stm32: Initial support for stm32f070

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

src/stm32/Kconfig

@@ -6,8 +6,8 @@ config STM32_SELECT
     bool
     default y
     select HAVE_GPIO
-    select HAVE_GPIO_ADC
+    select HAVE_GPIO_ADC if !MACH_STM32F0
-    select HAVE_GPIO_I2C
+    select HAVE_GPIO_I2C if !MACH_STM32F0
     select HAVE_GPIO_SPI
     select HAVE_GPIO_BITBANGING
 
@@ -29,15 +29,20 @@ choice
     config MACH_STM32F446
         bool "STM32F446"
         select MACH_STM32F4
+    config MACH_STM32F070
+        bool "STM32F070"
+        select MACH_STM32F0
 endchoice
 
+config MACH_STM32F0
+    bool
 config MACH_STM32F1
     bool
 config MACH_STM32F4
     bool
 config HAVE_STM32_USBFS
     bool
-    default y if MACH_STM32F103
+    default y if MACH_STM32F103 || MACH_STM32F0
     default n
 config HAVE_STM32_USBOTG
     bool
@@ -46,6 +51,7 @@ config HAVE_STM32_USBOTG
 
 config MCU
     string
+    default "stm32f070xb" if MACH_STM32F070
     default "stm32f103xe" if MACH_STM32F103
     default "stm32f405xx" if MACH_STM32F405
     default "stm32f407xx" if MACH_STM32F407
@@ -53,12 +59,14 @@ config MCU
 
 config CLOCK_FREQ
     int
+    default 48000000 if MACH_STM32F0
     default 72000000 if MACH_STM32F103
     default 168000000 if MACH_STM32F405 || MACH_STM32F407
     default 180000000 if MACH_STM32F446
 
 config FLASH_SIZE
     hex
+    default 0x20000 if MACH_STM32F070
     default 0x10000 if MACH_STM32F103
     default 0x80000 if MACH_STM32F4
 
@@ -68,6 +76,7 @@ config RAM_START
 
 config RAM_SIZE
     hex
+    default 0x4000 if MACH_STM32F070
     default 0x5000 if MACH_STM32F103
     default 0x20000 if MACH_STM32F4
 

src/stm32/Makefile

@@ -4,12 +4,14 @@
 CROSS_PREFIX=arm-none-eabi-
 
 dirs-y += src/stm32 src/generic
+dirs-$(CONFIG_MACH_STM32F0) += lib/stm32f0
 dirs-$(CONFIG_MACH_STM32F1) += lib/stm32f1
 dirs-$(CONFIG_MACH_STM32F4) += lib/stm32f4
 
 MCU := $(shell echo $(CONFIG_MCU))
 MCU_UPPER := $(shell echo $(CONFIG_MCU) | tr a-z A-Z | tr X x)
 
+CFLAGS-$(CONFIG_MACH_STM32F0) += -mcpu=cortex-m0 -Ilib/stm32f0/include
 CFLAGS-$(CONFIG_MACH_STM32F1) += -mcpu=cortex-m3 -Ilib/stm32f1/include
 CFLAGS-$(CONFIG_MACH_STM32F4) += -mcpu=cortex-m4 -Ilib/stm32f4/include
 CFLAGS-$(CONFIG_MACH_STM32F4) += -mfpu=fpv4-sp-d16 -mfloat-abi=hard
@@ -21,19 +23,23 @@ $(OUT)klipper.elf: $(OUT)src/generic/armcm_link.ld
 
