working sampling on STM32

tested on Nucelo STM32F302R8 but still need some work and testing
gergelytakacs · Dec 12, 2023 · 51be011 · 51be011
1 parent a561961
commit 51be011
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Showing 8 changed files with 42 additions and 8 deletions.
diff --git a/src/AeroShield.cpp b/src/AeroShield.cpp
@@ -18,8 +18,8 @@
 #include "AeroShield.h"         // Include header file
 
 // Initializes hardware pins
-float AeroClass::begin(void){                                 // Board initialisation
-  #if  defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_RENESAS_UNO)  // For AVR, SAMD, Renesas architecture boards
+void AeroClass::begin(void){                                 // Board initialisation
+  #if  defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_RENESAS_UNO) || defined(ARDUINO_ARCH_STM32) // For AVR, SAMD, Renesas architecture boards
     Wire.begin();                                                     // Use Wire object
     as5600.setWirePtr(&Wire);                                                    
   #elif ARDUINO_ARCH_SAM                                              // For SAM architecture boards

diff --git a/src/AeroShield.h b/src/AeroShield.h
@@ -40,7 +40,7 @@ class AeroClass{		    	                           // Class for the AeroShield de
  public:
  #include "getGainLQ.inl"
  #include "getKalmanEstimate.inl"
-   float begin(void);                     // Board initialisation - initialisation of pin modes and variables                             
+   void begin(void);                     // Board initialisation - initialisation of pin modes and variables                             
    void actuatorWrite(float PotPercent);             // Write actuator - function takes input 0.0-100.0% and sets motor speed accordingly
    void actuatorWriteVolt(float);
    bool calibrate(void);                 // sensor calibration

diff --git a/src/AutomationShield.h b/src/AutomationShield.h
@@ -29,7 +29,7 @@
 #ifdef ARDUINO_ARCH_AVR                     // Chip uses 10-bit ADC
 
 	#define ADCREF 1023.0					// 10-bit resolution for AD converter
-#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_SAM || ARDUINO_ARCH_RENESAS_UNO  // Chip uses 12-bit ADC
+#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_SAM || ARDUINO_ARCH_RENESAS_UNO || ARDUINO_ARCH_STM32  // Chip uses 12-bit ADC
 	#define ADCREF 4095.0					// 12-bit resolution for AD converter
 #endif
 

diff --git a/src/MagnetoShield.cpp b/src/MagnetoShield.cpp
@@ -47,6 +47,9 @@ void MagnetoShieldClass::begin(){
 		#endif
 		analogReadResolution(12);
 		Wire.begin();
+	#elif ARDUINO_ARCH_STM32
+		analogReadResolution(12);
+		Wire.begin();
 	#endif
 }
 
@@ -68,7 +71,7 @@ void MagnetoShieldClass::dacWrite(uint8_t DAClevel){
 // Write DAC levels (12-bit) to the MCP4725 chip
 #elif SHIELDRELEASE == 3 || SHIELDRELEASE == 4
 void MagnetoShieldClass::dacWrite(uint16_t DAClevel){	// 16 bits in the form (0,0,0,0,D11,D10,D9,D8,D7,D6,D5,D4,D3,D2,D1,D0)
-	#if ARDUINO_ARCH_AVR || ARDUINO_ARCH_SAMD || ARDUINO_ARCH_RENESAS_UNO 
+	#if ARDUINO_ARCH_AVR || ARDUINO_ARCH_SAMD || ARDUINO_ARCH_RENESAS_UNO || ARDUINO_ARCH_STM32
 		Wire.beginTransmission(MCP4725); 					//addressing
 	    Wire.write(0x40); 								// write dac(DAC and EEPROM is 0x60)
 	    uint8_t firstbyte=(DAClevel>>4);					//(0,0,0,0,0,0,0,0,D11,D10,D9,D8,D7,D6,D5,D4) of which only the 8 LSB's survive

diff --git a/src/MagnetoShield.h b/src/MagnetoShield.h
@@ -28,7 +28,7 @@
 
 #ifdef ARDUINO_ARCH_AVR
 #define VIN 11.6 							    // [V] Input voltage from source
-#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_RENESAS_UNO
+#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_RENESAS_UNO || ARDUINO_ARCH_STM32
 #define VIN 12.5 							    // [V] Input voltage from source 
 #elif ARDUINO_ARCH_SAM
 #define VIN 11.6 							    // [V] Input voltage from source 
@@ -99,7 +99,7 @@
 	#ifdef ARDUINO_ARCH_AVR
 		#define HALL_LSAT	35							// [10-bit ADC] Lower saturation of the Hall sensor
 		#define HALL_HSAT 621							// [10-bit ADC] Higher (upper) saturation of the Hall sensor
-	#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_SAM || ARDUINO_ARCH_RENESAS_UNO
+	#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_SAM || ARDUINO_ARCH_RENESAS_UNO || ARDUINO_ARCH_STM32
 		#define HALL_LSAT	112							// [12-bit ADC] Lower saturation of the Hall sensor
 		#define HALL_HSAT 2526							// [12-bit ADC] Higher (upper) saturation of the Hall sensor
 	#endif

