Added support for STM32f446re

modm-project-files/module.lb

@@ -23,6 +23,7 @@ sys.path.append(repopath("scripts/lbuild-helpers"))
 MCU_VARIANTS_BY_BOARD = {
     "rm-dev-board-a": "stm32f427iih6",
     "rm-dev-board-c": "stm32f407igh6",
+    "stm32f446re": "stm32f446ret6"
 }
 
 DEFAULT_MODM_OPTIONS_BY_BOARD = {
@@ -46,6 +47,15 @@ DEFAULT_MODM_OPTIONS_BY_BOARD = {
         modm:platform:uart:3:buffer.rx 256\n\
         modm:platform:uart:6:buffer.rx 256\n\
         modm:platform:uart:6:buffer.tx 256",
+    "stm32f446re": "\
+        modm:platform:uart:1:buffer.rx 256\n\
+        modm:platform:uart:1:buffer.tx 256\n\
+        modm:platform:uart:3:buffer.rx 256\n\
+        modm:platform:uart:3:buffer.tx 256\n\
+        modm:platform:uart:4:buffer.rx 256\n\
+        modm:platform:uart:4:buffer.tx 256\n\
+        modm:platform:uart:5:buffer.rx 256\n\
+        modm:platform:uart:5:buffer.tx 256",
 }
 
 def get_modm_repo_lb_file() -> str:

modm-project-files/project.xml.in

@@ -39,13 +39,8 @@
     <module>modm:platform:flash</module>
     <module>modm:platform:gpio</module>
     <module>modm:platform:heap</module>
-    <module>modm:platform:random</module>
-    <module>modm:platform:timer:8</module>
-    <module>modm:platform:uart:1</module>
-    <module>modm:platform:uart:3</module>
-    <module>modm:platform:uart:6</module>
-    <module>modm:platform:adc:1</module>
-    <module>modm:platform:spi:1</module>
+    <!-- Remove random module since F446RE has no RNG peripheral -->
+    <!-- <module>modm:platform:random</module> -->
 %% if options[":dev_board"] == "rm-dev-board-a"
     <module>modm:platform:i2c:2</module>
     <module>modm:platform:timer:3</module>
@@ -61,6 +56,16 @@
     <module>modm:platform:timer:4</module>
     <module>modm:platform:timer:10</module>
     <module>modm:platform:adc:3</module>
+%% elif options[":dev_board"] == "stm32f446re"
+    <module>modm:platform:uart:1</module>
+    <module>modm:platform:uart:2</module>
+    <module>modm:platform:uart:3</module>
+    <module>modm:platform:uart:4</module>
+    <module>modm:platform:uart:5</module>
+    <module>modm:platform:timer:8</module>
+    <!-- <module>modm:platform:spi:2</module> -->
+    <!-- <module>modm:platform:i2c:1</module> -->
+    <module>modm:platform:adc:1</module>
 %% endif
 
 {% for m in modm_hal_modules %}    {{ m }}{% endfor %}

repo.lb

@@ -43,7 +43,7 @@ def init(repo):
         EnumerationOption(
             name="dev_board",
             description="Which development board to be used",
-            enumeration=["rm-dev-board-a", "rm-dev-board-c"]))
+            enumeration=["rm-dev-board-a", "rm-dev-board-c", "stm32f446re"]))
 
 def prepare(repo, options):
     repo.add_modules_recursive("./src", modulefile="*.lb")

