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speeduino/speeduino/board_stm32_official.cpp

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#include "board_stm32_official.h"
#include "globals.h"
#if defined(STM32_CORE_VERSION_MAJOR)
#include "auxiliaries.h"
#include "idle.h"
#include "scheduler.h"
#include "HardwareTimer.h"
#include "timers.h"
#include "comms_secondary.h"
#if HAL_CAN_MODULE_ENABLED
//This activates CAN1 interface on STM32, but it's named as Can0, because that's how Teensy implementation is done
STM32_CAN Can0 (CAN1, ALT_2, RX_SIZE_256, TX_SIZE_16);
/*
These CAN interfaces and pins are available for use, depending on the chip/package:
Default CAN1 pins are PA11 and PA12. Alternative (ALT) pins are PB8 & PB9 and ALT_2 pins are PD0 & PD1.
Default CAN2 pins are PB12 & PB13. Alternative (ALT) pins are PB5 & PB6.
Default CAN3 pins are PA8 & PA15. Alternative (ALT) pins are PB3 & PB4.
*/
#endif
#if defined SD_LOGGING
SPIClass SD_SPI(PC12, PC11, PC10); //SPI3_MOSI, SPI3_MISO, SPI3_SCK
#endif
#if defined(SRAM_AS_EEPROM)
BackupSramAsEEPROM EEPROM;
#elif defined(USE_SPI_EEPROM)
#if defined(STM32F407xx)
SPIClass SPI_for_flash(PB5, PB4, PB3); //SPI1_MOSI, SPI1_MISO, SPI1_SCK
#else //Blue/Black Pills
SPIClass SPI_for_flash(PB15, PB14, PB13);
#endif
//winbond W25Q16 SPI flash EEPROM emulation
EEPROM_Emulation_Config EmulatedEEPROMMconfig{255UL, 4096UL, 31, 0x00100000UL};
Flash_SPI_Config SPIconfig{USE_SPI_EEPROM, SPI_for_flash};
SPI_EEPROM_Class EEPROM(EmulatedEEPROMMconfig, SPIconfig);
#elif defined(FRAM_AS_EEPROM) //https://github.com/VitorBoss/FRAM
#if defined(STM32F407xx)
SPIClass SPI_for_FRAM(PB5, PB4, PB3); //SPI1_MOSI, SPI1_MISO, SPI1_SCK
FramClass EEPROM(PB0, SPI_for_FRAM);
#else //Blue/Black Pills
SPIClass SPI_for_FRAM(PB15, PB14, PB13);
FramClass EEPROM(PB12, SPI_for_FRAM);
#endif
#elif defined(STM32F7xx)
#if defined(DUAL_BANK)
EEPROM_Emulation_Config EmulatedEEPROMMconfig{4UL, 131072UL, 2047UL, 0x08120000UL};
#else
EEPROM_Emulation_Config EmulatedEEPROMMconfig{2UL, 262144UL, 4095UL, 0x08180000UL};
#endif
InternalSTM32F7_EEPROM_Class EEPROM(EmulatedEEPROMMconfig);
#elif defined(STM32F401xC)
EEPROM_Emulation_Config EmulatedEEPROMMconfig{1UL, 131072UL, 4095UL, 0x08020000UL};
InternalSTM32F4_EEPROM_Class EEPROM(EmulatedEEPROMMconfig);
#elif defined(STM32F411xE)
EEPROM_Emulation_Config EmulatedEEPROMMconfig{2UL, 131072UL, 4095UL, 0x08040000UL};
InternalSTM32F4_EEPROM_Class EEPROM(EmulatedEEPROMMconfig);
#else //default case, internal flash as EEPROM for STM32F4
EEPROM_Emulation_Config EmulatedEEPROMMconfig{4UL, 131072UL, 2047UL, 0x08080000UL};
InternalSTM32F4_EEPROM_Class EEPROM(EmulatedEEPROMMconfig);
#endif
HardwareTimer Timer1(TIM1);
HardwareTimer Timer2(TIM2);
HardwareTimer Timer3(TIM3);
HardwareTimer Timer4(TIM4);
#if !defined(ARDUINO_BLUEPILL_F103C8) && !defined(ARDUINO_BLUEPILL_F103CB) //F103 just have 4 timers
HardwareTimer Timer5(TIM5);
#if defined(TIM11)
HardwareTimer Timer11(TIM11);
#elif defined(TIM7)
HardwareTimer Timer11(TIM7);
#endif
#endif
#ifdef RTC_ENABLED
STM32RTC& rtc = STM32RTC::getInstance();
#endif
void initBoard()
{
/*
***********************************************************************************************************
* General
*/
#ifndef FLASH_LENGTH
#define FLASH_LENGTH 8192
#endif
delay(10);
#ifndef HAVE_HWSERIAL2 //Hack to get the code to compile on BlackPills
#define Serial2 Serial1
#endif
pSecondarySerial = &Serial2;
/*
***********************************************************************************************************
* Real Time clock for datalogging/time stamping
*/
#ifdef RTC_ENABLED
//Check if RTC time has been set earlier. If yes, RTC will use LSE_CLOCK. If not, default LSI_CLOCK is used, to prevent hanging on boot.
