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Add stm32g0b1 support (#5150)
* Add STM32G0B1 target support Introduce support for STM32G0B1 microcontrollers, including target-specific JSON files, linker scripts, and runtime initialization. This update adds hardware support for GPIO, UART, SPI, I2C, timers, and additional board-specific configurations like Nucleo-G0B1RE. * Update STM32G0 clock initialization to 64MHz and adjust related configurations Reconfigure STM32G0 to use a 64MHz system clock via PLL with HSI16 as the source. Update flash latency, prescaler settings, and I2C timing values to reflect the new frequency. * Cleanup * Cleanup * Add STM32G0-specific UART implementation Introduce a new UART implementation for the STM32G0 series with chip-specific setup and configuration methods. Update the generic STM32 UART code to exclude STM32G0. * Refactor STM32G0 runtime and machine code to utilize chip-specific register access functions Simplify and standardize register operations with dedicated setter methods in the STM32G0 runtime and machine code and cleanup redundant syntax. * Remove redundant commented-out APBENR1 register operations in STM32G0 machine code * Introduce FDCAN support for STM32G0B1 series Add FDCAN peripheral implementation targeting STM32G0B1, including support for standard, extended identifiers, and bit rate configuration. Update board files to include FDCAN pins, instances, and clock configuration for Nucleo-G0B1RE and Amken Trio boards.
1 parent 9bcca97 commit cfd74c2

23 files changed

+2021
-9
lines changed

‎src/machine/board_amken_trio.go‎

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//go:build amken_trio
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// RabbitPNP Toolhead Board
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// MCU: STM32G0B1CBTx (LQFP48, 128KB Flash, 144KB RAM)
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package machine
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import (
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"device/stm32"
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"runtime/interrupt"
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)
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// Vacuum sensors (PWM input via TIM2)
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const (
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VAC1 = PA0 // TIM2_CH1
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VAC2 = PA1 // TIM2_CH2
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)
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// Motor 1 pins (stepper driver)
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const (
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M1_CS = PC7
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M1_DIR = PB13 // REFL
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M1_STEP = PB14 // REFR
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M1_ENN = PA10 // Enable (active low)
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)
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// Motor 2 pins (stepper driver)
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const (
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M2_CS = PA9
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M2_DIR = PB12 // REFL
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M2_STEP = PB11 // REFR
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M2_ENN = PC6 // Enable (active low)
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)
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// Motor 3 pins (stepper driver)
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const (
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M3_CS = PB15
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M3_DIR = PB2 // REFL
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M3_STEP = PB1 // REFR
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M3_ENN = PA8 // Enable (active low)
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)
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// LED
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const (
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LED = LED1
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LED_BUILTIN = LED1
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LED1 = PB7
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)
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// Solenoid and Neopixel (PWM via TIM4)
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const (
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SOLENOID = PB8 // TIM4_CH3
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NEOPIXEL = PB9 // TIM4_CH4
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)
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// Endstops
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const (
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ENDSTOP_IN1 = PC13
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ENDSTOP_IN2 = PC14
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)
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// Magnetic sensor
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const (
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MAG1 = PB3
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)
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// Accelerometer chip select (LIS2D on SPI2)
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const (
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LIS2D_CS = PB5
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)
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// SPI1 pins (motor drivers)
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const (
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SPI1_SCK_PIN = PA5
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SPI1_SDO_PIN = PA2 // MOSI
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SPI1_SDI_PIN = PA6 // MISO
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SPI0_SCK_PIN = SPI1_SCK_PIN
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SPI0_SDO_PIN = SPI1_SDO_PIN
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SPI0_SDI_PIN = SPI1_SDI_PIN
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)
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// SPI2 pins (accelerometer)
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const (
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SPI2_SCK_PIN = PB10
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SPI2_SDO_PIN = PA4 // MOSI
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SPI2_SDI_PIN = PA3 // MISO
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)
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// I2C2 pins
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const (
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I2C2_SCL_PIN = PA7
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I2C2_SDA_PIN = PB4
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I2C0_SCL_PIN = I2C2_SCL_PIN
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I2C0_SDA_PIN = I2C2_SDA_PIN
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)
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// FDCAN1 pins
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const (
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CAN_RX = PD0
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CAN_TX = PD1
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)
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// USB pins
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const (
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USB_DM = PA11
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USB_DP = PA12
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)
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// UART pins (not directly connected but required by machine package)
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const (
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UART_TX_PIN = NoPin
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UART_RX_PIN = NoPin
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)
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var (
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// SPI1 for motor drivers
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SPI1 = &SPI{
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Bus: stm32.SPI1,
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AltFuncSelector: AF0_SYSTEM,
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}
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SPI0 = SPI1
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// SPI2 for accelerometer
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SPI2 = &SPI{
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Bus: stm32.SPI2,
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AltFuncSelector: AF1_TIM1_TIM2_TIM3_LPTIM1,
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}
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// I2C2
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I2C2 = &I2C{
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Bus: stm32.I2C2,
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AltFuncSelector: AF6_SPI2_USART3_USART4_I2C1,
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}
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I2C0 = I2C2
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// FDCAN1 on PD0 (RX) / PD1 (TX) with onboard transceiver
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CAN1 = &_CAN1
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_CAN1 = FDCAN{
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Bus: stm32.FDCAN1,
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TxAltFuncSelect: AF3_FDCAN1_FDCAN2,
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RxAltFuncSelect: AF3_FDCAN1_FDCAN2,
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instance: 0,
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}
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// Alias for convenience
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CAN0 = CAN1
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)
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// Suppress unused import warning for interrupt package
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var _ = interrupt.New
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func init() {
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// No UART configured on this board - uses USB or CAN for communication
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}

