[platform] Add support for STM32G0Bx/Cx devices

README.md

@@ -82,9 +82,9 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git
 
 ## Microcontrollers
 
-modm can create a HAL for <!--allcount-->3628<!--/allcount--> devices of these vendors:
+modm can create a HAL for <!--allcount-->3715<!--/allcount--> devices of these vendors:
 
-- STMicroelectronics STM32: <!--stmcount-->2823<!--/stmcount--> devices.
+- STMicroelectronics STM32: <!--stmcount-->2910<!--/stmcount--> devices.
 - Microchip SAM: <!--samcount-->416<!--/samcount--> devices.
 - Microchip AVR: <!--avrcount-->388<!--/avrcount--> devices.
 - Raspberry Pi: <!--rpicount-->1<!--/rpicount--> device.
@@ -164,7 +164,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>
-<td align="center">✕</td>
+<td align="center">○</td>
 <td align="center">✅</td>
 <td align="center">○</td>
 <td align="center">✕</td>

src/modm/platform/can/stm32-fdcan/module.lb

@@ -64,6 +64,11 @@ def prepare(module, options):
     if not device.has_driver("fdcan:stm32"):
         return False
 
+    # STM32G0 devices are currently unsupported due to shared interrupt handler
+    # TODO: fix driver
+    if device.identifier.family == "g0":
+        return False
+
     module.depends(
         ":architecture:assert",
         ":architecture:atomic",

src/modm/platform/core/stm32/startup_platform.c.in

@@ -63,7 +63,7 @@ __modm_initialize_platform(void)
 %% elif target.family in ["g0", "g4", "l4", "l5"]
 %% if target.family in ["l4", "g4"]
 	RCC->APB1ENR1 |= RCC_APB1ENR1_PWREN;
-%% else
+%% elif target.family != "g0"
 #ifdef PWR_CR2_IOSV
 	RCC->APB1ENR1 |= RCC_APB1ENR1_PWREN;
 #endif

src/modm/platform/dma/stm32/module.lb

@@ -5,7 +5,7 @@
 # Copyright (c) 2017, Fabian Greif
 # Copyright (c) 2020, Mike Wolfram
 # Copyright (c) 2021, Raphael Lehmann
-# Copyright (c) 2021, Christopher Durand
+# Copyright (c) 2021-2023, Christopher Durand
 #
 # This file is part of the modm project.
 #
@@ -129,11 +129,11 @@ def build(env):
         for channel in channels:
             instance_channels[channel["dma-instance"]].append(channel["dma-channel"])
         for instance in instance_channels:
-            channel_list = instance_channels[instance]
+            channel_list = [int(c) for c in instance_channels[instance]]
             channel_list.sort()
             min_channel = channel_list[0]
             max_channel = channel_list[-1]
-            controller.append({"instance": int(instance), "min_channel": int(min_channel), "max_channel": int(max_channel)})
+            controller.append({"instance": int(instance), "min_channel": min_channel, "max_channel": max_channel})
     elif dma["type"] in ["stm32-stream-channel"]:
         for channels in dma["streams"]:
             max_channels = 0

src/modm/platform/i2c/stm32-extended/i2c_master.cpp.in

@@ -2,6 +2,7 @@
 /*
  * Copyright (c) 2017, Niklas Hauser
  * Copyright (c) 2017, Sascha Schade
+ * Copyright (c) 2018, 2023, Christopher Durand
  *
  * This file is part of the modm project.
  *
@@ -53,7 +54,7 @@
 #include <modm/container.hpp>
 #include <modm/platform/clock/rcc.hpp>
 
-%% if not shared_interrupt
+%% if not single_interrupt
 MODM_ISR_DECL(I2C{{ id }}_ER);
 %% endif
 
@@ -323,20 +324,35 @@ namespace
 }
 
 // ----------------------------------------------------------------------------
-%% if shared_interrupt
+%% if shared_irq
+void
+modm::platform::I2cMaster{{ id }}::irq()
+%% elif single_interrupt
 MODM_ISR(I2C{{ id }})
 %% else
 MODM_ISR(I2C{{ id }}_EV)
 %% endif
 {
 	DEBUG_STREAM("\n=== IRQ ===");
 