if (rtc.isTimeSet()) {
rtc.setClockSource(STM32RTC::LSE_CLOCK); //Initialise external clock for RTC if clock is set. That is the only clock running of VBAT
}
rtc.begin(); // initialise RTC 24H format
#endif
/*
***********************************************************************************************************
* Idle
*/
if( (configPage6.iacAlgorithm == IAC_ALGORITHM_PWM_OL) || (configPage6.iacAlgorithm == IAC_ALGORITHM_PWM_CL) || (configPage6.iacAlgorithm == IAC_ALGORITHM_PWM_OLCL))
{
idle_pwm_max_count = (uint16_t)(MICROS_PER_SEC / (TIMER_RESOLUTION * configPage6.idleFreq * 2U)); //Converts the frequency in Hz to the number of ticks (at 4uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 5KHz
}
//This must happen at the end of the idle init
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer1.setMode(4, TIMER_OUTPUT_COMPARE);
#else
Timer1.setMode(4, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer1.attachInterrupt(4, idleInterrupt); //on first flash the configPage4.iacAlgorithm is invalid
/*
***********************************************************************************************************
* Timers
*/
#if defined(ARDUINO_BLUEPILL_F103C8) || defined(ARDUINO_BLUEPILL_F103CB)
Timer4.setOverflow(1000, MICROSEC_FORMAT); // Set up period
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer4.setMode(1, TIMER_OUTPUT_COMPARE);
Timer4.attachInterrupt(1, oneMSInterval);
#else //2.0 forward
Timer4.attachInterrupt(oneMSInterval);
#endif
Timer4.resume(); //Start Timer
#else
Timer11.setOverflow(1000, MICROSEC_FORMAT); // Set up period
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer11.setMode(1, TIMER_OUTPUT_COMPARE);
Timer11.attachInterrupt(1, oneMSInterval);
#else
Timer11.attachInterrupt(oneMSInterval);
#endif
Timer11.resume(); //Start Timer
#endif
pinMode(LED_BUILTIN, OUTPUT); //Visual WDT
/*
***********************************************************************************************************
* Auxiliaries
*/
//2uS resolution Min 8Hz, Max 5KHz
boost_pwm_max_count = (uint16_t)(MICROS_PER_SEC / (TIMER_RESOLUTION * configPage6.boostFreq * 2U)); //Converts the frequency in Hz to the number of ticks (at 4uS) it takes to complete 1 cycle. The x2 is there because the frequency is stored at half value (in a byte) to allow frequencies up to 511Hz
vvt_pwm_max_count = (uint16_t)(MICROS_PER_SEC / (TIMER_RESOLUTION * configPage6.vvtFreq * 2U)); //Converts the frequency in Hz to the number of ticks (at 4uS) it takes to complete 1 cycle
fan_pwm_max_count = (uint16_t)(MICROS_PER_SEC / (TIMER_RESOLUTION * configPage6.fanFreq * 2U)); //Converts the frequency in Hz to the number of ticks (at 4uS) it takes to complete 1 cycle
//Need to be initialised last due to instant interrupt
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer1.setMode(1, TIMER_OUTPUT_COMPARE);
Timer1.setMode(2, TIMER_OUTPUT_COMPARE);
Timer1.setMode(3, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer1.setMode(1, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer1.setMode(2, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer1.setMode(3, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer1.attachInterrupt(1, fanInterrupt);
Timer1.attachInterrupt(2, boostInterrupt);
Timer1.attachInterrupt(3, vvtInterrupt);
/*
***********************************************************************************************************
* Schedules
*/
Timer1.setOverflow(0xFFFF, TICK_FORMAT);
Timer2.setOverflow(0xFFFF, TICK_FORMAT);
Timer3.setOverflow(0xFFFF, TICK_FORMAT);
Timer1.setPrescaleFactor(((Timer1.getTimerClkFreq()/1000000) * TIMER_RESOLUTION)-1); //4us resolution
Timer2.setPrescaleFactor(((Timer2.getTimerClkFreq()/1000000) * TIMER_RESOLUTION)-1); //4us resolution
Timer3.setPrescaleFactor(((Timer3.getTimerClkFreq()/1000000) * TIMER_RESOLUTION)-1); //4us resolution
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer2.setMode(1, TIMER_OUTPUT_COMPARE);
