//go:build stm32g0 package machine // Peripheral abstraction layer for the stm32g0 import ( "device/stm32" "runtime/interrupt" "runtime/volatile" "unsafe" ) const ( // CPU frequency for STM32G0 (64MHz via PLL: HSI16 / 1 * 8 / 2) cpuFreq = 64000000 ) func CPUFrequency() uint32 { return cpuFreq } var deviceIDAddr = []uintptr{0x1FFF7590, 0x1FFF7594, 0x1FFF7598} // Internal use: configured speed of the APB1 and APB2 timers, this should be kept // in sync with any changes to runtime package which configures the oscillators // and clock frequencies const APB1_TIM_FREQ = 64e6 // 64MHz (PLL: HSI16 / 1 * 8 / 2) const APB2_TIM_FREQ = 64e6 // 64MHz (PLL: HSI16 / 1 * 8 / 2) const ( PA0 = portA + 0 PA1 = portA + 1 PA2 = portA + 2 PA3 = portA + 3 PA4 = portA + 4 PA5 = portA + 5 PA6 = portA + 6 PA7 = portA + 7 PA8 = portA + 8 PA9 = portA + 9 PA10 = portA + 10 PA11 = portA + 11 PA12 = portA + 12 PA13 = portA + 13 PA14 = portA + 14 PA15 = portA + 15 PB0 = portB + 0 PB1 = portB + 1 PB2 = portB + 2 PB3 = portB + 3 PB4 = portB + 4 PB5 = portB + 5 PB6 = portB + 6 PB7 = portB + 7 PB8 = portB + 8 PB9 = portB + 9 PB10 = portB + 10 PB11 = portB + 11 PB12 = portB + 12 PB13 = portB + 13 PB14 = portB + 14 PB15 = portB + 15 PC0 = portC + 0 PC1 = portC + 1 PC2 = portC + 2 PC3 = portC + 3 PC4 = portC + 4 PC5 = portC + 5 PC6 = portC + 6 PC7 = portC + 7 PC8 = portC + 8 PC9 = portC + 9 PC10 = portC + 10 PC11 = portC + 11 PC12 = portC + 12 PC13 = portC + 13 PC14 = portC + 14 PC15 = portC + 15 PD0 = portD + 0 PD1 = portD + 1 PD2 = portD + 2 PD3 = portD + 3 PD4 = portD + 4 PD5 = portD + 5 PD6 = portD + 6 PD7 = portD + 7 PD8 = portD + 8 PD9 = portD + 9 PD10 = portD + 10 PD11 = portD + 11 PD12 = portD + 12 PD13 = portD + 13 PD14 = portD + 14 PD15 = portD + 15 PE0 = portE + 0 PE1 = portE + 1 PE2 = portE + 2 PE3 = portE + 3 PE4 = portE + 4 PE5 = portE + 5 PE6 = portE + 6 PE7 = portE + 7 PE8 = portE + 8 PE9 = portE + 9 PE10 = portE + 10 PE11 = portE + 11 PE12 = portE + 12 PE13 = portE + 13 PE14 = portE + 14 PE15 = portE + 15 PF0 = portF + 0 PF1 = portF + 1 PF2 = portF + 2 PF3 = portF + 3 PF4 = portF + 4 PF5 = portF + 5 PF6 = portF + 6 PF7 = portF + 7 PF8 = portF + 8 PF9 = portF + 9 PF10 = portF + 10 PF11 = portF + 11 PF12 = portF + 12 PF13 = portF + 13 PF14 = portF + 14 PF15 = portF + 15 ) func (p Pin) getPort() *stm32.GPIO_Type { switch p / 16 { case 0: return stm32.GPIOA case 1: return stm32.GPIOB case 2: return stm32.GPIOC case 3: return stm32.GPIOD case 4: return stm32.GPIOE case 5: return stm32.GPIOF default: panic("machine: unknown port") } } // enableClock enables the clock for this desired GPIO port. func (p Pin) enableClock() { switch p / 16 { case 0: stm32.RCC.SetIOPENR_GPIOAEN(1) case 1: stm32.RCC.SetIOPENR_GPIOBEN(1) case 2: stm32.RCC.SetIOPENR_GPIOCEN(1) case 3: stm32.RCC.SetIOPENR_GPIODEN(1) case 4: stm32.RCC.SetIOPENR_GPIOEEN(1) case 5: stm32.RCC.SetIOPENR_GPIOFEN(1) default: panic("machine: unknown port") } } func (p Pin) registerInterrupt() interrupt.Interrupt { pin := uint8(p) % 16 switch pin { case 0: return interrupt.New(stm32.IRQ_EXTI0_1, func(interrupt.Interrupt) { handlePinInterrupt(0) }) case 1: return interrupt.New(stm32.IRQ_EXTI0_1, func(interrupt.Interrupt) { handlePinInterrupt(1) }) case 2: return interrupt.New(stm32.IRQ_EXTI2_3, func(interrupt.Interrupt) { handlePinInterrupt(2) }) case 3: return interrupt.New(stm32.IRQ_EXTI2_3, func(interrupt.Interrupt) { handlePinInterrupt(3) }) case 4: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(4) }) case 5: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(5) }) case 6: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(6) }) case 7: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(7) }) case 8: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(8) }) case 9: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(9) }) case 10: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(10) }) case 11: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(11) }) case 12: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(12) }) case 13: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(13) }) case 14: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(14) }) case 15: return interrupt.New(stm32.IRQ_EXTI4_15, func(interrupt.Interrupt) { handlePinInterrupt(15) }) } return interrupt.Interrupt{} } //---------- UART related types and code // Configure the UART. func (uart *UART) configurePins(config UARTConfig) { // enable the alternate functions on the TX and RX pins config.TX.ConfigureAltFunc(PinConfig{Mode: PinModeUARTTX}, uart.TxAltFuncSelector) config.RX.ConfigureAltFunc(PinConfig{Mode: PinModeUARTRX}, uart.RxAltFuncSelector) } // UART baudrate calc based on the bus and clockspeed func (uart *UART) getBaudRateDivisor(baudRate uint32) uint32 { return CPUFrequency() / baudRate } // Register names vary by ST processor, these are for STM G0 family func (uart *UART) setRegisters() { uart.rxReg = &uart.Bus.RDR uart.txReg = &uart.Bus.TDR uart.statusReg = &uart.Bus.ISR uart.txEmptyFlag = stm32.USART_ISR_TXE uart.errClearReg = &uart.Bus.ICR } //---------- SPI related types and code // SPI on the STM32G0 using MODER / alternate function pins type SPI struct { Bus *stm32.SPI_Type AltFuncSelector uint8 } func (spi *SPI) config8Bits() { // Set rx threshold to 8-bits, so RXNE flag is set for 1 byte spi.Bus.SetCR2_FRXTH(1) } // Set baud rate for SPI func (spi *SPI) getBaudRate(config SPIConfig) uint32 { var conf uint32 localFrequency := config.Frequency // Default if localFrequency == 0 { localFrequency = 4e6 } // set frequency dependent on PCLK prescaler switch { case localFrequency < 250000: conf = stm32.SPI_CR1_BR_Div256 case localFrequency < 500000: conf = stm32.SPI_CR1_BR_Div128 case localFrequency < 1000000: conf = stm32.SPI_CR1_BR_Div64 case localFrequency < 2000000: conf = stm32.SPI_CR1_BR_Div32 case localFrequency < 4000000: conf = stm32.SPI_CR1_BR_Div16 case localFrequency < 8000000: conf = stm32.SPI_CR1_BR_Div8 case localFrequency < 16000000: conf = stm32.SPI_CR1_BR_Div4 case localFrequency < 32000000: conf = stm32.SPI_CR1_BR_Div2 default: // None of the specific baudrates were selected; choose the lowest speed conf = stm32.SPI_CR1_BR_Div256 } return conf << stm32.SPI_CR1_BR_Pos } // Configure SPI pins for input output and clock func (spi *SPI) configurePins(config SPIConfig) { config.SCK.ConfigureAltFunc(PinConfig{Mode: PinModeSPICLK}, spi.AltFuncSelector) config.SDO.ConfigureAltFunc(PinConfig{Mode: PinModeSPISDO}, spi.AltFuncSelector) config.SDI.ConfigureAltFunc(PinConfig{Mode: PinModeSPISDI}, spi.AltFuncSelector) } //---------- I2C related types and code // Gets the value for TIMINGR register func (i2c *I2C) getFreqRange(br uint32) uint32 { // These are 'magic' values calculated by STM32CubeMX // for 64MHz PCLK1 (PLL: HSI16 / 1 * 8 / 2). // TODO: Do calculations based on PCLK1 switch br { case 10 * KHz: return 0xF010F3FE // 64MHz, 10kHz I2C case 100 * KHz: return 0x30A0A7FB // 64MHz, 100kHz I2C (Standard mode) case 400 * KHz: return 0x10802D9B // 64MHz, 400kHz I2C (Fast mode) case 500 * KHz: return 0x00802172 // 64MHz, 500kHz I2C default: return 0 } } // Enable peripheral clock func enableAltFuncClock(bus unsafe.Pointer) { switch bus { case unsafe.Pointer(stm32.PWR): // Power interface clock enable stm32.RCC.SetAPBENR1_PWREN(1) case unsafe.Pointer(stm32.I2C1): // I2C1 clock enable stm32.RCC.SetAPBENR1_I2C1EN(1) case unsafe.Pointer(stm32.I2C2): // I2C2 clock enable stm32.RCC.SetAPBENR1_I2C2EN(1) case unsafe.Pointer(stm32.USART2): // USART2 clock enable stm32.RCC.SetAPBENR1_USART2EN(1) case unsafe.Pointer(stm32.USART3): // USART3 clock enable stm32.RCC.SetAPBENR1_USART3EN(1) case unsafe.Pointer(stm32.USART4): // USART4 clock enable stm32.RCC.SetAPBENR1_USART4EN(1) case unsafe.Pointer(stm32.SPI2): // SPI2 clock enable stm32.RCC.SetAPBENR1_SPI2EN(1) case unsafe.Pointer(stm32.WWDG): // Window watchdog clock enable stm32.RCC.SetAPBENR1_WWDGEN(1) case unsafe.Pointer(stm32.TIM2): // TIM2 clock enable stm32.RCC.SetAPBENR1_TIM2EN(1) case unsafe.Pointer(stm32.TIM3): // TIM3 clock enable stm32.RCC.SetAPBENR1_TIM3EN(1) case unsafe.Pointer(stm32.TIM6): // TIM6 clock enable stm32.RCC.SetAPBENR1_TIM6EN(1) case unsafe.Pointer(stm32.TIM7): // TIM7 clock enable stm32.RCC.SetAPBENR1_TIM7EN(1) case unsafe.Pointer(stm32.LPUART1): // LPUART1 clock enable stm32.RCC.SetAPBENR1_LPUART1EN(1) case unsafe.Pointer(stm32.TIM1): // TIM1 clock enable stm32.RCC.SetAPBENR2_TIM1EN(1) case unsafe.Pointer(stm32.SPI1): // SPI1 clock enable stm32.RCC.SetAPBENR2_SPI1EN(1) case unsafe.Pointer(stm32.USART1): // USART1 clock enable stm32.RCC.SetAPBENR2_USART1EN(1) case unsafe.Pointer(stm32.TIM14): // TIM14 clock enable stm32.RCC.SetAPBENR2_TIM14EN(1) case unsafe.Pointer(stm32.TIM15): // TIM15 clock enable stm32.RCC.SetAPBENR2_TIM15EN(1) case unsafe.Pointer(stm32.TIM16): // TIM16 clock enable stm32.RCC.SetAPBENR2_TIM16EN(1) case unsafe.Pointer(stm32.TIM17): // TIM17 clock enable stm32.RCC.SetAPBENR2_TIM17EN(1) case unsafe.Pointer(stm32.ADC): // ADC clock enable stm32.RCC.SetAPBENR2_ADCEN(1) case