Add board support for STM32F401 Discovery

.github/workflows/linux.yml

@@ -201,7 +201,7 @@ jobs:
       - name: Examples STM32F4 Only Discovery Board
         if: always()
         run: |
-          (cd examples && ../tools/scripts/examples_compile.py stm32f4_discovery stm32f429_discovery stm32f469_discovery)
+          (cd examples && ../tools/scripts/examples_compile.py stm32f4_discovery stm32f429_discovery stm32f469_discovery stm32f401_discovery)
 
   stm32f4-examples-2:
     runs-on: ubuntu-22.04

README.md

@@ -622,75 +622,76 @@ We have out-of-box support for many development boards including documentation.
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-f100rb">DISCO-F100RB</a></td>
 </tr><tr>
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-f303vc">DISCO-F303VC</a></td>
+<td align="center"><a href="https://modm.io/reference/config/modm-disco-f401vc">DISCO-F401VC</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-f407vg">DISCO-F407VG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-f429zi">DISCO-F429ZI</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-disco-f469ni">DISCO-F469NI</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-disco-f469ni">DISCO-F469NI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-f746ng">DISCO-F746NG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-f769ni">DISCO-F769NI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-l152rc">DISCO-L152RC</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-disco-l476vg">DISCO-L476VG</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-disco-l476vg">DISCO-L476VG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-feather-m0">FEATHER-M0</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-feather-m4">FEATHER-M4</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-feather-rp2040">FEATHER-RP2040</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-mega-2560-pro">MEGA-2560-PRO</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-mega-2560-pro">MEGA-2560-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f031k6">NUCLEO-F031K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f042k6">NUCLEO-F042K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f072rb">NUCLEO-F072RB</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f091rc">NUCLEO-F091RC</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f091rc">NUCLEO-F091RC</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f103rb">NUCLEO-F103RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303k8">NUCLEO-F303K8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303re">NUCLEO-F303RE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f334r8">NUCLEO-F334R8</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f334r8">NUCLEO-F334R8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f401re">NUCLEO-F401RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f411re">NUCLEO-F411RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f429zi">NUCLEO-F429ZI</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f439zi">NUCLEO-F439ZI</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f439zi">NUCLEO-F439ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446re">NUCLEO-F446RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446ze">NUCLEO-F446ZE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f746zg">NUCLEO-F746ZG</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f767zi">NUCLEO-F767ZI</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f767zi">NUCLEO-F767ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g071rb">NUCLEO-G071RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431kb">NUCLEO-G431KB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431rb">NUCLEO-G431RB</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g474re">NUCLEO-G474RE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g474re">NUCLEO-G474RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h723zg">NUCLEO-H723ZG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h743zi">NUCLEO-H743ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l031k6">NUCLEO-L031K6</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l053r8">NUCLEO-L053R8</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l053r8">NUCLEO-L053R8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l152re">NUCLEO-L152RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l432kc">NUCLEO-L432KC</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l452re">NUCLEO-L452RE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l476rg">NUCLEO-L476RG</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l476rg">NUCLEO-L476RG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l496zg-p">NUCLEO-L496ZG-P</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l552ze-q">NUCLEO-L552ZE-Q</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-u575zi-q">NUCLEO-U575ZI-Q</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-olimexino-stm32">OLIMEXINO-STM32</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-olimexino-stm32">OLIMEXINO-STM32</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-raspberrypi">Raspberry Pi</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-rp-pico">Raspberry Pi Pico</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samd21-mini">SAMD21-MINI</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-samd21-xplained-pro">SAMD21-XPLAINED-PRO</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-samd21-xplained-pro">SAMD21-XPLAINED-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-same54-xplained-pro">SAME54-XPLAINED-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-same70-xplained">SAME70-XPLAINED</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samg55-xplained-pro">SAMG55-XPLAINED-PRO</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-samv71-xplained-ultra">SAMV71-XPLAINED-ULTRA</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-samv71-xplained-ultra">SAMV71-XPLAINED-ULTRA</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-srxe">Smart Response XE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-stm32_f4ve">STM32-F4VE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-stm32f030_demo">STM32F030-DEMO</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-thingplus-rp2040">THINGPLUS-RP2040</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-thingplus-rp2040">THINGPLUS-RP2040</a></td>
 </tr>
 </table>
 <!--/bsptable-->