diff --git a/src/Sampling.h b/src/Sampling.h
@@ -54,6 +54,9 @@ void TC5_Handler(void){
 #elif ARDUINO_ARCH_RENESAS_UNO
   #include "sampling/SamplingUNO_R4_ISR.h"
 
+#elif ARDUINO_ARCH_STM32
+  // nothing to do...
+
 #else
   #error "Architecture not supported."
 #endif

diff --git a/src/sampling/SamplingCore.cpp b/src/sampling/SamplingCore.cpp
@@ -166,6 +166,8 @@ void SamplingNoServo::SamplingClass::period(unsigned long microseconds) {
         Serial.println("Sampling error: timer did not start");
       #endif
     }
+  #elif ARDUINO_ARCH_STM32
+    sampling_timer->setOverflow((uint32_t)microseconds, MICROSEC_FORMAT);
 
   #else
     #error "Architecture not supported."
@@ -327,6 +329,8 @@ bool SamplingNoServo::SamplingClass::setSamplingPeriod(unsigned long microsecond
     else {
         return false;
     }
+  #elif ARDUINO_ARCH_STM32
+  // just nothing to do....
 
   #else
     #error "Architecture not supported."
@@ -349,6 +353,10 @@ unsigned long int SamplingNoServo::SamplingClass::getSamplingMicroseconds() {
 
 void SamplingNoServo::SamplingClass::interrupt(p_to_void_func interruptCallback) {
   this->interruptCallback = interruptCallback;
+  #if defined(ARDUINO_ARCH_STM32)
+  sampling_timer->attachInterrupt(interruptCallback);
+  sampling_timer->resume();
+  #endif
 }
 
 p_to_void_func SamplingNoServo::SamplingClass::getInterruptCallback () {
@@ -476,6 +484,10 @@ void SamplingServo::SamplingClass::period(unsigned long microseconds) {
         Serial.println("Sampling error: timer did not start");
       #endif
     }
+
+  #elif ARDUINO_ARCH_STM32
+    sampling_timer->setOverflow((uint32_t)microseconds, MICROSEC_FORMAT);
+
   #else
     #error "Architecture not supported."
   #endif
@@ -630,6 +642,9 @@ bool SamplingServo::SamplingClass::setSamplingPeriod(unsigned long microseconds)
         return false;
     }
 
+    #elif ARDUINO_ARCH_STM32
+    // nothing to do...
+
   #else
     #error "Architecture not supported."
   #endif
@@ -655,6 +670,10 @@ unsigned long int SamplingServo::SamplingClass::getSamplingMicroseconds() {
 
 void SamplingServo::SamplingClass::interrupt(p_to_void_func interruptCallback) {
   this->interruptCallback = interruptCallback;
+  #if defined(ARDUINO_ARCH_STM32)
+    sampling_timer->attachInterrupt(interruptCallback);
+    sampling_timer->resume();
+  #endif
 }
 
 p_to_void_func SamplingServo::SamplingClass::getInterruptCallback () {

diff --git a/src/sampling/SamplingCore.h b/src/sampling/SamplingCore.h
@@ -112,6 +112,11 @@ namespace SamplingNoServo {
             uint32_t  period_counts = 0;
             timer_source_div_t prescaler = TIMER_SOURCE_DIV_1;
 
+        #elif ARDUINO_ARCH_STM32
+            TIM_TypeDef *Instance = TIM2;
+            HardwareTimer *sampling_timer = new HardwareTimer(Instance);
+            const unsigned char cpuFrequency = 72;
+
         #else
             #error "Architecture not supported."
         #endif
@@ -184,7 +189,11 @@ namespace SamplingServo {
             #define COMPARE_10MS        30000                         // Compare @ 48 MHz, prescaler 16, for 10 ms
             uint32_t  period_counts = 0;
             timer_source_div_t prescaler = TIMER_SOURCE_DIV_1;
-
+
+        #elif ARDUINO_ARCH_STM32
+            TIM_TypeDef *Instance = TIM2;
+            HardwareTimer *sampling_timer = new HardwareTimer(Instance);
+            const unsigned char cpuFrequency = 72;
 
         #else
             #error "Architecture not supported."