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[example] Add STM32F401 Discovery examples
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‎.github/workflows/linux.yml‎

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- name: Examples STM32F4 Only Discovery Board
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if: always()
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run: |
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(cd examples && ../tools/scripts/examples_compile.py stm32f4_discovery stm32f429_discovery stm32f469_discovery)
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(cd examples && ../tools/scripts/examples_compile.py stm32f4_discovery stm32f429_discovery stm32f469_discovery stm32f401_discovery)
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stm32f4-examples-2:
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runs-on: ubuntu-22.04

‎examples/stm32f401_discovery/accelerometer/main.cpp‎

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/*
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* Copyright (c) 2015, Kevin Läufer
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* Copyright (c) 2015-2018, Niklas Hauser
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* Copyright (c) 2024, Carl Treudler
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/processing.hpp>
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#include <modm/math/filter.hpp>
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using namespace Board;
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// create the data object
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Board::lsm3::Accelerometer::Data data;
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// and hand it to the sensor driver
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Board::lsm3::Accelerometer accelerometer(data);
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class ReaderThread : public modm::pt::Protothread
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{
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public:
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bool
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update()
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{
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PT_BEGIN();
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// initialize with limited range of ±2g
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PT_CALL(accelerometer.configure(accelerometer.Scale::G2));
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while (true)
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{
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// read out the sensor
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PT_CALL(accelerometer.readAcceleration());
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averageX.update(accelerometer.getData().getX());
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averageY.update(accelerometer.getData().getY());
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{
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bool xs = averageX.getValue() < -0.2f;
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bool xn = averageX.getValue() > 0.2f;
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bool xe = averageY.getValue() < -0.2f;
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bool xw = averageY.getValue() > 0.2f;
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LedBlue::set(xs); // South
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LedGreen::set(xw); //West
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LedOrange::set(xn); // North
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LedRed::set(xe); // East
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}
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// repeat every 5 ms
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timeout.restart(5ms);
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PT_WAIT_UNTIL(timeout.isExpired());
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}
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PT_END();
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}
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private:
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modm::ShortTimeout timeout;
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modm::filter::MovingAverage<float, 25> averageX;
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modm::filter::MovingAverage<float, 25> averageY;
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};
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ReaderThread reader;
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int
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main()
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{
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Board::initialize();
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Board::initializeLsm3();
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Leds::set();
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modm::delay(42ms);
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modm::fiber::Scheduler::run();
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return 0;
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}

‎examples/stm32f401_discovery/accelerometer/project.xml‎

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<library>
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<extends>modm:disco-f401vc</extends>
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<options>
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<option name="modm:build:build.path">../../../build/stm32f401_discovery/accelerometer</option>
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<option name="modm:processing:protothread:use_fiber">yes</option>
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</options>
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<modules>
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<module>modm:driver:lsm303a</module>
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<module>modm:math:filter</module>
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<module>modm:platform:gpio</module>
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<module>modm:platform:i2c</module>
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<module>modm:platform:i2c.bitbang</module>
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<module>modm:processing:timer</module>
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<module>modm:processing:protothread</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

‎examples/stm32f401_discovery/blink/main.cpp‎

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/*
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* Copyright (c) 2011, Georgi Grinshpun
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* Copyright (c) 2011-2012, Fabian Greif
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* Copyright (c) 2012, 2014, Sascha Schade
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* Copyright (c) 2013, Kevin Läufer
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* Copyright (c) 2013, 2015-2017, Niklas Hauser
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* Copyright (c) 2024, Carl Treudler
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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using namespace Board;
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// ----------------------------------------------------------------------------
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int
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main()
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{
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initialize();
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LedOrange::set();
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LedRed::set();
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while (true)
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{
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LedBlue::toggle();
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LedGreen::toggle();
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LedOrange::toggle();
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LedRed::toggle();
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modm::delay(Button::read() ? 250ms : 500ms);
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}
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return 0;
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}

‎examples/stm32f401_discovery/blink/project.xml‎

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<library>
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<extends>modm:disco-f401vc</extends>
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<options>
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<option name="modm:build:build.path">../../../build/stm32f401_discovery/blink</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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</modules>
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</library>

