From c9ab75878f3f039399cec4cf62604f86c927dff7 Mon Sep 17 00:00:00 2001 From: Daniel Serpell Date: Wed, 22 Aug 2012 00:05:07 -0400 Subject: Add all SCB registers mentioned in ARM DDI 0403D manual. See table B3-4 and B3-5 for the definitions and B3-24 for the bit assignments of SBC_CPACR. --- include/libopencm3/stm32/f4/scb.h | 69 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 69 insertions(+) diff --git a/include/libopencm3/stm32/f4/scb.h b/include/libopencm3/stm32/f4/scb.h index 181aa7a..7187ca9 100644 --- a/include/libopencm3/stm32/f4/scb.h +++ b/include/libopencm3/stm32/f4/scb.h @@ -72,6 +72,63 @@ /* AFSR: Auxiliary Fault Status Register */ #define SCB_AFSR MMIO32(SCB_BASE + 0x3C) +/* ID_PFR0: Processor Feature Register 0 */ +#define SCB_ID_PFR0 MMIO32(SCB_BASE + 0x40) + +/* ID_PFR1: Processor Feature Register 1 */ +#define SCB_ID_PFR1 MMIO32(SCB_BASE + 0x44) + +/* ID_DFR0: Debug Features Register 0 */ +#define SCB_ID_DFR0 MMIO32(SCB_BASE + 0x48) + +/* ID_AFR0: Auxiliary Features Register 0 */ +#define SCB_ID_AFR0 MMIO32(SCB_BASE + 0x4C) + +/* ID_MMFR0: Memory Model Feature Register 0 */ +#define SCB_ID_MMFR0 MMIO32(SCB_BASE + 0x50) + +/* ID_MMFR1: Memory Model Feature Register 1 */ +#define SCB_ID_MMFR1 MMIO32(SCB_BASE + 0x54) + +/* ID_MMFR2: Memory Model Feature Register 2 */ +#define SCB_ID_MMFR2 MMIO32(SCB_BASE + 0x58) + +/* ID_MMFR3: Memory Model Feature Register 3 */ +#define SCB_ID_MMFR3 MMIO32(SCB_BASE + 0x5C) + +/* ID_ISAR0: Instruction Set Attributes Register 0 */ +#define SCB_ID_ISAR0 MMIO32(SCB_BASE + 0x60) + +/* ID_ISAR1: Instruction Set Attributes Register 1 */ +#define SCB_ID_ISAR1 MMIO32(SCB_BASE + 0x64) + +/* ID_ISAR2: Instruction Set Attributes Register 2 */ +#define SCB_ID_ISAR2 MMIO32(SCB_BASE + 0x68) + +/* ID_ISAR3: Instruction Set Attributes Register 3 */ +#define SCB_ID_ISAR3 MMIO32(SCB_BASE + 0x6C) + +/* ID_ISAR4: Instruction Set Attributes Register 4 */ +#define SCB_ID_ISAR4 MMIO32(SCB_BASE + 0x70) + +/* CPACR: Coprocessor Access Control Register */ +#define SCB_CPACR MMIO32(SCB_BASE + 0x88) + +/* FPCCR: Floating-Point Context Control Register */ +#define SCB_FPCCR MMIO32(SCB_BASE + 0x234) + +/* FPCAR: Floating-Point Context Address Register */ +#define SCB_FPCAR MMIO32(SCB_BASE + 0x238) + +/* FPDSCR: Floating-Point Default Status Control Register */ +#define SCB_FPDSCR MMIO32(SCB_BASE + 0x23C) + +/* MVFR0: Media and Floating-Point Feature Register 0 */ +#define SCB_MVFR0 MMIO32(SCB_BASE + 0x240) + +/* MVFR1: Media and Floating-Point Feature Register 1 */ +#define SCB_MVFR1 MMIO32(SCB_BASE + 0x244) + /* --- SCB values ---------------------------------------------------------- */ /* --- SCB_CPUID values ---------------------------------------------------- */ @@ -292,6 +349,18 @@ /* BFAR [31:0]: Bus fault address */ +/* --- SCB_CPACR values ---------------------------------------------------- */ + +/* CPACR CPn: Access privileges values */ +#define SCB_CPACR_NONE 0 /* Access denied */ +#define SCB_CPACR_PRIV 1 /* Privileged access only */ +#define SCB_CPACR_FULL 3 /* Full access */ + +/* CPACR [20:21]: Access privileges for coprocessor 10 */ +#define SCB_CPACR_CP10 (1 << 20) +/* CPACR [22:23]: Access privileges for coprocessor 11 */ +#define SCB_CPACR_CP11 (1 << 22) + /* --- SCB functions ------------------------------------------------------- */ BEGIN_DECLS -- cgit v1.2.3 From 584052c28cdfe5c383f13471deb891ba9438843a Mon Sep 17 00:00:00 2001 From: Daniel Serpell Date: Wed, 22 Aug 2012 00:05:09 -0400 Subject: Compile stm32-f4 library with floating point support. This enables hard-float in the compilation of library and examples for the stm32f40* chips. --- examples/stm32/f4/Makefile.include | 5 +++-- lib/stm32/f4/Makefile | 3 ++- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/stm32/f4/Makefile.include b/examples/stm32/f4/Makefile.include index b735aa6..9dfe9d0 100644 --- a/examples/stm32/f4/Makefile.include +++ b/examples/stm32/f4/Makefile.include @@ -36,12 +36,13 @@ endif TOOLCHAIN_DIR := ../../../../.. endif CFLAGS += -Os -g -Wall -Wextra -I$(TOOLCHAIN_DIR)/include \ - -fno-common -mcpu=cortex-m4 -mthumb -msoft-float -MD -DSTM32F4 + -fno-common -mcpu=cortex-m4 -mthumb \ + -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -DSTM32F4 LDSCRIPT ?