STM32

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STM32 programming

Boot mode configuration

BOOT0 BOOT1 Boot mode                              Address
  x     0   Main Flash memory                      0x8000000
  0     1   System memory (built-in bootloader)    0x1FFFB000
  1     1   Embedded SRAM                          0x20000000

  in Main flash memory and System memory boot modes address is aliased to 0x0

STM32F103C86T dev board boot pins

Legend

o o o BOOT1
o o o BOOT0
---

Boot to bootloader (built-in bootloader)

  • Allows flashing over USART


o [=]
[=] o
---

Boot to main flash (user code)

[=] o
o o o
---


Flashing

  • Flashing is done via USART1 (A9 TX A10 RX)

Converting Elf to Bin

Required if you only have elf files produced by your toolchain - stm32flash accepts only *.bin files.

arm-none-eabi-objcopy -O binary miniblink.elf miniblink.bin

Using stm32flash

Test connection with

stm32flash /dev/ttyUSB0

Flash and run from 0x0

stm32flash /dev/ttyUSB0 -w miniblink.bin -g 0x0

Pinout

Stm32f103c8cb-pinlayout-wp01.jpg

Libraries

libopencm3

Minimalistic firmware library/framework.

Bootstrapping on Fedora

Library
  • dnf install arm-none-eabi*
  • mkdir embedded
  • git clone https://github.com/libopencm3/libopencm3
  • cd libopencm3
  • # Edit TARGETS in Makefile and keep only targets that you need (or just stm32/f1 for example).
  • make -j8
  • cd ..
DFU bootloader

This is a bootloader for Device Firmware Update via USB (stm32/f1).

  • git clone https://git.48.io/libopencm3_dfu
  • cd libopencm3_dfu
  • # connect JTAG
  • make flash
  • # or flash via USART & stm32flash, see flashing section above
  • make stm32flash
Sample application

For use with DFU bootloader (stm32/f1).

Library examples
  • git clone https://github.com/libopencm3/libopencm3-examples
  • # Either fetch git submodule pointing to libopencm3 and repeat steps in Library section
  • # or symlink libopecm3 dir to previously built libopencm3
  • cd libopencm3-examples
  • rmdir libopencm3
  • ln -s <PATH_TO-->/libopencm3 .
  • # try building miniblink example
  • cd examples/stm32/f1/stm32-h103/miniblink
  • make
Troubleshooting
  • use make V=1 when make fails

Calculating Timer Frequency

MUCH WIP

period_target_ms = p1 period_hz = p2

1000ms / p1 = p2

E.g. for 20ms (servo) period

1000ms / 20 ms = 50 hz

cpu_freq = 72Mhz prescale = 72

72MHz / 72 = 1Mhz

This increases out count register CNT by 1 000 000 each second. To calculate what is the correct value for the ARR register (which defines the period), we divide the result of the prescaled frequency by the intended frequency for our period:

1 000 000 Hz / 50 Hz = 20 000

Now every time the CNT register is increased by one, this is the equivalent to 1us. The duty cycle now could by set easily. E.g. for a 1.5ms duty cycle we set the CCRx register to 1500.


Stepper

driver_max_duty = 250khz

From http://www.kaltpost.de/?page_id=412