Timer2.setMode(2, TIMER_OUTPUT_COMPARE);
Timer2.setMode(3, TIMER_OUTPUT_COMPARE);
Timer2.setMode(4, TIMER_OUTPUT_COMPARE);
Timer3.setMode(1, TIMER_OUTPUT_COMPARE);
Timer3.setMode(2, TIMER_OUTPUT_COMPARE);
Timer3.setMode(3, TIMER_OUTPUT_COMPARE);
Timer3.setMode(4, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer2.setMode(1, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer2.setMode(2, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer2.setMode(3, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer2.setMode(4, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer3.setMode(1, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer3.setMode(2, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer3.setMode(3, TIMER_OUTPUT_COMPARE_TOGGLE);
Timer3.setMode(4, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
//Attach interrupt functions
//Injection
Timer3.attachInterrupt(1, fuelSchedule1Interrupt);
Timer3.attachInterrupt(2, fuelSchedule2Interrupt);
Timer3.attachInterrupt(3, fuelSchedule3Interrupt);
Timer3.attachInterrupt(4, fuelSchedule4Interrupt);
#if (INJ_CHANNELS >= 5)
Timer5.setOverflow(0xFFFF, TICK_FORMAT);
Timer5.setPrescaleFactor(((Timer5.getTimerClkFreq()/1000000) * TIMER_RESOLUTION)-1); //4us resolution
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer5.setMode(1, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer5.setMode(1, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer5.attachInterrupt(1, fuelSchedule5Interrupt);
#endif
#if (INJ_CHANNELS >= 6)
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer5.setMode(2, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer5.setMode(1, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer5.attachInterrupt(2, fuelSchedule6Interrupt);
#endif
#if (INJ_CHANNELS >= 7)
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer5.setMode(3, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer5.setMode(3, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer5.attachInterrupt(3, fuelSchedule7Interrupt);
#endif
#if (INJ_CHANNELS >= 8)
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer5.setMode(4, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer5.setMode(4, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer5.attachInterrupt(4, fuelSchedule8Interrupt);
#endif
//Ignition
Timer2.attachInterrupt(1, ignitionSchedule1Interrupt);
Timer2.attachInterrupt(2, ignitionSchedule2Interrupt);
Timer2.attachInterrupt(3, ignitionSchedule3Interrupt);
Timer2.attachInterrupt(4, ignitionSchedule4Interrupt);
#if (IGN_CHANNELS >= 5)
Timer4.setOverflow(0xFFFF, TICK_FORMAT);
Timer4.setPrescaleFactor(((Timer4.getTimerClkFreq()/1000000) * TIMER_RESOLUTION)-1); //4us resolution
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer4.setMode(1, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer4.setMode(1, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer4.attachInterrupt(1, ignitionSchedule5Interrupt);
#endif
#if (IGN_CHANNELS >= 6)
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer4.setMode(2, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer4.setMode(2, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer4.attachInterrupt(2, ignitionSchedule6Interrupt);
#endif
#if (IGN_CHANNELS >= 7)
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer4.setMode(3, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer4.setMode(3, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer4.attachInterrupt(3, ignitionSchedule7Interrupt);
#endif
#if (IGN_CHANNELS >= 8)
#if ( STM32_CORE_VERSION_MAJOR < 2 )
Timer4.setMode(4, TIMER_OUTPUT_COMPARE);
#else //2.0 forward
Timer4.setMode(4, TIMER_OUTPUT_COMPARE_TOGGLE);
#endif
Timer4.attachInterrupt(4, ignitionSchedule8Interrupt);
#endif
}
uint16_t freeRam()
{
uint32_t freeRam;
uint32_t stackTop;
uint32_t heapTop;
// current position of the stack.
stackTop = (uint32_t)&stackTop;
// current position of heap.