unsafe.Pointer(stm32.FDCAN1), unsafe.Pointer(stm32.FDCAN2): // FDCAN clock enable stm32.RCC.SetAPBENR1_FDCANEN(1) } } //---------- Timer related code // Alternate function constants for STM32G0 const ( AF0_SYSTEM = 0 AF1_TIM1_TIM2_TIM3_LPTIM1 = 1 AF2_TIM1_TIM2_TIM3_TIM14_I2C2 = 2 AF3_USART5_USART6_LPUART2 = 3 AF3_FDCAN1_FDCAN2 = 3 // FDCAN on PC2/PC3/PC4/PC5, PD12/PD13/PD14/PD15 AF4_USART1_USART2_TIM14 = 4 AF5_SPI1_SPI2_TIM16_TIM17 = 5 AF6_SPI2_USART3_USART4_I2C1 = 6 AF7_USART1_USART2_COMP1_COMP2 = 7 AF8_I2C1_I2C2_UCPD1_UCPD2 = 8 AF9_SPI2_TIM14_TIM15 = 9 AF9_FDCAN1_FDCAN2 = 9 // FDCAN on PA11/PA12, PB8/PB9 ) var ( TIM1 = TIM{ EnableRegister: &stm32.RCC.APBENR2, EnableFlag: stm32.RCC_APBENR2_TIM1EN, Device: stm32.TIM1, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA8, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{{PA9, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{{PA10, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{{PA11, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, }, busFreq: APB2_TIM_FREQ, } TIM2 = TIM{ EnableRegister: &stm32.RCC.APBENR1, EnableFlag: stm32.RCC_APBENR1_TIM2EN, Device: stm32.TIM2, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA0, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}, {PA5, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}, {PA15, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{{PA1, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}, {PB3, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{{PA2, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}, {PB10, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{{PA3, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}, {PB11, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, }, busFreq: APB1_TIM_FREQ, } TIM3 = TIM{ EnableRegister: &stm32.RCC.APBENR1, EnableFlag: stm32.RCC_APBENR1_TIM3EN, Device: stm32.TIM3, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA6, AF1_TIM1_TIM2_TIM3_LPTIM1}, {PB4, AF1_TIM1_TIM2_TIM3_LPTIM1}, {PC6, AF1_TIM1_TIM2_TIM3_LPTIM1}}}, {Pins: []PinFunction{{PA7, AF1_TIM1_TIM2_TIM3_LPTIM1}, {PB5, AF1_TIM1_TIM2_TIM3_LPTIM1}, {PC7, AF1_TIM1_TIM2_TIM3_LPTIM1}}}, {Pins: []PinFunction{{PB0, AF1_TIM1_TIM2_TIM3_LPTIM1}, {PC8, AF1_TIM1_TIM2_TIM3_LPTIM1}}}, {Pins: []PinFunction{{PB1, AF1_TIM1_TIM2_TIM3_LPTIM1}, {PC9, AF1_TIM1_TIM2_TIM3_LPTIM1}}}, }, busFreq: APB1_TIM_FREQ, } TIM6 = TIM{ EnableRegister: &stm32.RCC.APBENR1, EnableFlag: stm32.RCC_APBENR1_TIM6EN, Device: stm32.TIM6, Channels: [4]TimerChannel{ {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, }, busFreq: APB1_TIM_FREQ, } TIM7 = TIM{ EnableRegister: &stm32.RCC.APBENR1, EnableFlag: stm32.RCC_APBENR1_TIM7EN, Device: stm32.TIM7, Channels: [4]TimerChannel{ {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, }, busFreq: APB1_TIM_FREQ, } TIM14 = TIM{ EnableRegister: &stm32.RCC.APBENR2, EnableFlag: stm32.RCC_APBENR2_TIM14EN, Device: stm32.TIM14, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA4, AF4_USART1_USART2_TIM14}, {PA7, AF4_USART1_USART2_TIM14}, {PB1, AF0_SYSTEM}}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, }, busFreq: APB2_TIM_FREQ, } TIM15 = TIM{ EnableRegister: &stm32.RCC.APBENR2, EnableFlag: stm32.RCC_APBENR2_TIM15EN, Device: stm32.TIM15, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA2, AF5_SPI1_SPI2_TIM16_TIM17}, {PB14, AF5_SPI1_SPI2_TIM16_TIM17}}}, {Pins: []PinFunction{{PA3, AF5_SPI1_SPI2_TIM16_TIM17}, {PB15, AF5_SPI1_SPI2_TIM16_TIM17}}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, }, busFreq: APB2_TIM_FREQ, } TIM16 = TIM{ EnableRegister: &stm32.RCC.APBENR2, EnableFlag: stm32.RCC_APBENR2_TIM16EN, Device: stm32.TIM16, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA6, AF5_SPI1_SPI2_TIM16_TIM17}, {PB8, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, }, busFreq: APB2_TIM_FREQ, } TIM17 = TIM{ EnableRegister: &stm32.RCC.APBENR2, EnableFlag: stm32.RCC_APBENR2_TIM17EN, Device: stm32.TIM17, Channels: [4]TimerChannel{ {Pins: []PinFunction{{PA7, AF5_SPI1_SPI2_TIM16_TIM17}, {PB9, AF2_TIM1_TIM2_TIM3_TIM14_I2C2}}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, {Pins: []PinFunction{}}, }, busFreq: APB2_TIM_FREQ, } ) func (t *TIM) registerUPInterrupt() interrupt.Interrupt { switch t { case &TIM1: return interrupt.New(stm32.IRQ_TIM1_BRK_UP_TRG_COM, TIM1.handleUPInterrupt) case &TIM2: return interrupt.New(stm32.IRQ_TIM2, TIM2.handleUPInterrupt) case &TIM3: return interrupt.New(stm32.IRQ_TIM3_TIM4, TIM3.handleUPInterrupt) case &TIM6: return interrupt.New(stm32.IRQ_TIM6_DAC_LPTIM1, TIM6.handleUPInterrupt) case &TIM7: return interrupt.New(stm32.IRQ_TIM7, TIM7.handleUPInterrupt) case &TIM14: return interrupt.New(stm32.IRQ_TIM14, TIM14.handleUPInterrupt) case &TIM15: return interrupt.New(stm32.IRQ_TIM15, TIM15.handleUPInterrupt) case &TIM16: return interrupt.New(stm32.IRQ_TIM16, TIM16.handleUPInterrupt) case &TIM17: return interrupt.New(stm32.IRQ_TIM17, TIM17.handleUPInterrupt) } return interrupt.Interrupt{} } func (t *TIM) registerOCInterrupt() interrupt.Interrupt { switch t { case &TIM1: return interrupt.New(stm32.IRQ_TIM1_CC, TIM1.handleOCInterrupt) case &TIM2: return interrupt.New(stm32.IRQ_TIM2, TIM2.handleOCInterrupt) case &TIM3: return interrupt.New(stm32.IRQ_TIM3_TIM4, TIM3.handleOCInterrupt) case &TIM6: return interrupt.New(stm32.IRQ_TIM6_DAC_LPTIM1, TIM6.handleOCInterrupt) case &TIM7: return interrupt.New(stm32.IRQ_TIM7, TIM7.handleOCInterrupt) case &TIM14: return interrupt.New(stm32.IRQ_TIM14, TIM14.handleOCInterrupt) case &TIM15: return interrupt.New(stm32.IRQ_TIM15, TIM15.handleOCInterrupt) case &TIM16: return interrupt.New(stm32.IRQ_TIM16, TIM16.handleOCInterrupt) case &TIM17: return interrupt.New(stm32.IRQ_TIM17, TIM17.handleOCInterrupt) } return interrupt.Interrupt{} } func (t *TIM) enableMainOutput() { t.Device.SetBDTR_MOE(1) } type arrtype = uint32 type psctype = uint32 type arrRegType = volatile.Register32 const ( ARR_MAX = 0x10000 PSC_MAX = 0x10000 ) func initRNG() { // STM32G0B1 does not have a hardware RNG peripheral // RNG is available on some other STM32G0 variants }