src/tap/board/stm32f446re/board.hpp.in

@@ -0,0 +1,182 @@
+/*
+ * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <[email protected]>
+ *
+ * This file is part of Taproot.
+ *
+ * Taproot is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Taproot is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Copyright (c) 2016-2018, Niklas Hauser
+ * Copyright (c) 2017, Sascha Schade
+ * Copyright (c) 2018, Antal Szabó
+ * Copyright (c) 2019 Sebastian Birke
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef TAPROOT_BOARD_HPP_
+#define TAPROOT_BOARD_HPP_
+
+#ifndef PLATFORM_HOSTED
+#include "modm/architecture/interface/clock.hpp"
+#include "modm/platform.hpp"
+
+using namespace modm::platform;
+#else
+#include "modm/math/units.hpp"
+#endif
+
+/// @ingroup modm_board_nucleo_f446re
+namespace Board
+{
+	using namespace modm::literals;
+
+/// STM32F446RE running at 180MHz generated from the internal 16MHz crystal
+// Dummy clock for devices
+struct SystemClock {
+	static constexpr uint32_t Frequency = 180_MHz;
+	static constexpr uint32_t Ahb = Frequency;
+	static constexpr uint32_t Apb1 = Frequency / 4;
+	static constexpr uint32_t Apb2 = Frequency / 2;
+
+	static constexpr uint32_t Adc    = Apb2;
+
+	static constexpr uint32_t Spi1   = Apb2;
+	static constexpr uint32_t Spi2   = Apb1;
+	static constexpr uint32_t Spi3   = Apb1;
+	static constexpr uint32_t Spi4   = Apb2;
+	static constexpr uint32_t Spi5   = Apb2;
+
+	static constexpr uint32_t Usart1 = Apb2;
+	static constexpr uint32_t Usart2 = Apb1;
+	static constexpr uint32_t Usart3 = Apb1;
+	static constexpr uint32_t Uart4  = Apb1;
+	static constexpr uint32_t Uart5  = Apb1;
+	static constexpr uint32_t Usart6 = Apb2;
+
+    static constexpr uint32_t Can1 = Apb1;
+    static constexpr uint32_t Can2 = Apb1;
+
+	static constexpr uint32_t I2c1   = Apb1;
+	static constexpr uint32_t I2c2   = Apb1;
+	static constexpr uint32_t I2c3   = Apb1;
+
+	static constexpr uint32_t Apb1Timer = Apb1 * 2;
+	static constexpr uint32_t Apb2Timer = Apb2 * 1;
+	static constexpr uint32_t Timer1  = Apb2Timer;
+	static constexpr uint32_t Timer2  = Apb1Timer;
+	static constexpr uint32_t Timer3  = Apb1Timer;
+	static constexpr uint32_t Timer4  = Apb1Timer;
+	static constexpr uint32_t Timer5  = Apb1Timer;
+	static constexpr uint32_t Timer9  = Apb2Timer;
+	static constexpr uint32_t Timer10 = Apb2Timer;
+	static constexpr uint32_t Timer11 = Apb2Timer;
+
+	static bool inline
+	enable()
+	{
+#ifndef PLATFORM_HOSTED
+		Rcc::enableInternalClock();	// 16MHz
+		const Rcc::PllFactors pllFactors{
+			.pllM = 8,		//  16MHz / M=  8 ->   2MHz
+			.pllN = 180,	//   2MHz * N=180 -> 360MHz
+			.pllP = 2,		// 360MHz / P=  2 -> 180MHz = F_cpu
+		};
+		Rcc::enablePll(Rcc::PllSource::InternalClock, pllFactors);
+		// Required for 180 MHz clock
+		Rcc::enableOverdriveMode();
+		// set flash latency
+		Rcc::setFlashLatency<Frequency>();
+		// switch system clock to PLL output
+		Rcc::enableSystemClock(Rcc::SystemClockSource::Pll);
+		Rcc::setAhbPrescaler(Rcc::AhbPrescaler::Div1);
+		// APB1 has max. 50MHz
+		Rcc::setApb1Prescaler(Rcc::Apb1Prescaler::Div4);
+		Rcc::setApb2Prescaler(Rcc::Apb2Prescaler::Div2);
+		// update frequencies for busy-wait delay functions
+		Rcc::updateCoreFrequency<Frequency>();
+#endif
+
+		return true;
+	}
+};
+
+#ifndef PLATFORM_HOSTED
+// Arduino Footprint
+// #include "nucleo64_arduino.hpp"
+
+using Button = GpioInverted<GpioInputC13>;
+using LedD13 = GpioOutputA5;
+using LED1 = GpioOutputC0;
+using LED2 = GpioOutputC1;
+using LED3 = GpioOutputB0;
+
+using LedsPort = SoftwareGpioPort< LedD13,LED1,LED2,LED3 >;
+
+%% macro configure_pins(comment, pin_group_name, pins)
+    %% if pins|length > 0
+// {{ comment }}
+        {% if pins|length > 0 %}
+            %% for pin in pins
+using {{ pin_group_name }}{{ pin }} = {{ pin_mappings[pin] }};
+            %% endfor
+        {% endif %}
+using {{ pin_group_name }}s = SoftwareGpioPort<{% for pin in pins %}{{ pin_group_name }}{{ pin }}{% if not loop.last %}, {% endif %}{% endfor %}>;
+    %% endif
+%% endmacro
+
+{{ configure_pins("Initialize analog input pins", "AnalogInPin", analog_in_pins) }}
+{{ configure_pins("Initialize PWM pins", "PWMOutPin", pwm_pins) }}
+{{ configure_pins("Initialize digital input pins", "DigitalInPin", digital_in_pins) }}
+{{ configure_pins("Initialize digital output pins", "DigitalOutPin", digital_out_pins) }}
+// gpio pins used for SPI communication to the onboard MPU6500 IMU
+
+
+namespace stlink
+{
+using Rx = GpioInputA3;
+using Tx = GpioOutputA2;
+using Uart = Usart2;
+}
+
+using LoggerDevice = modm::IODeviceWrapper< stlink::Uart, modm::IOBuffer::BlockIfFull >;
+
+#endif
+
+inline void
+initialize()
+{
+	SystemClock::enable();
+#ifndef PLATFORM_HOSTED
+	SysTickTimer::initialize<SystemClock>();
+
+	stlink::Uart::connect<stlink::Tx::Tx, stlink::Rx::Rx>();
+	stlink::Uart::initialize<SystemClock, 115200_Bd>();
+
+	Button::setInput();
+	Button::setInputTrigger(Gpio::InputTrigger::RisingEdge);
+	Button::enableExternalInterrupt();
+#endif
+//	Button::enableExternalInterruptVector(12);
+}
+
+}
+
+#endif	// MODM_STM32_NUCLEO_F446RE_HPP

