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Merged
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Mar 19, 2025
Merged

Added CH32 V203 support #89

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7 changes: 3 additions & 4 deletions Inc/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,6 @@ extern GPIO_TypeDef* current_GPIO_PORT;
#ifndef MCU_F031
extern COMP_TypeDef* active_COMP;
#endif
#ifdef MCU_F031
extern char input_ready;
#endif
#endif
#ifdef GIGADEVICES
extern uint32_t current_GPIO_PORT;
Expand All @@ -53,7 +50,9 @@ extern char dshot_extended_telemetry;
extern char EDT_ARM_ENABLE;
extern char EDT_ARMED;
extern uint16_t send_extended_dshot;

#ifdef NEED_INPUT_READY
extern volatile char input_ready;
#endif
// typedef struct PID{
// float error;
// float Kp;
Expand Down
69 changes: 69 additions & 0 deletions Inc/targets.h
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Expand Up @@ -2299,6 +2299,16 @@
#define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_7
#endif

/*****************************************************CH32V203 targets
* ************************************************/
#ifdef AIRBOT_V203
//#define USE_PA2_AS_COMP
#define FIRMWARE_NAME "AIRBOT_V203"
#define FILE_NAME "AIRBOT_V203"
#define DEAD_TIME 75
#define HARDWARE_GROUP_CH_A
#endif

#ifndef FIRMWARE_NAME
/* if you get this then you have forgotten to add the section for your target above */
#error "Missing defines for target"
Expand Down Expand Up @@ -3916,6 +3926,36 @@
#define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_8
#define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_11

#endif

#ifdef HARDWARE_GROUP_CH_A

#define MCU_CH32V203
#define USE_TIMER_15_CHANNEL_1

#define INPUT_PIN GPIO_Pin_0
#define INPUT_PIN_PORT GPIOA
#define IC_TIMER_CHANNEL (1-1)
#define IC_TIMER_REGISTER TIM2
#define INPUT_DMA_CHANNEL DMA1_Channel5
#define IC_DMA_IRQ_NAME DMA1_Channel5_IRQn

#define PHASE_A_GPIO_LOW GPIO_Pin_1
#define PHASE_A_GPIO_PORT_LOW GPIOB
#define PHASE_A_GPIO_HIGH GPIO_Pin_10
#define PHASE_A_GPIO_PORT_HIGH GPIOA

#define PHASE_B_GPIO_LOW GPIO_Pin_0
#define PHASE_B_GPIO_PORT_LOW GPIOB
#define PHASE_B_GPIO_HIGH GPIO_Pin_9
#define PHASE_B_GPIO_PORT_HIGH GPIOA

#define PHASE_C_GPIO_LOW GPIO_Pin_7
#define PHASE_C_GPIO_PORT_LOW GPIOA
#define PHASE_C_GPIO_HIGH GPIO_Pin_8
#define PHASE_C_GPIO_PORT_HIGH GPIOA


#endif

/************************************ MCU COMMON PERIPHERALS
Expand Down Expand Up @@ -3950,6 +3990,7 @@
#endif

#ifdef MCU_F031
#define NEED_INPUT_READY
#define STMICRO
#define CPU_FREQUENCY_MHZ 48
#define EEPROM_START_ADD (uint32_t)0x08007C00
Expand Down Expand Up @@ -4141,6 +4182,34 @@
#endif


#ifdef MCU_CH32V203
#define WCH
#define NEED_INPUT_READY
#define ERASED_FLASH_BYTE 0x39
#define CPU_FREQUENCY_MHZ 48 //PWM freq is 48MHz, CPU freq is 96MHz
#define EEPROM_START_ADD (uint32_t)0x0800f800
#define INTERVAL_TIMER TIM4
#define TEN_KHZ_TIMER SysTick
#define UTILITY_TIMER TIM4
#define COM_TIMER TIM3 //for
#define TIM1_AUTORELOAD 2000
#define APPLICATION_ADDRESS 0x08001000

#define TARGET_MIN_BEMF_COUNTS 6
#define USE_ADC
// #define DSHOT_PRE 95
#define DSHOT_PRIORITY_THRESHOLD 50
#define COM_TIMER_IRQ TIM3_IRQn

