQ_PRIORITY 7 +#define STM32_ICU_TIM2_IRQ_PRIORITY 7 +#define STM32_ICU_TIM3_IRQ_PRIORITY 7 +#define STM32_ICU_TIM4_IRQ_PRIORITY 7 +#define STM32_ICU_TIM5_IRQ_PRIORITY 7 +#define STM32_ICU_TIM9_IRQ_PRIORITY 7 /* * Quadrature Encoder driver settings */ -#define STM32_QEI_USE_TIM1 TRUE +#define STM32_QEI_USE_TIM1 FALSE #define STM32_QEI_USE_TIM2 FALSE -#define STM32_QEI_USE_TIM3 FALSE +#define STM32_QEI_USE_TIM3 TRUE #define STM32_QEI_USE_TIM4 FALSE #define STM32_QEI_USE_TIM5 FALSE #define STM32_QEI_USE_TIM8 FALSE - /* * PWM driver system settings. */ #define STM32_PWM_USE_ADVANCED FALSE -#define STM32_PWM_USE_TIM1 FALSE +#define STM32_PWM_USE_TIM1 TRUE #define STM32_PWM_USE_TIM2 FALSE -#define STM32_PWM_USE_TIM3 TRUE -#define STM32_PWM_TIM1_IRQ_PRIORITY 3 -#define STM32_PWM_TIM2_IRQ_PRIORITY 3 -#define STM32_PWM_TIM3_IRQ_PRIORITY 3 -#define STM32_PWM_TIM3_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_PWM_USE_TIM3 FALSE +#define STM32_PWM_USE_TIM4 FALSE +#define STM32_PWM_USE_TIM5 FALSE +#define STM32_PWM_USE_TIM9 TRUE +#define STM32_PWM_TIM1_IRQ_PRIORITY 7 +#define STM32_PWM_TIM2_IRQ_PRIORITY 7 +#define STM32_PWM_TIM3_IRQ_PRIORITY 7 +#define STM32_PWM_TIM4_IRQ_PRIORITY 7 +#define STM32_PWM_TIM5_IRQ_PRIORITY 7 +#define STM32_PWM_TIM9_IRQ_PRIORITY 7 /* * SERIAL driver system settings. */ #define STM32_SERIAL_USE_USART1 TRUE #define STM32_SERIAL_USE_USART2 FALSE +#define STM32_SERIAL_USE_USART6 FALSE +#define STM32_SERIAL_USART1_PRIORITY 12 +#define STM32_SERIAL_USART2_PRIORITY 12 +#define STM32_SERIAL_USART6_PRIORITY 12 /* * SPI driver system settings. */ #define STM32_SPI_USE_SPI1 FALSE #define STM32_SPI_USE_SPI2 FALSE +#define STM32_SPI_USE_SPI3 FALSE +#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0) +#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3) +#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) +#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) +#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) #define STM32_SPI_SPI1_DMA_PRIORITY 1 #define STM32_SPI_SPI2_DMA_PRIORITY 1 -#define STM32_SPI_SPI1_IRQ_PRIORITY 2 -#define STM32_SPI_SPI2_IRQ_PRIORITY 2 -#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) -#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) -#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) -#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) +#define STM32_SPI_SPI3_DMA_PRIORITY 1 +#define STM32_SPI_SPI1_IRQ_PRIORITY 10 +#define STM32_SPI_SPI2_IRQ_PRIORITY 10 +#define STM32_SPI_SPI3_IRQ_PRIORITY 10 #define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") /* * ST driver system settings. */ -#define STM32_ST_IRQ_PRIORITY 2 +#define STM32_ST_IRQ_PRIORITY 8 #define STM32_ST_USE_TIMER 2 /* @@ -200,14 +229,31 @@ */ #define STM32_UART_USE_USART1 FALSE #define STM32_UART_USE_USART2 FALSE +#define STM32_UART_USE_USART6 FALSE +#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5) +#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7) +#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) +#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) +#define STM32_UART_USART6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 2) +#define STM32_UART_USART6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7) +#define STM32_UART_USART1_IRQ_PRIORITY 12 +#define STM32_UART_USART2_IRQ_PRIORITY 12 +#define STM32_UART_USART6_IRQ_PRIORITY 12 #define STM32_UART_USART1_DMA_PRIORITY 0 #define STM32_UART_USART2_DMA_PRIORITY 0 -#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) -#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) -#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) -#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_UART_USART6_DMA_PRIORITY 0 #define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") +/* + * USB driver system settings. + */ +#define STM32_USB_USE_OTG1 FALSE +#define STM32_USB_OTG1_IRQ_PRIORITY 14 +#define STM32_USB_OTG1_RX_FIFO_SIZE 512 +#define STM32_USB_OTG_THREAD_PRIO