Add STM32 backend (STM32duino / Arduino_Core_STM32)

.github/workflows/build_arduino_examples_matrix.yml

@@ -10,10 +10,6 @@ on:
   pull_request:
     branches: [ master ]
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build:
     strategy:
@@ -80,6 +76,11 @@ jobs:
           - atmelsam
           - rpipico
           - rpipico2
+          - bluepill_f103c8
+          - nucleo_g070rb
+          - blackpill_f401cc
+          - nucleo_h743zi
+          - nucleo_l476rg
 
     runs-on: ubuntu-latest
 

.github/workflows/build_idf_examples_matrix.yml

@@ -15,10 +15,6 @@ on:
   pull_request:
     branches: [ master ]
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build:
     strategy:

README.md

@@ -639,6 +639,128 @@ Found on youtube:
 As mentioned by kthod861 in [Issue #110](https://github.com/gin66/FastAccelStepper/issues/110):
 * [22 01 2021 Stepper POC3](https://youtu.be/fm2_VkUG10k)
 
+## STM32 Arduino Support
+
+FastAccelStepper supports STM32 microcontrollers via the official
+[Arduino Core STM32](https://github.com/stm32duino/Arduino_Core_STM32).
+
+### Architecture
+
+- **Step generation**: TIM2 CC interrupt + BSRR/BRR GPIO (push-pull OUTPUT)
+- **Steppers**: Up to 4 (any GPIO pins, dynamic slot allocation)
+- **Pulse width**: 6 µs (configurable via `STEP_PULSE_WIDTH_US`)
+- **Cyclic fill**: PendSV exception, triggered from FAS_TIMER ISR (TIM2 or TIM3 on C0) every 3ms via uwTick
+- **GPIO mode**: Standard push-pull OUTPUT (any GPIO pin works)
+- **Direction**: Atomic BSRR set/reset — not ODR XOR (race-free)
+- **Direction settling**: `_dir_delay_active` state machine, 30µs delay
+- **Timer clock**: Auto-detection of TIM2 (or TIM3 on C0) with APB1 prescaler ×2 correction
+- **Interrupt safety**: PRIMASK save/restore (reentrant)
+- **SR handling**: Snapshot → clear all processed at once (rc_w0)
+- **PendSV**: `__attribute__((weak))` — FreeRTOS compatible
+- **C0 support**: STM32C0 series uses TIM3 instead of TIM2 (C0 has no TIM2).
+  TIM3 is 16-bit (ARR=0xFFFF). With PSC=2 → timer clock = 16MHz, resulting
+  minimum speed ≈ 244 steps/s (16,000,000 / 65535).
+  Prescaler PSC=2 is integer (48/16=3) → `fas_stm32_clock_error` = 0.
+
+### Default Pin Mapping
+
+| Stepper | Default Pin | Notes |
+|---------|-------------|-------|
+| 0 | PA0 | Any GPIO pin can be used |
+| 1 | PA1 | (PA0-PA3 are conventional only) |
+| 2 | PA2 | |
+| 3 | PA3 | |
+
+### ⚠ Warnings
+
+1. **FreeRTOS compatibility** — FastAccelStepper uses `PendSV_Handler` (via `__attribute__((weak))`) for deferred queue filling. FreeRTOS may also claim PendSV for task scheduling. If both claim PendSV without coordination, a runtime crash will occur.
+   - **If you use FreeRTOS**: Add `-DDISABLE_FAS_PENDSV` to build flags, and call `engine->manageSteppers()` periodically from a low-priority task or timer.
+   - Doing nothing (using both PendSV handlers) will cause undefined behavior.
+2. **FAS_TIMER is reserved** — Do not use TIM2 (or TIM3 on STM32C0) elsewhere.
+3. **HAL timebase must be SysTick** (default). uwTick is used for cyclic fill.
+4. **Do not call HAL_Delay() with steppers running** — TIM2 priority 0 may preempt SysTick. Use millis() polling.
+5. **TICKS_PER_S must match the timer counter clock** — It MUST be defined in your
+   build environment (DO NOT define it in the sketch — separate compilation prevents
+   `#define` in `.ino` from affecting library `.cpp` files):
+   - **PlatformIO**: Add to `platformio.ini`:
+     ```ini
+     build_flags = -DTICKS_PER_S=18000000UL
+     ```
+   - **Arduino IDE**: Create `build_opt.h` in the sketch folder:
+     Sketch → Show Sketch Folder → create text file named `build_opt.h` containing:
+     ```cpp
+     -DTICKS_PER_S=18000000UL
+     ```
+     ⚠️ **The `-D` prefix is required** (not a C `#define` — the file is parsed by the
+     compiler's command-line argument parser). File must end with a newline.
+   - TIM2 is used on most STM32 families (TIM3 on STM32C0).
+   - Use prescaled value (actual timer clock ÷ PSC+1), typically 16-20MHz.
+   See `pd_stm32/pd_config.h` for examples for each board and the table below.
+6. **Clock error**: After `engine.init()`, check `fas_stm32_clock_error`:
+   if non-zero, `TICKS_PER_S` exceeds actual timer clock.
+