‎src/machine/board_nucleog0b1re.go‎

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//go:build nucleog0b1re
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// Schematic: https://www.st.com/resource/en/user_manual/um2324-stm32-nucleo64-boards-mb1360-stmicroelectronics.pdf
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// Datasheet: https://www.st.com/resource/en/datasheet/stm32g0b1re.pdf
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package machine
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import (
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"device/stm32"
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"runtime/interrupt"
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)
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const (
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// Arduino Pins
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A0 = PA0
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A1 = PA1
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A2 = PA4
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A3 = PB1
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A4 = PA11
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A5 = PA12
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D0 = PB7
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D1 = PB6
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D2 = PA10
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D3 = PB3
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D4 = PB5
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D5 = PB4
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D6 = PB10
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D7 = PA8
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D8 = PA9
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D9 = PC7
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D10 = PB0
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D11 = PA7
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D12 = PA6
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D13 = PA5
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D14 = PB9
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D15 = PB8
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)
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// User LD4: the green LED is a user LED connected to ARDUINO signal D13 corresponding
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// to STM32 I/O PA5.
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const (
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LED = LED_BUILTIN
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LED_BUILTIN = LED_GREEN
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LED_GREEN = PA5
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)
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// User B1: the user button is connected to PC13.
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const (
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BUTTON = PC13
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)
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const (
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// UART pins
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// PA2 and PA3 are connected to the ST-Link Virtual Com Port (VCP)
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UART_TX_PIN = PA2
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UART_RX_PIN = PA3
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// I2C pins
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// PB8 is SCL (connected to Arduino connector D15)
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// PB9 is SDA (connected to Arduino connector D14)
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I2C0_SCL_PIN = PB8
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I2C0_SDA_PIN = PB9
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// SPI pins
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SPI1_SCK_PIN = PA5
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SPI1_SDI_PIN = PA6
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SPI1_SDO_PIN = PA7
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SPI0_SCK_PIN = SPI1_SCK_PIN
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SPI0_SDI_PIN = SPI1_SDI_PIN
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SPI0_SDO_PIN = SPI1_SDO_PIN
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// CAN pins (directly accessible on Nucleo-G0B1RE board)
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// FDCAN1: PA11 (TX) / PA12 (RX) using AF9
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// FDCAN2: PD12 (TX) / PD13 (RX) using AF3
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CAN1_TX_PIN = PA11
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CAN1_RX_PIN = PA12
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CAN2_TX_PIN = PD12
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CAN2_RX_PIN = PD13
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)
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var (
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// USART2 is the hardware serial port connected to the onboard ST-LINK
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// debugger to be exposed as virtual COM port over USB on Nucleo boards.
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UART1 = &_UART1
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_UART1 = UART{
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Buffer: NewRingBuffer(),