= $(BINARY).ld LDFLAGS += -lc -lnosys -L$(TOOLCHAIN_DIR)/lib \ -L$(TOOLCHAIN_DIR)/lib/stm32/f4 \ -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \ - -mthumb -mcpu=cortex-m4 -march=armv7 -mfix-cortex-m3-ldrd -msoft-float + -mthumb -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16 OBJS += $(BINARY).o OOCD ?= openocd diff --git a/lib/stm32/f4/Makefile b/lib/stm32/f4/Makefile index 5760d29..881ef5d 100644 --- a/lib/stm32/f4/Makefile +++ b/lib/stm32/f4/Makefile @@ -24,7 +24,8 @@ PREFIX ?= arm-none-eabi CC = $(PREFIX)-gcc AR = $(PREFIX)-ar CFLAGS = -Os -g -Wall -Wextra -I../../../include -fno-common \ - -mcpu=cortex-m3 -mthumb -Wstrict-prototypes \ + -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16 \ + -Wstrict-prototypes \ -ffunction-sections -fdata-sections -MD -DSTM32F4 # ARFLAGS = rcsv ARFLAGS = rcs -- cgit v1.2.3 From e4819d3cd284e76339887a45598269dbe1479da7 Mon Sep 17 00:00:00 2001 From: Daniel Serpell Date: Wed, 22 Aug 2012 00:05:08 -0400 Subject: Enable floating-point coprocessor on reset. Always enable the floating-point coprocessor with full access on reset, allowing usage of hard-fp toolchains. --- lib/stm32/f4/vector.c | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/lib/stm32/f4/vector.c b/lib/stm32/f4/vector.c index 3429bfb..01b5e64 100644 --- a/lib/stm32/f4/vector.c +++ b/lib/stm32/f4/vector.c @@ -18,6 +18,8 @@ * along with this library. If not, see . */ +#include + #define WEAK __attribute__ ((weak)) /* Symbols exported by the linker script(s): */ @@ -224,6 +226,9 @@ void reset_handler(void) __asm__("MSR msp, %0" : : "r"(&_stack)); + /* Enable access to Floating-Point coprocessor. */ + SCB_CPACR |= SCB_CPACR_FULL * (SCB_CPACR_CP10 | SCB_CPACR_CP11); + for (src = &_data_loadaddr, dest = &_data; dest < &_edata; src++, dest++) *dest = *src; -- cgit v1.2.3 From aac5909ff133a71dc01037712f86e89f4e7877d7 Mon Sep 17 00:00:00 2001 From: Daniel Serpell Date: Wed, 22 Aug 2012 00:05:10 -0400 Subject: Add a floating-point example to the stm32f4. This example calculates a mandelbrot fractal using floating point in C. --- .../stm32/f4/stm32f4-discovery/mandelbrot/Makefile | 25 ++++ .../stm32/f4/stm32f4-discovery/mandelbrot/README | 12 ++ .../stm32/f4/stm32f4-discovery/mandelbrot/mandel.c | 127 +++++++++++++++++++++ 3 files changed, 164 insertions(+) create mode 100644 examples/stm32/f4/stm32f4-discovery/mandelbrot/Makefile create mode 100644 examples/stm32/f4/stm32f4-discovery/mandelbrot/README create mode 100644 examples/stm32/f4/stm32f4-discovery/mandelbrot/mandel.c diff --git a/examples/stm32/f4/stm32f4-discovery/mandelbrot/Makefile b/examples/stm32/f4/stm32f4-discovery/mandelbrot/Makefile new file mode 100644 index 0000000..3879eca --- /dev/null +++ b/examples/stm32/f4/stm32f4-discovery/mandelbrot/Makefile @@ -0,0 +1,25 @@ +## +## This file is part of the libopencm3 project. +## +## Copyright (C) 2009 Uwe Hermann +## +## This library is free software: you can redistribute it and/or modify +## it under the terms of the GNU Lesser General Public License as published by +## the Free Software Foundation, either version 3 of the License, or +## (at your option) any later version. +## +## This library 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 Lesser General Public License for more details. +## +## You should have received a copy of the GNU Lesser General Public License +## along with this library. If not, see . +## + +BINARY = mandel + +LDSCRIPT = ../stm32f4-discovery.ld + +include ../../Makefile.include + diff --git a/examples/stm32/f4/stm32f4-discovery/mandelbrot/README b/examples/stm32/f4/stm32f4-discovery/mandelbrot/README new file mode 100644 index 0000000..fe4fb13 --- /dev/null +++ b/examples/stm32/f4/stm32f4-discovery/mandelbrot/README @@ -0,0 +1,12 @@ +------------------------------------------------------------------------------ +README +------------------------------------------------------------------------------ + +This example program demonstrates the floating point coprocessor usage on +the ST STM32F4DISCOVERY eval board. + +A mandelbrot fractal is calculated and sent as "ascii-art" image through +the USART2. + +The terminal settings for the receiving device/PC are 38400 8n1. + diff --git a/examples/stm32/f4/stm32f4-discovery/mandelbrot/mandel.c b/examples/stm32/f4/stm32f4-discovery/mandelbrot/mandel.c new file mode 100644 index 0000000..5cbdafd --- /dev/null +++ b/examples/stm32/f4/stm32f4-discovery/mandelbrot/mandel.c @@ -0,0 +1,127 @@ +/* + * This file is part of the libopencm3 project. + * + * Copyright (C) 2009 Uwe Hermann + * Copyright (C) 2011 Stephen Caudle + * Copyright (C) 2012 Daniel Serpell + * + * This library is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This library 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 Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this library. If not, see . + */ + +#include +#include +#include + +void clock_setup(void) +{ + /* Enable high-speed clock at 120MHz */ + rcc_clock_setup_hse_3v3(&hse_8mhz_3v3[CLOCK_3V3_120MHZ]); + + /* Enable GPIOD clock for LED & USARTs. */ + rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN); + rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN); + + /* Enable clocks for USART2. */ + rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN); +} + +void usart_setup(void) +{ + /* Setup USART2 parameters. */ + usart_set_baudrate(USART2, 38400); + usart_set_databits(USART2, 8); + usart_set_stopbits(USART2, USART_STOPBITS_1); + usart_set_mode(USART2, USART_MODE_TX); + usart_set_parity(USART2, USART_PARITY_NONE); + usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE); + + /* Finally enable the USART. */ + usart_enable(USART2); +} + +void gpio_setup(void) +{ + /* Setup GPIO pin GPIO12 on GPIO port D for LED. */ + gpio_mode_setup(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO12); + + /* Setup GPIO pins for USART2 transmit. */ + gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2); + + /* Setup USART2 TX pin as alternate function. */ + gpio_set_af(GPIOA, GPIO_AF7, GPIO2); +} + +/* Maximum number of iterations for the escape-time calculation */ +#define maxIter 32 +/* This array converts the iteration count to a character representation. */ +static char color[maxIter+1] = " .:++xxXXX%%%%%%################"; + +/* Main mandelbrot calculation */ +static int iterate(float px, float py) +{ + int it=0; + float x=0,y=0; + while(it 4 ) + return it; + // Zn+1 = Zn^2 + P + y = 2*x*y + py; + x = nx - ny + px; + it++; + } + return 0; +} + +static void mandel(float cX, float cY, float scale) +{ + int x,y; + for(x=-60;x<60;x++) + { + for(y=-50;y<50;y++) + { + int i = iterate(cX+x*scale, cY+y*scale); + usart_send_blocking(USART2, color[i]); + } + usart_send_blocking(USART2, '\r'); + usart_send_blocking(USART2, '\n'); + } +} + +int main(void) +{ + float scale = 0.25f, centerX = -0.5f, centerY = 0.0f; + + clock_setup(); + gpio_setup(); + usart_setup(); + + while (1) { + /* Blink the LED (PD12) on the board with each fractal drawn. */ + gpio_toggle(GPIOD, GPIO12); /* LED on/off */ + mandel(centerX,centerY,scale); /* draw mandelbrot */ + + /* Change scale and center */ + centerX += 0.175f * scale; + centerY += 0.522f * scale; + scale *= 0.875f; + + usart_send_blocking(USART2, '\r'); + usart_send_blocking(USART2, '\n'); + } + + return 0; +} -- cgit v1.2.3