+7. **Error codes**: After `engine.init()`, check `fas_stm32_clock_error`:
+   - `0` = OK (timer configured correctly)
+   - `1` = TICKS_PER_S > actual timer clock, or prescaler clamped at 65535
+         (timing will be wrong — define correct TICKS_PER_S in build_flags)
+   - `2` = Non-integer prescaler (timer clock not divisible by TICKS_PER_S)
+   See `pd_stm32/stm32_queue.cpp` for details.
+   Check via serial monitor (must call `Serial.begin()` before `engine.init()`).
+
+8. **Hardware testing pending** — This STM32 port has been verified by CI compilation
+   (5 boards: F103, G070, F401, H743, L476) but has **NOT** been tested on physical hardware
+   with actual stepper motors. Clock calculations and prescalers are mathematically verified
+   (see `pd_stm32/stm32_queue.cpp`), but real-world timing, pulse generation, and
+   direction settling have not been validated. Use with caution.
+
+### TICKS_PER_S Reference Table
+
+| Board              | MCU      | Timer        | TIM_CLK   | TICKS_PER_S (prescaled) | PSC | Timer actual | Error |
+|--------------------|----------|-------------|-----------|------------------------|-----|-------------|-------|
+| Blue Pill          | F103C8   | TIM2 **16-bit** | 72 MHz    | 18000000               | 3   | 18.000 MHz  | 0 ✅ |
+| Black Pill V2      | F401CC   | TIM2 32-bit | 84 MHz    | 16800000               | 4   | 16.800 MHz  | 0 ✅ |
+| Nucleo-G070RB      | G070RB   | TIM2 32-bit | 64 MHz    | 16000000 (default)     | 3   | 16.000 MHz  | 0 ✅ |
+| Nucleo-H743ZI      | H743ZI   | TIM2 32-bit | 200 MHz   | 20000000               | 9   | 20.000 MHz  | 0 ✅ |
+| Nucleo-H743ZI      | H743ZI   | TIM2 32-bit | 200 MHz   | 16666666               | 11  | 16.667 MHz  | 2 ⚠️ |
+| Nucleo-L476RG      | L476RG   | TIM2 32-bit | 80 MHz    | 16000000 (default)     | 4   | 16.000 MHz  | 0 ✅ |
+| Nucleo-C031C6      | C031C6   | TIM3 **16-bit** | 48 MHz    | 16000000 (default)     | 2   | 16.000 MHz  | 0 ✅ |
+| Nucleo-F091RC      | F091RC   | TIM2 32-bit | 48 MHz    | 16000000 (default)     | 2   | 16.000 MHz  | 0 ✅ |
+| Nucleo-L073RZ      | L073RZ   | TIM2 **32-bit** | 32 MHz    | 32000000               | 0   | 32.000 MHz  | 0 ✅ |
+
+
+
+## Local Compile Test Results (STM32)
+
+FastAccelStepper has been compile-tested locally with the following STM32 boards using PlatformIO + Arduino framework.
+
+### ✅ Boards PASS (15/15 Arduino boards)
+
+| #  | Board ID                  | Chip           | Flash   | RAM    | Status |
+|----|---------------------------|----------------|---------|--------|--------|
+| 1  | `blackpill_f103c8`        | STM32F103C8    | 21004   | 2628   | ✅ PASS |
+| 2  | `bluepill_f103c8`         | STM32F103C8    | 21004   | 2628   | ✅ PASS |
+| 3  | `bluepill_f103c8_128k`    | STM32F103CB    | 21004   | 2628   | ✅ PASS |
+| 4  | `genericSTM32F103C8`      | STM32F103C8    | 20880   | 2628   | ✅ PASS |
+| 5  | `black_f407ve`            | STM32F407VE    | 23724   | 2712   | ✅ PASS |
+| 6  | `black_f407vg`            | STM32F407VG    | —       | —      | ✅ PASS |
+| 7  | `genericSTM32F407VET6`    | STM32F407VE    | —       | —      | ✅ PASS |
+| 8  | `disco_f407vg`            | STM32F407VG    | —       | —      | ✅ PASS |
+| 9  | `blackpill_f411ce`        | STM32F411CE    | —       | —      | ✅ PASS |
+| 10 | `genericSTM32F411CE`      | STM32F411CE    | —       | —      | ✅ PASS |
+| 11 | `nucleo_f411re`           | STM32F411RE    | —       | —      | ✅ PASS |
+| 12 | `blackpill_f401ce`        | STM32F401CE    | —       | —      | ✅ PASS |
+| 13 | `blackpill_f401cc`        | STM32F401CC    | —       | —      | ✅ PASS |
+| 14 | `genericSTM32F401CE`      | STM32F401CE    | —       | —      | ✅ PASS |
+| 15 | `nucleo_f401re`           | STM32F401RE    | —       | —      | ✅ PASS |
+
+### ❌ Boards FAIL
+
+| Board ID               | Chip          | Reason                                           |
+|------------------------|---------------|--------------------------------------------------|
+| `disco_f411ve`         | STM32F411VE   | Board does not support Arduino framework (mbed only). Excluded from Arduino test list. |
+
+**Note**: All tests were performed with `toolchain-gccarmnoneeabi 12.3.1` and `framework-arduinoststm32 2.12.0`. See `extras/doc/stm32_compile_report.md` for full details.
+
 ## Contribution
 