 # Add source files
 src-y += stm32/main.c stm32/watchdog.c stm32/gpio.c generic/crc16_ccitt.c
-src-y += generic/armcm_boot.c generic/armcm_irq.c generic/armcm_timer.c
+src-y += generic/armcm_boot.c generic/armcm_irq.c generic/armcm_reset.c
-src-y += generic/armcm_reset.c
+src-$(CONFIG_MACH_STM32F0) += ../lib/stm32f0/system_stm32f0xx.c
+src-$(CONFIG_MACH_STM32F0) += generic/timer_irq.c stm32/stm32f0_timer.c
+src-$(CONFIG_MACH_STM32F0) += stm32/stm32f0.c
 src-$(CONFIG_MACH_STM32F1) += ../lib/stm32f1/system_stm32f1xx.c
-src-$(CONFIG_MACH_STM32F1) += stm32/stm32f1.c
+src-$(CONFIG_MACH_STM32F1) += stm32/stm32f1.c generic/armcm_timer.c
 src-$(CONFIG_MACH_STM32F4) += ../lib/stm32f4/system_stm32f4xx.c
-src-$(CONFIG_MACH_STM32F4) += stm32/stm32f4.c
+src-$(CONFIG_MACH_STM32F4) += stm32/stm32f4.c generic/armcm_timer.c
 src-$(CONFIG_HAVE_GPIO_ADC) += stm32/adc.c
 src-$(CONFIG_HAVE_GPIO_I2C) += stm32/i2c.c
 src-$(CONFIG_HAVE_GPIO_SPI) += stm32/spi.c
 usb-src-$(CONFIG_HAVE_STM32_USBFS) := stm32/usbfs.c
 usb-src-$(CONFIG_HAVE_STM32_USBOTG) := stm32/usbotg.c
 src-$(CONFIG_USBSERIAL) += $(usb-src-y) generic/usb_cdc.c
-src-$(CONFIG_SERIAL) += stm32/serial.c generic/serial_irq.c
+serial-src-y := stm32/serial.c
+serial-src-$(CONFIG_MACH_STM32F0) := stm32/stm32f0_serial.c
+src-$(CONFIG_SERIAL) += $(serial-src-y) generic/serial_irq.c
 
 # Binary output file rules
 target-y += $(OUT)klipper.bin

src/stm32/gpio.c

@@ -15,9 +15,13 @@ DECL_ENUMERATION_RANGE("pin", "PA0", GPIO('A', 0), 16);
 DECL_ENUMERATION_RANGE("pin", "PB0", GPIO('B', 0), 16);
 DECL_ENUMERATION_RANGE("pin", "PC0", GPIO('C', 0), 16);
 DECL_ENUMERATION_RANGE("pin", "PD0", GPIO('D', 0), 16);
+#ifdef GPIOE
 DECL_ENUMERATION_RANGE("pin", "PE0", GPIO('E', 0), 16);
-#ifdef GPIOH
+#endif
+#ifdef GPIOF
 DECL_ENUMERATION_RANGE("pin", "PF0", GPIO('F', 0), 16);
+#endif
+#ifdef GPIOH
 DECL_ENUMERATION_RANGE("pin", "PG0", GPIO('G', 0), 16);
 DECL_ENUMERATION_RANGE("pin", "PH0", GPIO('H', 0), 16);
 #endif
@@ -26,9 +30,15 @@ DECL_ENUMERATION_RANGE("pin", "PI0", GPIO('I', 0), 16);
 #endif
 
 GPIO_TypeDef * const digital_regs[] = {
-    ['A' - 'A'] = GPIOA, GPIOB, GPIOC, GPIOD, GPIOE,
+    ['A' - 'A'] = GPIOA, GPIOB, GPIOC, GPIOD,
+#ifdef GPIOE
+    ['E' - 'A'] = GPIOE,
+#endif
+#ifdef GPIOF
+    ['F' - 'A'] = GPIOF,
+#endif
 #ifdef GPIOH
-    ['F' - 'A'] = GPIOF, GPIOG, GPIOH,
+    ['G' - 'A'] = GPIOG, GPIOH,
 #endif
 #ifdef GPIOI
     ['I' - 'A'] = GPIOI,

src/stm32/internal.h

@@ -4,9 +4,11 @@
 
 #include "autoconf.h" // CONFIG_MACH_STM32F1
 
-#if CONFIG_MACH_STM32F1
+#if CONFIG_MACH_STM32F0
+#include "stm32f0xx.h"
+#elif CONFIG_MACH_STM32F1
 #include "stm32f1xx.h"
-#else
+#elif CONFIG_MACH_STM32F4
 #include "stm32f4xx.h"
 #endif
 

src/stm32/spi.c

@@ -27,9 +27,11 @@ DECL_CONSTANT_STR("BUS_PINS_spi3a", "PC11,PC12,PC10");
  #endif
 #endif
 