#ifndef USE_PA2_AS_COMP
#define COMPARATOR_IRQ EXTI3_IRQn
#define COMPARATOR_IRQ_2 EXTI4_IRQn
#else
#define COMPARATOR_IRQ EXTI2_IRQn
#endif

#endif

#ifndef LOOP_FREQUENCY_HZ
#define LOOP_FREQUENCY_HZ 20000
#endif
Expand Down
151 changes: 151 additions & 0 deletions MRS_Projects/ch32v203f8u6/Am32V203/.cproject
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51 changes: 51 additions & 0 deletions MRS_Projects/ch32v203f8u6/Am32V203/.project
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@@ -0,0 +1,51 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<projectDescription>
<name>Am32V203</name>
<comment/>
<projects/>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments/>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments/>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
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<id>1595986042669</id>
<name/>
<type>22</type>
<matcher>
<id>org.eclipse.ui.ide.multiFilter</id>
<arguments>1.0-name-matches-false-false-*.wvproj</arguments>
</matcher>
</filter>
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<linkedResources>
<link>
<name>v203</name>
<type>2</type>
<location>PARENT-3-PROJECT_LOC/Mcu/v203</location>
</link>
<link>
<name>Src</name>
<type>2</type>
<location>PARENT-3-PROJECT_LOC/Src</location>
</link>
<link>
<name>Inc</name>
<type>2</type>
<location>PARENT-3-PROJECT_LOC/Inc</location>
</link>
</linkedResources>
</projectDescription>
14 changes: 14 additions & 0 deletions MRS_Projects/ch32v203f8u6/Am32V203/.settings/language.settings.xml
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
<configuration id="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.1008047074" name="obj">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-755220019984086581" id="ilg.gnumcueclipse.managedbuild.cross.riscv.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT RISC-V Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
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</project>
2 changes: 2 additions & 0 deletions MRS_Projects/ch32v203f8u6/Am32V203/.settings/org.eclipse.core.resources.prefs
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@@ -0,0 +1,2 @@
eclipse.preferences.version=1
encoding//v203/Drivers/Peripheral/inc/ch32v20x.h=UTF-8
17 changes: 17 additions & 0 deletions MRS_Projects/ch32v203f8u6/Am32V203/.template
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@@ -0,0 +1,17 @@
Mcu Type=CH32V20x
Address=0x08000000
Target Path=obj/Am32V203.hex
Erase All=true
Program=true
Verify=true
Reset=true

Vendor=WCH
Link=WCH-Link
Toolchain=RISC-V
Series=CH32V203
RTOS=NoneOS
MCU=CH32V203F8U6
Description=Website: http://www.wch.cn/products/CH32V203.html?\nROM(byte): 64K, SRAM(byte): 20K, CHIP PINS: 20, GPIO PORTS: 17.\nWCH CH32V2 series of mainstream MCUs covers the needs of a large variety of applications in the industrial,medical and consumer markets. High performance with first-class peripherals and low-power,low-voltage operation is paired with a high level of integration at accessible prices with a simple architecture and easy-to-use tools.

PeripheralVersion=2.1
61 changes: 61 additions & 0 deletions MRS_Projects/ch32v203f8u6/Am32V203/Am32V203.launch
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@@ -0,0 +1,61 @@
<?xml version="1.0" encoding="UTF-8" ?>
<launchConfiguration type="com.mounriver.debug.gdbjtag.openocd.launchConfigurationType">
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doContinue" value="true" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doDebugInRam" value="false" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doFirstReset" value="true" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doGdbServerAllocateConsole" value="true" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doGdbServerAllocateTelnetConsole" value="false" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doSecondReset" value="true" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doStartGdbCLient" value="true" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.doStartGdbServer" value="true" />
<booleanAttribute key="com.mounriver.debug.gdbjtag.openocd.enableSemihosting" value="false" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.firstResetType" value="init" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbClientOtherCommands" value="set mem inaccessible-by-default off&#xD;&#xA;set architecture riscv:rv32&#xD;&#xA;set remotetimeout unlimited" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbClientOtherOptions" value="" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerConnectionAddress" value="" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerExecutable" value="${eclipse_home}toolchain/OpenOCD/bin/${openocd_executable}" />
<intAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerGdbPortNumber" value="3333" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerLog" value="" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerOther" value="-f &quot;${eclipse_home}toolchain/OpenOCD/bin/wch-riscv.cfg&quot;" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerTclPortNumber" value="6666" />
<intAttribute key="com.mounriver.debug.gdbjtag.openocd.gdbServerTelnetPortNumber" value="4444" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.otherInitCommands" value="" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.otherRunCommands" value="" />
<stringAttribute key="com.mounriver.debug.gdbjtag.openocd.secondResetType" value="halt" />
<stringAttribute key="com.mounriver.debug.gdbjtag.svdPath" value="${eclipse_home}template/wizard/WCH/RISC-V/CH32V203/NoneOS/CH32V203xx.svd" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value="" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value="" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="GNU MCU OpenOCD" />
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="true" />
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value="" />
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333" />
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false" />
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="false" />
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="handle_reset" />
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value="" />
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<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="${eclipse_home}toolchain/RISC-V Embedded GCC/bin/riscv-none-embed-gdb.exe" />
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<listEntry value="4" />
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</launchConfiguration>
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12 changes: 8 additions & 4 deletions Makefile
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Expand Up @@ -23,7 +23,7 @@ ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
include $(ROOT)/make/tools.mk