 - Thanks ixil for pull request (https://github.com/gin66/FastAccelStepper/pull/19) for ATmega2560

collect_source_v2.py

@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+"""
+collect_source.py
+-----------------
+Chạy script này trong thư mục root của project.
+Kết quả: [tên thư mục root].txt chứa cây thư mục ASCII + toàn bộ nội dung source code.
+"""
+
+import os
+import sys
+
+# ── Cấu hình ──────────────────────────────────────────────────────────────────
+
+# Phần mở rộng được coi là source code (thêm/bớt tuỳ ý)
+SOURCE_EXTENSIONS = {
+    ".py", ".js", ".ts", ".jsx", ".tsx",
+    ".java", ".kt", ".scala",
+    ".c", ".cpp", ".cc", ".cxx", ".h", ".hpp",
+    ".cs", ".go", ".rs", ".swift",
+    ".rb", ".php", ".lua", ".r",
+    ".html", ".htm", ".css", ".scss", ".sass", ".less",
+    ".sh", ".bash", ".zsh", ".fish", ".ps1", ".bat", ".cmd",
+    ".sql", ".graphql", ".proto",
+    ".json", ".yaml", ".yml", ".toml", ".ini", ".cfg", ".conf", ".env",
+    ".xml", ".md", ".rst", ".txt",
+    ".dockerfile", ".makefile",
+    # thêm tuỳ ý...
+}
+
+# Tên file / thư mục cần bỏ qua hoàn toàn
+IGNORE_NAMES = {
+    ".git", ".svn", ".hg",
+    "__pycache__", ".mypy_cache", ".pytest_cache",
+    "node_modules", ".npm", ".yarn",
+    "venv", ".venv", "env", ".env",
+    ".idea", ".vscode",
+    "dist", "build", "out", ".next", ".nuxt",
+    "coverage", ".coverage",
+}
+
+# ── Helpers ────────────────────────────────────────────────────────────────────
+
+def should_ignore(name: str) -> bool:
+    return name in IGNORE_NAMES or name.startswith(".")
+
+
+def is_source_file(name: str) -> bool:
+    _, ext = os.path.splitext(name)
+    return ext.lower() in SOURCE_EXTENSIONS
+
+
+def build_tree(root: str, prefix: str = "") -> list[str]:
+    """Trả về danh sách dòng ASCII tree."""
+    lines = []
+    try:
+        entries = sorted(os.scandir(root), key=lambda e: (not e.is_dir(), e.name.lower()))
+    except PermissionError:
+        return lines
+
+    entries = [e for e in entries if not should_ignore(e.name)]
+
+    for i, entry in enumerate(entries):
+        connector = "└── " if i == len(entries) - 1 else "├── "
+        lines.append(f"{prefix}{connector}{entry.name}")
+        if entry.is_dir():
+            extension = "    " if i == len(entries) - 1 else "│   "
+            lines.extend(build_tree(entry.path, prefix + extension))
+    return lines
+
+
+def collect_files(root: str) -> list[str]:
+    """Trả về danh sách đường dẫn tuyệt đối của tất cả source file, theo thứ tự."""
+    result = []
+    for dirpath, dirnames, filenames in os.walk(root, topdown=True):
+        # Lọc thư mục bị ignore (chỉnh sửa in-place để os.walk không đi vào)
+        dirnames[:] = sorted(
+            [d for d in dirnames if not should_ignore(d)]
+        )
+        for fname in sorted(filenames):
+            if not should_ignore(fname) and is_source_file(fname):
+                result.append(os.path.join(dirpath, fname))
+    return result
+
+
+def read_file_safe(path: str) -> str:
+    """Đọc file, fallback sang latin-1 nếu UTF-8 lỗi."""
+    try:
+        with open(path, "r", encoding="utf-8") as f:
+            return f.read()
+    except UnicodeDecodeError:
+        with open(path, "r", encoding="latin-1") as f:
+            return f.read()
+
+
+# ── Main ───────────────────────────────────────────────────────────────────────
+
+def main():
+    root = os.path.abspath(".")
+    root_name = os.path.basename(root)
+    output_path = os.path.join(root, f"{root_name}.txt")
+
+    print(f"📁 Root   : {root}")
+    print(f"📄 Output : {output_path}")
+
+    source_files = collect_files(root)
+
+    # Loại output file và bản thân script khỏi danh sách
+    script_path = os.path.abspath(__file__)
+    source_files = [
+        f for f in source_files
+        if os.path.abspath(f) != os.path.abspath(output_path)
+        and os.path.abspath(f) != script_path
+    ]
+
+    with open(output_path, "w", encoding="utf-8") as out:
+        # ── 1. Cây thư mục ──
+        out.write(f"{root_name}/\n")
+        tree_lines = build_tree(root)
+        out.write("\n".join(tree_lines))
+        out.write("\n\n")
+        out.write("=" * 60 + "\n\n")
+
+        # ── 2. Nội dung từng file ──
+        for fpath in source_files:
+            rel_path = os.path.relpath(fpath, root)
+            fname = os.path.basename(fpath)
+
+            out.write(f"📄 FILE: {rel_path}\n")
+            out.write("-" * 60 + "\n")
+            out.write(read_file_safe(fpath))
+            # Đảm bảo luôn xuống dòng trước footer
+            out.write("\n")
+            out.write(f"======end of [{fname}]======\n\n")
+
+    print(f"✅ Đã ghi {len(source_files)} file vào {output_path}")
+
+
+if __name__ == "__main__":
+    main()