examples/stm32f401_discovery/accelerometer/main.cpp

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c) 2015, Kevin Läufer
+ * Copyright (c) 2015-2018, Niklas Hauser
+ * Copyright (c) 2024, Carl Treudler
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/processing.hpp>
+#include <modm/math/filter.hpp>
+
+using namespace Board;
+
+// create the data object
+Board::lsm3::Accelerometer::Data data;
+// and hand it to the sensor driver
+Board::lsm3::Accelerometer accelerometer(data);
+
+
+class ReaderThread : public modm::pt::Protothread
+{
+public:
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		// initialize with limited range of ±2g
+		PT_CALL(accelerometer.configure(accelerometer.Scale::G2));
+
+		while (true)
+		{
+			// read out the sensor
+			PT_CALL(accelerometer.readAcceleration());
+
+			averageX.update(accelerometer.getData().getX());
+			averageY.update(accelerometer.getData().getY());
+
+			{
+				bool xs = averageX.getValue() < -0.2f;
+				bool xn = averageX.getValue() >  0.2f;
+
+				bool xe = averageY.getValue() < -0.2f;
+				bool xw = averageY.getValue() >  0.2f;
+
+
+				LedBlue::set(xs); // South
+				LedGreen::set(xw); //West
+				LedOrange::set(xn); // North
+				LedRed::set(xe); // East
+			}
+
+			// repeat every 5 ms
+			timeout.restart(5ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortTimeout timeout;
+	modm::filter::MovingAverage<float, 25> averageX;
+	modm::filter::MovingAverage<float, 25> averageY;
+};
+
+ReaderThread reader;
+
+int
+main()
+{
+	Board::initialize();
+	Board::initializeLsm3();
+
+	Leds::set();
+	modm::delay(42ms);
+
+	modm::fiber::Scheduler::run();
+
+	return 0;
+}

examples/stm32f401_discovery/accelerometer/project.xml

@@ -0,0 +1,17 @@
+<library>
+  <extends>modm:disco-f401vc</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/stm32f401_discovery/accelerometer</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
+  </options>
+  <modules>
+    <module>modm:driver:lsm303a</module>
+    <module>modm:math:filter</module>
+    <module>modm:platform:gpio</module>
+    <module>modm:platform:i2c</module>
+    <module>modm:platform:i2c.bitbang</module>
+    <module>modm:processing:timer</module>
+    <module>modm:processing:protothread</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

examples/stm32f401_discovery/blink/main.cpp

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2011, Georgi Grinshpun
+ * Copyright (c) 2011-2012, Fabian Greif
+ * Copyright (c) 2012, 2014, Sascha Schade
+ * Copyright (c) 2013, Kevin Läufer
+ * Copyright (c) 2013, 2015-2017, Niklas Hauser
+ * Copyright (c) 2024, Carl Treudler
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+using namespace Board;
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	initialize();
+
+	LedOrange::set();
+	LedRed::set();
+
+	while (true)
+	{
+		LedBlue::toggle();
+		LedGreen::toggle();
+		LedOrange::toggle();
+		LedRed::toggle();
+		modm::delay(Button::read() ? 250ms : 500ms);
+	}
+
+	return 0;
+}

examples/stm32f401_discovery/blink/project.xml

@@ -0,0 +1,9 @@
+<library>
+  <extends>modm:disco-f401vc</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/stm32f401_discovery/blink</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

examples/stm32f401_discovery/gyroscope/main.cpp

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2014-2018, Niklas Hauser
+ * Copyright (c) 2015, Kevin Läufer
+ * Copyright (c) 2015, Martin Esser
+ * Copyright (c) 2018, Christopher Durand
+ * Copyright (c) 2024, Carl Treudler
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/driver/inertial/l3gd20.hpp>
+#include <modm/processing.hpp>
+#include <modm/math/filter.hpp>
+
+// maps arbitrary gpios to a bit
+using LedRing = SoftwareGpioPort<
+	Board::LedOrange,	// 3
+	Board::LedRed,		// 2
+	Board::LedBlue,		// 1
+	Board::LedGreen		// 0
+	>;
+
+// create the data object
+Board::l3g::Gyroscope::Data data;
+// and hand it to the sensor driver
+Board::l3g::Gyroscope gyro(data);
+
+
+class ReaderThread : public modm::pt::Protothread
+{
+public:
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		// initialize with limited range of 250 degrees per second
+		PT_CALL(gyro.configure(gyro.Scale::Dps250));
+
+		while (true)
+		{
+			// read out the sensor
+			PT_CALL(gyro.readRotation());
+
+			// update the moving average
+			averageZ.update(gyro.getData().getZ());
+
+			{
+				float value = averageZ.getValue();
+				// normalize rotation and scale by 5 leds
+				uint16_t leds = abs(value / 200 * 5);
+				leds = (1ul << leds) - 1;
+
+				LedRing::write(leds);
+			}
+
+			// repeat every 5 ms
+			timeout.restart(5ms);
+			PT_WAIT_UNTIL(timeout.isExpired());
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortTimeout timeout;
+	modm::filter::MovingAverage<float, 25> averageZ;
+};
+
+ReaderThread reader;
+
+
+int
+main()
+{
+	Board::initialize();
+	Board::initializeL3g();
+
+	while (true)
+	{
+		reader.update();
+	}
+
+	return 0;
+}

examples/stm32f401_discovery/gyroscope/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <extends>modm:disco-f401vc</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/stm32f401_discovery/gyroscope</option>
+  </options>
+  <modules>
+    <module>modm:driver:l3gd20</module>
+    <module>modm:math:filter</module>
+    <module>modm:platform:spi:1</module>
+    <module>modm:processing:timer</module>
+    <module>modm:processing:protothread</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>