src/tap/communication/gpio/leds.cpp.in

@@ -99,6 +99,24 @@ void Leds::set(Leds::LedPin pin, bool isSet)
         case Leds::LedPin::Blue:
             LedBlue::set(isSet);
     } 
+%% elif options[":dev_board"] == "stm32f446re"
+    switch (pin)
+    {
+        case Leds::LedPin::Green:
+            LedD13::set(isSet);  // LD2 on PA5/D13
+            break;
+
+        case Leds::LedPin::A:
+            LED1::set(isSet);
+            break;
+
+        case Leds::LedPin::B:
+            LED2::set(isSet);
+            break;
+
+        case Leds::LedPin::C:
+            LED3::set(isSet);
+    }
 %% endif
 #endif
 }

src/tap/communication/gpio/leds.hpp.in

@@ -73,6 +73,19 @@ public:
         Blue
     };
 
+%% elif options[":dev_board"] == "stm32f446re"
+    /**
+     * The LED corresponds to the built-in LED (LD2) on the Nucleo-F446RE board.
+     * - Green LED (LD2) is connected to PA5 (Arduino D13)
+     */
+    enum LedPin
+    {
+        Green,  // LD2 on PA5
+        A,
+        B,
+        C
+    };
+
 %% endif
 
     /**

src/tap/communication/sensors/buzzer/module.lb

@@ -29,8 +29,11 @@ def init(module):
 
 def prepare(module, options):
     metadata = board_info_parser.parse_board_info(options[":dev_board"])
-    pins = metadata.find("gpio-pins")
-    buzzer_pins = [pin for pin in pins if pin.get("alias") == BUZZER_PIN]
+    pins_element = metadata.find("gpio-pins")
+    if pins_element is None:
+        raise Exception("No <gpio-pins> found in board metadata. Check your board XML.")
+
+    buzzer_pins = [pin for pin in pins_element.findall("gpio") if pin.get("alias") == BUZZER_PIN]
     if len(buzzer_pins) == 1:
         global buzzer_timer
         buzzer_timer = buzzer_pins[0].find("timer").get("name")

src/tap/communication/serial/module.lb

@@ -22,6 +22,7 @@ import board_info_parser
 REMOTE_UART_PORTS_BY_BOARD = {
     "rm-dev-board-a": "Uart1",
     "rm-dev-board-c": "Uart3",
+    "stm32f446re": "Uart1", 
 }
 
 class Remote(Module):

supported-devices/stm32f446re.xml

@@ -0,0 +1,61 @@
+<board>
+  <can-pins>
+    <gpio alias="Can1Rx" name="GpioA11"/>
+    <gpio alias="Can1Tx" name="GpioA12"/>
+    <gpio alias="Can2Rx" name="GpioB12"/>
+    <gpio alias="Can2Tx" name="GpioB13"/>
+  </can-pins>
+
+  <gpio-pins>
+    <!-- Digital Input Pins
+    <gpio alias="PA0" name="GpioA0">
+      <adc name="Adc1" in="In0"/>
+    </gpio>
+    <gpio alias="PA1" name="GpioA1">
+      <adc name="Adc1" in="In1"/>
+    </gpio>
+    <gpio alias="PA4" name="GpioA4">
+      <adc name="Adc1" in="In4"/>
+    </gpio> -->
+
+    <gpio alias="PB5" name="GpioB5"/>
+
+
+    <!-- Digital Output Pins -->
+    <gpio alias="LED1" name="GpioC0"/>
+    <gpio alias="LED2" name="GpioC1"/>
+    <gpio alias="LED3" name="GpioB0"/>
+
+    <!-- PWM Pins -->
+    <!-- <gpio alias="PB1" name="GpioB1">
+      <timer name="Timer8" channel="Ch3"/>
+    </gpio>
+    <gpio alias="PC9" name="GpioC9">
+      <timer name="Timer8" channel="Ch4"/>
+    </gpio> -->
+
+    <!-- Analog Input Pins -->
+    <gpio alias="PA7" name="GpioA7">
+      <adc name="Adc1" in="In7"/>
+    </gpio>
+    <gpio alias="PA6" name="GpioA6">
+      <adc name="Adc1" in="In6"/>
+    </gpio>
+
+    <!-- <gpio alias="PC8" name="GpioC8"/> -->
+  </gpio-pins>
+
+  <uart-ports>
+    <uart sync="true" name="1" tx="GpioB6" rx="GpioA10"/>
+    <uart sync="false" name="5" tx="GpioC12" rx="GpioD2"/>
+    <uart sync="true" name="3" tx="GpioC10" rx="GpioC11"/>
+    <uart sync="false" name="4" tx="GpioA0" rx="GpioA1"/>
+    <uart sync="true" name="2" tx="GpioA2" rx="GpioA3"/>
+  </uart-ports>
+  <!-- <i2c-ports>
+    <i2c name="1" scl="GpioB8" sda="GpioB7"></i2c>
+  </i2c-ports>
+  <spi-ports>
+    <spi name="1" sck="GpioA9" miso="GpioB14" mosi="GpioB15" nss="GpioB9"/>
+  </spi-ports> -->
+</board>