‎examples/stm32f401_discovery/gyroscope/main.cpp‎

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/*
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* Copyright (c) 2014-2018, Niklas Hauser
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* Copyright (c) 2015, Kevin Läufer
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* Copyright (c) 2015, Martin Esser
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* Copyright (c) 2018, Christopher Durand
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* Copyright (c) 2024, Carl Treudler
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/driver/inertial/l3gd20.hpp>
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#include <modm/processing.hpp>
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#include <modm/math/filter.hpp>
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// maps arbitrary gpios to a bit
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using LedRing = SoftwareGpioPort<
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Board::LedOrange, // 3
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Board::LedRed, // 2
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Board::LedBlue, // 1
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Board::LedGreen // 0
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>;
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// create the data object
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Board::l3g::Gyroscope::Data data;
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// and hand it to the sensor driver
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Board::l3g::Gyroscope gyro(data);
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class ReaderThread : public modm::pt::Protothread
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{
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public:
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bool
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update()
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{
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PT_BEGIN();
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// initialize with limited range of 250 degrees per second
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PT_CALL(gyro.configure(gyro.Scale::Dps250));
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while (true)
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{
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// read out the sensor
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PT_CALL(gyro.readRotation());
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// update the moving average
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averageZ.update(gyro.getData().getZ());
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{
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float value = averageZ.getValue();
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// normalize rotation and scale by 5 leds
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uint16_t leds = abs(value / 200 * 5);
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leds = (1ul << leds) - 1;
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LedRing::write(leds);
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}
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// repeat every 5 ms
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timeout.restart(5ms);
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PT_WAIT_UNTIL(timeout.isExpired());
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}
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PT_END();
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}
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private:
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modm::ShortTimeout timeout;
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modm::filter::MovingAverage<float, 25> averageZ;
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};
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ReaderThread reader;
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int
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main()
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{
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Board::initialize();
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Board::initializeL3g();
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while (true)
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{
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reader.update();
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}
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return 0;
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}

‎examples/stm32f401_discovery/gyroscope/project.xml‎

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<library>
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<extends>modm:disco-f401vc</extends>
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<options>
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<option name="modm:build:build.path">../../../build/stm32f401_discovery/gyroscope</option>
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</options>
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<modules>
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<module>modm:driver:l3gd20</module>
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<module>modm:math:filter</module>
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<module>modm:platform:spi:1</module>
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<module>modm:processing:timer</module>
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<module>modm:processing:protothread</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

‎examples/stm32f401_discovery/uart/main.cpp‎

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/*
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* Copyright (c) 2011, Georgi Grinshpun
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* Copyright (c) 2011-2012, Fabian Greif
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* Copyright (c) 2012, 2014, Sascha Schade
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* Copyright (c) 2013, Kevin Läufer
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* Copyright (c) 2013, 2015-2017, Niklas Hauser
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* Copyright (c) 2024, Carl Treudler
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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// ----------------------------------------------------------------------------
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/**
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* Very basic example of USART usage.
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* The ASCII sequence 'A', 'B', 'C', ... , 'Z', 'A', 'B', 'C', ...
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* is printed with 9600 baud, 8N1 at pin PA3.
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*/
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int
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main()
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{
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Board::initialize();
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Board::LedRed::set();
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// Enable USART 2
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Usart2::connect<GpioA2::Tx>();
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Usart2::initialize<Board::SystemClock, 9600_Bd>();
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while (true)
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{
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static uint8_t c = 'A';
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Board::LedRed::toggle();
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Board::LedGreen::toggle();
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Usart2::write(c);
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++c;
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if (c > 'Z') {
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c = 'A';
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}
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modm::delay(500ms);
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}
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return 0;
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}

‎examples/stm32f401_discovery/uart/project.xml‎

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<library>
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<extends>modm:disco-f401vc</extends>
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<options>
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<option name="modm:build:build.path">../../../build/stm32f401_discovery/uart</option>
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</options>
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<modules>
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<module>modm:platform:gpio</module>
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<module>modm:platform:uart:2</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

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