-%% if shared_interrupt
+%% if single_interrupt
 	handleError();
 %% endif
 
-	uint16_t isr = I2C{{ id }}->ISR;
+	const uint16_t isr = I2C{{ id }}->ISR;
+%% if shared_irq
+	const auto cr1 = I2C{{ id }}->CR1;
+	const auto mask = (cr1 & (I2C_CR1_STOPIE | I2C_CR1_RXIE | I2C_CR1_TXIE))
+		| ((cr1 & I2C_CR1_TCIE) ? (I2C_ISR_TCR | I2C_ISR_TC) : 0u);
+
+	static_assert(I2C_CR1_STOPIE == I2C_ISR_STOPF);
+	static_assert(I2C_CR1_TXIE == I2C_ISR_TXIS);
+	static_assert(I2C_CR1_RXIE == I2C_ISR_RXNE);
 
+	if ((isr & mask) == 0) {
+		return;
+	}
+%% endif
 	I2C{{ id }}->CR1 &= ~(I2C_CR1_STOPIE | I2C_CR1_TCIE | I2C_CR1_RXIE | I2C_CR1_TXIE);
 
 	I2C{{ id }}->ICR = I2C_ICR_STOPCF;
@@ -487,7 +503,7 @@ MODM_ISR(I2C{{ id }}_EV)
 }
 
 // ----------------------------------------------------------------------------
-%% if not shared_interrupt
+%% if not single_interrupt
 MODM_ISR(I2C{{ id }}_ER)
 {
 	handleError();
@@ -539,7 +555,11 @@ modm::platform::I2cMaster{{ id }}::initializeWithPrescaler(uint32_t timingRegist
 	// Disable Own Address 2
 	I2C{{ id }}->OAR2 = 0;
 
-%% if shared_interrupt
+%% if shared_irq
+	// Enable Interrupt
+	NVIC_SetPriority({{ shared_irq }}_IRQn, 10);
+	NVIC_EnableIRQ({{ shared_irq }}_IRQn);
+%% elif single_interrupt
 	// Enable Interrupt
 	NVIC_SetPriority(I2C{{ id }}_IRQn, 10);
 	NVIC_EnableIRQ(I2C{{ id }}_IRQn);

src/modm/platform/i2c/stm32-extended/i2c_master.hpp.in

@@ -2,6 +2,7 @@
 /*
  * Copyright (c) 2017, Sascha Schade
  * Copyright (c) 2017-2018, Niklas Hauser
+ * Copyright (c) 2018, 2023, Christopher Durand
  *
  * This file is part of the modm project.
  *
@@ -14,6 +15,7 @@
 #ifndef MODM_STM32_I2C_{{ id }}_HPP
 #define MODM_STM32_I2C_{{ id }}_HPP
 
+#include <modm/architecture/interface/interrupt.hpp>
 #include <modm/architecture/interface/i2c_master.hpp>
 #include <modm/architecture/interface/clock.hpp>
 #include <modm/platform/gpio/connector.hpp>
@@ -117,6 +119,13 @@ public:
 private:
 	static void
 	initializeWithPrescaler(uint32_t timingRegisterValue);
+
+%% if shared_irq
+	friend void ::{{ shared_irq }}_IRQHandler();
+
+	static void
+	irq();
+%% endif
 };
 
 

src/modm/platform/i2c/stm32-extended/i2c_shared_irqs.cpp.in

@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+%% for ids in shared_irqs.values()
+%% for id in ids | sort
+#include "i2c_master_{{ id }}.hpp"
+%% endfor
+%% endfor
+
+%% for irq,ids in shared_irqs.items()
+MODM_ISR({{ irq }})
+{
+%% for id in ids | sort
+	modm::platform::I2cMaster{{ id }}::irq();
+%% endfor
+}
+%% endfor

src/modm/platform/i2c/stm32-extended/module.lb

@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 # Copyright (c) 2016-2018, Niklas Hauser
 # Copyright (c) 2017, Fabian Greif
+# Copyright (c) 2023, Christopher Durand
 #
 # This file is part of the modm project.
 #
@@ -10,6 +11,23 @@
 # file, You can obtain one at http://mozilla.org/MPL/2.0/.
 # -----------------------------------------------------------------------------
 