+#define SPI_FUNCTION GPIO_FUNCTION(CONFIG_MACH_STM32F0 ? 0 : 5)
+
 static const struct spi_info spi_bus[] = {
-    { SPI2, GPIO('B', 14), GPIO('B', 15), GPIO('B', 13), GPIO_FUNCTION(5) },
+    { SPI2, GPIO('B', 14), GPIO('B', 15), GPIO('B', 13), SPI_FUNCTION },
-    { SPI1, GPIO('A', 6), GPIO('A', 7), GPIO('A', 5), GPIO_FUNCTION(5) },
+    { SPI1, GPIO('A', 6), GPIO('A', 7), GPIO('A', 5), SPI_FUNCTION },
 #ifdef SPI3
     { SPI3, GPIO('B', 4), GPIO('B', 5), GPIO('B', 3), GPIO_FUNCTION(6) },
  #if CONFIG_MACH_STM32F4

src/stm32/stm32f0.c

@@ -0,0 +1,136 @@
+// Code to setup clocks and gpio on stm32f0
+//
+// Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "autoconf.h" // CONFIG_CLOCK_REF_8M
+#include "command.h" // DECL_CONSTANT_STR
+#include "internal.h" // enable_pclock
+
+#define FREQ_PERIPH 48000000
+
+// Enable a peripheral clock
+void
+enable_pclock(uint32_t periph_base)
+{
+    if (periph_base < SYSCFG_BASE) {
+        uint32_t pos = (periph_base - APBPERIPH_BASE) / 0x400;
+        RCC->APB1ENR |= 1 << pos;
+        RCC->APB1ENR;
+    } else if (periph_base < AHBPERIPH_BASE) {
+        uint32_t pos = (periph_base - SYSCFG_BASE) / 0x400;
+        RCC->APB2ENR |= 1 << pos;
+        RCC->APB2ENR;
+    } else {
+        uint32_t pos = (periph_base - AHB2PERIPH_BASE) / 0x400;
+        RCC->AHBENR |= 1 << (pos + 17);
+        RCC->AHBENR;
+    }
+}
+
+// Check if a peripheral clock has been enabled
+int
+is_enabled_pclock(uint32_t periph_base)
+{
+    if (periph_base < SYSCFG_BASE) {
+        uint32_t pos = (periph_base - APBPERIPH_BASE) / 0x400;
+        return RCC->APB1ENR & (1 << pos);
+    } else if (periph_base < AHBPERIPH_BASE) {
+        uint32_t pos = (periph_base - SYSCFG_BASE) / 0x400;
+        return RCC->APB2ENR & (1 << pos);
+    } else {
+        uint32_t pos = (periph_base - AHB2PERIPH_BASE) / 0x400;
+        return RCC->AHBENR & (1 << (pos + 17));
+    }
+}
+
+// Return the frequency of the given peripheral clock
+uint32_t
+get_pclock_frequency(uint32_t periph_base)
+{
+    return FREQ_PERIPH;
+}
+
+// Enable a GPIO peripheral clock
+void
+gpio_clock_enable(GPIO_TypeDef *regs)
+{
+    uint32_t rcc_pos = ((uint32_t)regs - AHB2PERIPH_BASE) / 0x400;