# supported MCU types
MCU_TYPES := E230 F031 F051 F415 F421 G071 L431 G431
MCU_TYPES := E230 F031 F051 F415 F421 G071 L431 G431 V203
MCU_TYPE := NONE

# Function to include makefile for each MCU type
Expand Down Expand Up @@ -86,13 +86,17 @@ $(2)_BASENAME = $(BIN_DIR)/$(IDENTIFIER)_$(2)_$(FIRMWARE_VERSION)

$(2) : $$($(2)_BASENAME).bin

# get MCU specific compiler, objcopy and link script or use the ARM SDK one
$(eval xCC := $(if $($(MCU)_CC), $($(MCU)_CC), $(CC)))
$(eval xOBJCOPY := $(if $($(MCU)_OBJCOPY), $($(MCU)_OBJCOPY), $(OBJCOPY)))

# Generate bin and hex files from elf
$$($(2)_BASENAME).bin: $$($(2)_BASENAME).elf
echo building BIN $$@
@$(ECHO) Generating $$(notdir $$@)
$(QUIET)$(OBJCOPY) -O binary $$(<) $$@
$(QUIET)$(xOBJCOPY) -O binary $$(<) $$@
$(QUIET)python3 Src/DroneCAN/set_app_signature.py $$@ $$(<)
$(QUIET)$(OBJCOPY) $$(<) -O ihex $$(@:.bin=.hex)
$(QUIET)$(xOBJCOPY) $$(<) -O ihex $$(@:.bin=.hex)
$(QUIET)$(CP) -f $$(<) $(OBJ)$(DSEP)debug.elf > $(NUL)

# check for CAN support
Expand All @@ -108,7 +112,7 @@ LDFLAGS_$(2) = $(LDFLAGS_COMMON) $(LDFLAGS_$(1)) -T$(xLDSCRIPT)
$$($(2)_BASENAME).elf: $(SRC_COMMON) $$(SRC_$(1)) $(xSRC)
@$(ECHO) Compiling $$(notdir $$@)
$(QUIET)$(MKDIR) -p $(OBJ)
$(QUIET)$(CC) $$(CFLAGS_$(2)) $$(LDFLAGS_$(2)) -MMD -MP -MF $$(@:.elf=.d) -o $$(@) $(SRC_COMMON) $$(SRC_$(1)) $(xSRC)
$(QUIET)$(xCC) $$(CFLAGS_$(2)) $$(LDFLAGS_$(2)) -MMD -MP -MF $$(@:.elf=.d) -o $$(@) $(SRC_COMMON) $$(SRC_$(1)) $(xSRC)
# we copy debug.elf to give us a constant debug target for vscode
# this means the debug button will always debug the last target built
$(QUIET)$(CP) -f $$(SVD_$(1)) $(OBJ)/debug.svd
Expand Down
1 change: 0 additions & 1 deletion Mcu/f031/Src/stm32f0xx_it.c
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Expand Up @@ -62,7 +62,6 @@ extern char servoPwm;

// extern uint32_t gcr[];
// extern uint8_t gcr_size;
char input_ready = 0;
int update_interupt = 0;
uint8_t update_count = 0;
uint16_t interrupt_time = 0;
Expand Down
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