LOWPRIO +#define STM32_USB_OTG_THREAD_STACK_SIZE 128 +#define STM32_USB_OTGFIFO_FILL_BASEPRI 0 + /* * WDG driver system settings. */ diff --git a/code/main.c b/code/main.c index 54e8e51..e19c087 100644 --- a/code/main.c +++ b/code/main.c @@ -19,26 +19,22 @@ #include "test.h" /* - * Example Thread + * This is a periodic thread that does absolutely nothing except flashing + * a LED. */ -THD_WORKING_AREA(waThread1, 256); -THD_FUNCTION(Thread1, arg) { +static THD_WORKING_AREA(waThread1, 128); +static THD_FUNCTION(Thread1, arg) { (void)arg; - + chRegSetThreadName("blinker"); while (true) { - serial_test("Hurray! Serial works\r\n"); + palSetPad(GPIOB, GPIOB_RX_EN); + chThdSleepMilliseconds(500); + palClearPad(GPIOB, GPIOB_RX_EN); chThdSleepMilliseconds(500); } } -/* - * Threads creation table, one entry per thread. - */ -THD_TABLE_BEGIN - THD_TABLE_THREAD(3, "demo", waThread1, Thread1, NULL) -THD_TABLE_END - /* * Application entry point. */ @@ -54,10 +50,22 @@ int main(void) { halInit(); chSysInit(); - /* This is now the idle thread loop, you may perform here a low priority - task but you must never try to sleep or wait in this loop. Note that - this tasks runs at the lowest priority level so any instruction added - here will be executed after all other tasks have been started.*/ + /* + * Activates the serial driver 1 using the driver default configuration. + */ + sdStart(&SD1, NULL); + + /* + * Creates the example thread. + */ + chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL); + + /* + * Normal main() thread activity, in this demo it does nothing except + * sleeping in a loop and check the button state. + */ while (true) { + serial_test("Hurray! Serial works\r\n"); + chThdSleepMilliseconds(500); } } diff --git a/code/test.c b/code/test.c index b89522a..1e4ebc4 100644 --- a/code/test.c +++ b/code/test.c @@ -20,15 +20,15 @@ void speaker_simple_test(float freq){ .period = (1<<10), // 11 bits of data to give a 16 kHz update rate .callback = NULL, .channels = { + {PWM_OUTPUT_DISABLED, NULL}, + {PWM_OUTPUT_DISABLED, NULL}, {PWM_OUTPUT_ACTIVE_HIGH, NULL}, - {PWM_OUTPUT_DISABLED, NULL}, - {PWM_OUTPUT_DISABLED, NULL}, {PWM_OUTPUT_DISABLED, NULL} }, .cr2 = 0, .dier = 0, }; - pwmStart(&PWMD3, &spkr); + pwmStart(&PWMD1, &spkr); const float tau = 6.2832; float step = freq * tau / 10e3; float x = 0; @@ -37,7 +37,7 @@ void speaker_simple_test(float freq){ if(x > tau) x -= tau; int16_t val = (1<<9)*(sin(x)+1); - pwmEnableChannel(&PWMD3, 0, val); + pwmEnableChannel(&PWMD1, 2, val); chThdSleepMicroseconds(100); } } @@ -93,10 +93,10 @@ void encoder_test(void){ .range = 1000 }; sdStart(&SD1, &scfg); - qeiStart(&QEID1, &encoder); - qeiEnable(&QEID1); + qeiStart(&QEID3, &encoder); + qeiEnable(&QEID3); while(1){ - int position = qeiGetPositionI(&QEID1); + int position = qeiGetPositionI(&QEID3); char msg[20]; int digits = format_int(msg, position); memcpy2(msg+digits, "\r\n", 2); @@ -104,29 +104,6 @@ void encoder_test(void){ chThdSleepMilliseconds(100); } } -void dac_simple_test(float freq){ - const DACConfig dac1cfg1 = { - .init = 2047U, - .datamode = DAC_DHRM_12BIT_RIGHT, - .cr = 0 - }; - dacStart(&DACD1, &dac1cfg1); - const float tau = 6.2832; - float step = freq * tau / 10e3; - float x = 0; - while(1){ - x += step; - if(x > tau) - x -= tau; - int16_t val = (1<<9)*(sin(x)+1); - dacPutChannelX(&DACD1, 1, val); - chThdSleepMicroseconds(100); - } -} -void dac_streaming_test(float freq){ - (void)freq; - //TODO: Make callback function to handle half-buffer fill -} void i2c_simple_test(void){ const I2CConfig i2c_cfg; // No configuration? i2cStart(&I2CD1, &i2c_cfg); diff --git a/code/test.h b/code/test.h index c4536e3..9e806d8 100644 --- a/code/test.h +++ b/code/test.h @@ -4,6 +4,4 @@ void speaker_simple_test(float freq); void speaker_streaming_test(float freq); void adc_simple_test(void); void encoder_test(void); -void dac_simple_test(float freq); -void dac_streaming_test(float freq); void i2c_simple_test(void);