+    RCC->AHBENR |= 1 << (rcc_pos + 17);
+    RCC->AHBENR;
+}
+
+// Set the mode and extended function of a pin
+void
+gpio_peripheral(uint32_t gpio, uint32_t mode, int pullup)
+{
+    GPIO_TypeDef *regs = digital_regs[GPIO2PORT(gpio)];
+
+    // Enable GPIO clock
+    gpio_clock_enable(regs);
+
+    // Configure GPIO
+    uint32_t mode_bits = mode & 0xf, func = (mode >> 4) & 0xf, od = mode >> 8;
+    uint32_t pup = pullup ? (pullup > 0 ? 1 : 2) : 0;
+    uint32_t pos = gpio % 16, af_reg = pos / 8;
+    uint32_t af_shift = (pos % 8) * 4, af_msk = 0x0f << af_shift;
+    uint32_t m_shift = pos * 2, m_msk = 0x03 << m_shift;
+
+    regs->AFR[af_reg] = (regs->AFR[af_reg] & ~af_msk) | (func << af_shift);
+    regs->MODER = (regs->MODER & ~m_msk) | (mode_bits << m_shift);
+    regs->PUPDR = (regs->PUPDR & ~m_msk) | (pup << m_shift);
+    regs->OTYPER = (regs->OTYPER & ~(1 << pos)) | (od << pos);
+    regs->OSPEEDR = (regs->OSPEEDR & ~m_msk) | (0x02 << m_shift);
+}
+
+// Handle USB reboot requests
+void
+usb_request_bootloader(void)
+{
+}
+
+#if CONFIG_CLOCK_REF_8M
+DECL_CONSTANT_STR("RESERVE_PINS_crystal", "PF0,PF1");
+#endif
+
+// Configure and enable the PLL as clock source
+static void
+pll_setup(void)
+{
+    uint32_t cfgr;
+    if (CONFIG_CLOCK_REF_8M) {
+        // Configure 48Mhz PLL from external 8Mhz crystal (HSE)
+        RCC->CR |= RCC_CR_HSEON;
+        cfgr = RCC_CFGR_PLLSRC_HSE_PREDIV | ((6 - 2) << RCC_CFGR_PLLMUL_Pos);
+    } else {
+        // Configure 48Mhz PLL from internal 8Mhz oscillator (HSI)
+        cfgr = RCC_CFGR_PLLSRC_HSI_DIV2 | ((12 - 2) << RCC_CFGR_PLLMUL_Pos);
+    }
+    RCC->CFGR = cfgr;
+    RCC->CR |= RCC_CR_PLLON;
+
+    // Wait for PLL lock
+    while (!(RCC->CR & RCC_CR_PLLRDY))
+        ;
+
+    // Switch system clock to PLL
+    RCC->CFGR = cfgr | RCC_CFGR_SW_PLL;
+    while ((RCC->CFGR & RCC_CFGR_SWS_Msk) != RCC_CFGR_SWS_PLL)
+        ;
+
+    // Select PLL as source for USB clock
+    if (CONFIG_USBSERIAL)
+        RCC->CFGR3 = RCC_CFGR3_USBSW;
+}
+
+// Main clock setup called at chip startup
+void
+clock_setup(void)
+{
+    // Set flash latency
+    FLASH->ACR = (1 << FLASH_ACR_LATENCY_Pos) | FLASH_ACR_PRFTBE;
+
+    // Configure main clock
+    pll_setup();
+}