void *hTop = malloc(1);
heapTop = (uint32_t)hTop;
free(hTop);
freeRam = stackTop - heapTop;
if(freeRam>0xFFFF){return 0xFFFF;}
else{return freeRam;}
}
void doSystemReset( void )
{
__disable_irq();
NVIC_SystemReset();
}
void jumpToBootloader( void ) // https://github.com/3devo/Arduino_Core_STM32/blob/jumpSysBL/libraries/SrcWrapper/src/stm32/bootloader.c
{ // https://github.com/markusgritsch/SilF4ware/blob/master/SilF4ware/drv_reset.c
#if !defined(STM32F103xB)
HAL_RCC_DeInit();
HAL_DeInit();
SysTick->VAL = SysTick->LOAD = SysTick->CTRL = 0;
SYSCFG->MEMRMP = 0x01;
#if defined(STM32F7xx) || defined(STM32H7xx)
const uint32_t DFU_addr = 0x1FF00000; // From AN2606
#else
const uint32_t DFU_addr = 0x1FFF0000; // Default for STM32F10xxx and STM32F40xxx/STM32F41xxx from AN2606
#endif
// This is assembly to prevent modifying the stack pointer after
// loading it, and to ensure a jump (not call) to the bootloader.
// Not sure if the barriers are really needed, they were taken from
// https://github.com/GrumpyOldPizza/arduino-STM32L4/blob/ac659033eadd50cfe001ba1590a1362b2d87bb76/system/STM32L4xx/Source/boot_stm32l4xx.c#L159-L165
asm volatile (
"ldr r0, [%[DFU_addr], #0] \n\t" // get address of stack pointer
"msr msp, r0 \n\t" // set stack pointer
"ldr r0, [%[DFU_addr], #4] \n\t" // get address of reset handler
"dsb \n\t" // data sync barrier
"isb \n\t" // instruction sync barrier
"bx r0 \n\t" // branch to bootloader
: : [DFU_addr] "l" (DFU_addr) : "r0"
);
__builtin_unreachable();
#endif
}
/*
***********************************************************************************************************
* Interrupt callback functions
*/
#if ((STM32_CORE_VERSION_MINOR<=8) & (STM32_CORE_VERSION_MAJOR==1))
void oneMSInterval(HardwareTimer*){oneMSInterval();}
void boostInterrupt(HardwareTimer*){boostInterrupt();}
void fuelSchedule1Interrupt(HardwareTimer*){fuelSchedule1Interrupt();}
void fuelSchedule2Interrupt(HardwareTimer*){fuelSchedule2Interrupt();}
void fuelSchedule3Interrupt(HardwareTimer*){fuelSchedule3Interrupt();}
void fuelSchedule4Interrupt(HardwareTimer*){fuelSchedule4Interrupt();}
#if (INJ_CHANNELS >= 5)
void fuelSchedule5Interrupt(HardwareTimer*){fuelSchedule5Interrupt();}
#endif
#if (INJ_CHANNELS >= 6)
void fuelSchedule6Interrupt(HardwareTimer*){fuelSchedule6Interrupt();}
#endif
#if (INJ_CHANNELS >= 7)
void fuelSchedule7Interrupt(HardwareTimer*){fuelSchedule7Interrupt();}
#endif
#if (INJ_CHANNELS >= 8)
void fuelSchedule8Interrupt(HardwareTimer*){fuelSchedule8Interrupt();}
#endif
void idleInterrupt(HardwareTimer*){idleInterrupt();}
void vvtInterrupt(HardwareTimer*){vvtInterrupt();}
void fanInterrupt(HardwareTimer*){fanInterrupt();}
void ignitionSchedule1Interrupt(HardwareTimer*){ignitionSchedule1Interrupt();}
void ignitionSchedule2Interrupt(HardwareTimer*){ignitionSchedule2Interrupt();}
void ignitionSchedule3Interrupt(HardwareTimer*){ignitionSchedule3Interrupt();}
void ignitionSchedule4Interrupt(HardwareTimer*){ignitionSchedule4Interrupt();}
#if (IGN_CHANNELS >= 5)
void ignitionSchedule5Interrupt(HardwareTimer*){ignitionSchedule5Interrupt();}
#endif
#if (IGN_CHANNELS >= 6)
void ignitionSchedule6Interrupt(HardwareTimer*){ignitionSchedule6Interrupt();}
#endif
#if (IGN_CHANNELS >= 7)
void ignitionSchedule7Interrupt(HardwareTimer*){ignitionSchedule7Interrupt();}
#endif
#if (IGN_CHANNELS >= 8)
void ignitionSchedule8Interrupt(HardwareTimer*){ignitionSchedule8Interrupt();}
#endif
#endif //End core<=1.8
#endif
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