+from collections import defaultdict
+import re
+
+global_properties = {}
+
+def get_shared_irqs(device):
+    irq_re = re.compile("I2C\d(_\d)+")
+    shared_irqs = [v["name"] for v in device.get_driver("core")["vector"]]
+    shared_irqs = [v for v in shared_irqs if irq_re.fullmatch(v)]
+    shared_irq_map = {}
+    for irq in shared_irqs:
+        instances = tuple(irq[3:].split("_"))
+        for i in instances:
+            shared_irq_map[int(i)] = irq
+    return shared_irq_map
+
+
 class Instance(Module):
     def __init__(self, instance):
         self.instance = instance
@@ -31,13 +49,21 @@ class Instance(Module):
         return True
 
     def build(self, env):
+        global global_properties
+
         device = env[":target"]
         driver = device.get_driver("i2c")
 
         properties = device.properties
         properties["target"] = target = device.identifier
         properties["id"] = self.instance
-        properties["shared_interrupt"] = "0" in target.family
+        properties["single_interrupt"] = "0" in target.family
+        shared_irq = get_shared_irqs(device).get(self.instance)
+        properties["shared_irq"] = shared_irq
+        if shared_irq:
+            global_properties["shared_irqs"][shared_irq].append(self.instance)
+        # shared irq is only supported with a single data and error interrupt
+        assert properties["single_interrupt"] or not shared_irq
 
         env.substitutions = properties
         env.outbasepath = "modm/src/modm/platform/i2c"
@@ -64,12 +90,17 @@ def prepare(module, options):
         ":container",
         ":platform:gpio")
 
+    global_properties["shared_irqs"] = defaultdict(list)
+
     for instance in listify(device.get_driver("i2c")["instance"]):
         module.add_submodule(Instance(int(instance)))
 
     return True
 
 def build(env):
+    env.substitutions.update(global_properties)
     env.outbasepath = "modm/src/modm/platform/i2c"
-    env.copy("i2c_timing_calculator.hpp")
 
+    env.copy("i2c_timing_calculator.hpp")
+    if len(global_properties["shared_irqs"]) > 0:
+        env.template("i2c_shared_irqs.cpp.in")

src/modm/platform/spi/stm32/module.lb

@@ -3,6 +3,7 @@
 #
 # Copyright (c) 2016-2018, Niklas Hauser
 # Copyright (c) 2017, Fabian Greif
+# Copyright (c) 2023, Christopher Durand
 #
 # This file is part of the modm project.
 #
@@ -37,6 +38,13 @@ class Instance(Module):
         properties = get_properties(env)
         properties["id"] = self.instance
 
+        device = env[":target"]
+
+        irqs = [v["name"] for v in device.get_driver("core")["vector"]]
+        irqs = [irq for irq in irqs if irq.startswith("SPI") and str(self.instance) in irq]
+        assert len(irqs) == 1
+        properties["irq"] = irqs[0]
+
         env.substitutions = properties
         env.outbasepath = "modm/src/modm/platform/spi"
 

src/modm/platform/spi/stm32/spi_hal_impl.hpp.in

@@ -153,12 +153,12 @@ modm::platform::SpiHal{{ id }}::enableInterruptVector(bool enable, uint32_t prio
 {
 	if (enable) {
 		// Set priority for the interrupt vector
-		NVIC_SetPriority(SPI{{ id }}_IRQn, priority);
+		NVIC_SetPriority({{ irq }}_IRQn, priority);
 		// register IRQ at the NVIC
-		NVIC_EnableIRQ(SPI{{ id }}_IRQn);
+		NVIC_EnableIRQ({{ irq }}_IRQn);
 	}
 	else {
-		NVIC_DisableIRQ(SPI{{ id }}_IRQn);
+		NVIC_DisableIRQ({{ irq }}_IRQn);
 	}
 }
 

test/all/ignored.txt

@@ -106,10 +106,6 @@ samd21e15c-uf
 samd21e15c-uu
 samd21e16c-uf
 samd21e16c-uu
-# FIXME: Shared IRQs on UART, SPI, I2C
-stm32g0b0
-stm32g0b1
-stm32g0c1
 # FIXME: Dual-core devices not supported yet
 stm32h745
 stm32h755