src/stm32/stm32f0_serial.c

@@ -0,0 +1,69 @@
+// STM32F0 serial
+//
+// Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "autoconf.h" // CONFIG_SERIAL_BAUD
+#include "board/armcm_boot.h" // armcm_enable_irq
+#include "board/serial_irq.h" // serial_rx_byte
+#include "command.h" // DECL_CONSTANT_STR
+#include "internal.h" // enable_pclock
+#include "sched.h" // DECL_INIT
+
+// Select the configured serial port
+#if CONFIG_SERIAL_PORT == 1
+DECL_CONSTANT_STR("RESERVE_PINS_serial", "PA10,PA9");
+#define GPIO_Rx GPIO('A', 10)
+#define GPIO_Tx GPIO('A', 9)
+#define USARTx USART1
+#define USARTx_IRQn USART1_IRQn
+#elif CONFIG_SERIAL_PORT == 2
+DECL_CONSTANT_STR("RESERVE_PINS_serial", "PA3,PA2");
+#define GPIO_Rx GPIO('A', 3)
+#define GPIO_Tx GPIO('A', 2)
+#define USARTx USART2
+#define USARTx_IRQn USART2_IRQn
+#endif
+
+#define CR1_FLAGS (USART_CR1_UE | USART_CR1_RE | USART_CR1_TE   \
+                   | USART_CR1_RXNEIE)
+
+void
+USARTx_IRQHandler(void)
+{
+    uint32_t sr = USARTx->ISR;
+    if (sr & (USART_ISR_RXNE | USART_ISR_ORE))
+        serial_rx_byte(USARTx->RDR);
+    if (sr & USART_ISR_TXE && USARTx->CR1 & USART_CR1_TXEIE) {
+        uint8_t data;
+        int ret = serial_get_tx_byte(&data);
+        if (ret)
+            USARTx->CR1 = CR1_FLAGS;
+        else
+            USARTx->TDR = data;
+    }
+}
+
+void
+serial_enable_tx_irq(void)
+{
+    USARTx->CR1 = CR1_FLAGS | USART_CR1_TXEIE;
+}
+
+void
+serial_init(void)
+{
+    enable_pclock((uint32_t)USARTx);
+
+    uint32_t pclk = get_pclock_frequency((uint32_t)USARTx);
+    uint32_t div = DIV_ROUND_CLOSEST(pclk, CONFIG_SERIAL_BAUD);
+    USARTx->BRR = (((div / 16) << USART_BRR_DIV_MANTISSA_Pos)
+                   | ((div % 16) << USART_BRR_DIV_FRACTION_Pos));
+    USARTx->CR1 = CR1_FLAGS;
+    armcm_enable_irq(USARTx_IRQHandler, USARTx_IRQn, 0);
+
+    gpio_peripheral(GPIO_Rx, GPIO_FUNCTION(1), 1);
+    gpio_peripheral(GPIO_Tx, GPIO_FUNCTION(1), 0);
+}
+DECL_INIT(serial_init);