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Bus: stm32.USART2,
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TxAltFuncSelector: AF1_TIM1_TIM2_TIM3_LPTIM1,
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RxAltFuncSelector: AF1_TIM1_TIM2_TIM3_LPTIM1,
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}
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DefaultUART = UART1
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// I2C1 is documented, alias to I2C0 as well
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I2C1 = &I2C{
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Bus: stm32.I2C1,
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AltFuncSelector: AF6_SPI2_USART3_USART4_I2C1,
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}
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I2C0 = I2C1
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// SPI1 is documented, alias to SPI0 as well
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SPI1 = &SPI{
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Bus: stm32.SPI1,
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AltFuncSelector: AF0_SYSTEM,
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}
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SPI0 = SPI1
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// FDCAN1 on PA11 (TX) / PA12 (RX)
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CAN1 = &_CAN1
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_CAN1 = FDCAN{
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Bus: stm32.FDCAN1,
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TxAltFuncSelect: AF9_FDCAN1_FDCAN2,
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RxAltFuncSelect: AF9_FDCAN1_FDCAN2,
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instance: 0,
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}
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// FDCAN2 on PD12 (TX) / PD13 (RX)
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CAN2 = &_CAN2
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_CAN2 = FDCAN{
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Bus: stm32.FDCAN2,
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TxAltFuncSelect: AF3_FDCAN1_FDCAN2,
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RxAltFuncSelect: AF3_FDCAN1_FDCAN2,
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instance: 1,
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}
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)
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func init() {
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UART1.Interrupt = interrupt.New(stm32.IRQ_USART2_LPUART2, _UART1.handleInterrupt)
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// Note: FDCAN interrupts share with USB (IRQ_UCPD1_UCPD2_USB = 8)
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// User should configure interrupts via SetInterrupt method if needed
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}

‎src/machine/machine_stm32_exti_syscfg.go‎

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//go:build stm32 && !stm32f1 && !stm32l5 && !stm32wlx
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//go:build stm32 && !stm32f1 && !stm32l5 && !stm32wlx && !stm32g0
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package machine
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‎src/machine/machine_stm32_gpio_reva.go‎

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//go:build stm32 && !stm32l4 && !stm32l5 && !stm32wlx
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//go:build stm32 && !stm32l4 && !stm32l5 && !stm32wlx && !stm32g0
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package machine
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‎src/machine/machine_stm32_i2c_revb.go‎

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//go:build stm32l5 || stm32f7 || stm32l4 || stm32l0 || stm32wlx
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//go:build stm32l5 || stm32f7 || stm32l4 || stm32l0 || stm32wlx || stm32g0
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package machine
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‎src/machine/machine_stm32_rng.go‎

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//go:build stm32 && !(stm32f103 || stm32l0x1)
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//go:build stm32 && !(stm32f103 || stm32l0x1 || stm32g0)
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package machine
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‎src/machine/machine_stm32_spi.go‎

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//go:build stm32 && !stm32f7x2 && !stm32l5x2
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//go:build stm32 && !stm32f7x2 && !stm32l5x2 && !stm32g0
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package machine
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‎src/machine/machine_stm32_uart.go‎

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//go:build stm32
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//go:build stm32 && !stm32g0
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package machine
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// Peripheral abstraction layer for UARTs on the stm32 family.
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// Peripheral abstraction layer for UARTs on the stm32 family (except stm32g0).
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import (
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"device/stm32"

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