src/stm32/stm32f0_timer.c

@@ -0,0 +1,124 @@
+// STM32F0 timer support
+//
+// Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "board/armcm_boot.h" // armcm_enable_irq
+#include "board/armcm_timer.h" // udelay
+#include "board/internal.h" // TIM3
+#include "board/io.h" // readl
+#include "board/irq.h" // irq_disable
+#include "board/misc.h" // timer_read_time
+#include "sched.h" // DECL_INIT
+#include "command.h" // DECL_SHUTDOWN
+#include "board/timer_irq.h" // timer_dispatch_many
+
+
+/****************************************************************
+ * Low level timer code
+ ****************************************************************/
+
+// Use 32bit TIM2 timer if available (otherwise use 16bit TIM3 timer)
+#ifdef TIM2
+#define TIMx TIM2
+#define TIMx_IRQn TIM2_IRQn
+#define HAVE_TIMER_32BIT 1
+#else
+#define TIMx TIM3
+#define TIMx_IRQn TIM3_IRQn
+#define HAVE_TIMER_32BIT 0
+#endif
+
+static inline uint32_t
+timer_get(void)
+{
+    return TIMx->CNT;
+}
+
+static inline void
+timer_set(uint32_t next)
+{
+    TIMx->CCR1 = next;
+    TIMx->SR = 0;
+}
+
+// Activate timer dispatch as soon as possible
+void
+timer_kick(void)
+{
+    timer_set(timer_get() + 50);
+}
+
+
+/****************************************************************
+ * 16bit hardware timer to 32bit conversion
+ ****************************************************************/
+
+// High bits of timer (top 17 bits)
+static uint32_t timer_high;
+
+// Return the current time (in absolute clock ticks).
+uint32_t __always_inline
+timer_read_time(void)
+{
+    if (HAVE_TIMER_32BIT)
+        return timer_get();
+    uint32_t th = readl(&timer_high);
+    uint32_t cur = timer_get();
+    // Combine timer_high (high 17 bits) and current time (low 16
+    // bits) using method that handles rollovers correctly.
+    return (th ^ cur) + (th & 0xffff);
+}
+
+// Update timer_high every 0x8000 clock ticks
+static uint_fast8_t
+timer_event(struct timer *t)
+{
+    timer_high += 0x8000;
+    t->waketime = timer_high + 0x8000;
+    return SF_RESCHEDULE;
+}
+static struct timer wrap_timer = {
+    .func = timer_event,
+    .waketime = 0x8000,
+};
+
+void
+timer_reset(void)
+{
+    if (!HAVE_TIMER_32BIT)
+        sched_add_timer(&wrap_timer);
+}
+DECL_SHUTDOWN(timer_reset);
+
+
+/****************************************************************
+ * Setup and irqs
+ ****************************************************************/
+
+// Hardware timer IRQ handler - dispatch software timers
+void __aligned(16)
+TIMx_IRQHandler(void)
+{
+    irq_disable();
+    uint32_t next = timer_dispatch_many();
+    timer_set(next);
+    irq_enable();
+}
+
+void
+timer_init(void)
+{
+    irqstatus_t flag = irq_save();
+    enable_pclock((uint32_t)TIMx);
+    TIMx->CNT = 0;
+    TIMx->DIER = TIM_DIER_CC1IE;
+    TIMx->CCER = TIM_CCER_CC1E;
+    armcm_enable_irq(TIMx_IRQHandler, TIMx_IRQn, 2);
+    timer_kick();
+    timer_reset();
+    TIMx->CR1 = TIM_CR1_CEN;
+    irq_restore(flag);
+}
+DECL_INIT(timer_init);

src/stm32/usbfs.c

@@ -235,7 +235,7 @@ usb_reset(void)
 
 // Main irq handler
 void
-USB_LP_CAN1_RX0_IRQHandler(void)
+USB_IRQHandler(void)
 {
     uint32_t istr = USB->ISTR;
     if (istr & USB_ISTR_CTR) {
@@ -269,10 +269,12 @@ DECL_CONSTANT_STR("RESERVE_PINS_USB", "PA11,PA12");
 void
 usb_init(void)
 {
-    // Pull the D+ pin low briefly to signal a new connection
+    if (CONFIG_MACH_STM32F1) {
-    gpio_out_setup(GPIO('A', 12), 0);
+        // Pull the D+ pin low briefly to signal a new connection
-    udelay(5000);
+        gpio_out_setup(GPIO('A', 12), 0);
-    gpio_in_setup(GPIO('A', 12), 0);
+        udelay(5000);
+        gpio_in_setup(GPIO('A', 12), 0);
+    }
 
     // Enable USB clock
     enable_pclock(USB_BASE);
@@ -280,12 +282,21 @@ usb_init(void)
     // Setup USB packet memory
     btable_configure();
 
+    // Enable USB pullup
+#ifdef USB_BCDR_DPPU
+    USB->BCDR = USB_BCDR_DPPU;
+#endif
+
     // Reset usb controller and enable interrupts
     USB->CNTR = USB_CNTR_FRES;
     USB->BTABLE = 0;
     USB->DADDR = 0;
     USB->CNTR = USB_CNTR_RESETM;
     USB->ISTR = 0;
-    armcm_enable_irq(USB_LP_CAN1_RX0_IRQHandler, USB_LP_CAN1_RX0_IRQn, 1);
+#if CONFIG_MACH_STM32F103
+    armcm_enable_irq(USB_IRQHandler, USB_LP_IRQn, 1);
+#elif CONFIG_MACH_STM32F0
+    armcm_enable_irq(USB_IRQHandler, USB_IRQn, 1);
+#endif
 }
 DECL_INIT(usb_init);