extras/StepperPins_stm32.h

@@ -0,0 +1,34 @@
+#ifndef STEPPERPINS_STM32_H
+#define STEPPERPINS_STM32_H
+
+// ====================================================================
+// Default step pin mapping for STM32 platforms
+//
+// These defaults map steppers 0-3 to PA0-PA3 (TIM2 channels 1-4).
+// Override by defining before including this header:
+//
+//   #define STEP_PIN_STEPPER_0 PB0
+//   #include "StepperPins_stm32.h"
+//
+// Note: On STM32, any GPIO pin can be used as a step pin.
+// PA0-PA3 are only a convention — the timer is used only for
+// interrupt timing, not direct pin output.
+// ====================================================================
+
+#ifndef STEP_PIN_STEPPER_0
+#define STEP_PIN_STEPPER_0 PA0
+#endif
+
+#ifndef STEP_PIN_STEPPER_1
+#define STEP_PIN_STEPPER_1 PA1
+#endif
+
+#ifndef STEP_PIN_STEPPER_2
+#define STEP_PIN_STEPPER_2 PA2
+#endif
+
+#ifndef STEP_PIN_STEPPER_3
+#define STEP_PIN_STEPPER_3 PA3
+#endif
+
+#endif /* STEPPERPINS_STM32_H */

extras/ci/build_matrix.yaml

@@ -152,6 +152,12 @@ templates:
     framework: arduino
     lib_extra_dirs: .
 
+  stm32:
+    platform: ststm32
+    framework: arduino
+    build_flags: ["-Wall"]
+    lib_extra_dirs: .
+
 environments:
   esp32:
     template: esp32_arduino
@@ -285,6 +291,31 @@ environments:
     board_upload_psram_length: 1048576
     build_flags: ["-D__FREERTOS=1"]
 
+  bluepill_f103c8:
+    template: stm32
+    board: bluepill_f103c8
+    build_flags_extra: ["-DTICKS_PER_S=18000000UL"]   # F103: 72M÷4(PSC=3) = 18MHz
+
+  nucleo_g070rb:
+    template: stm32
+    board: nucleo_g070rb
+    # G0: 64M÷4(PSC=3) = 16MHz → dùng default TICKS_PER_S=16000000UL từ pd_config.h
+
+  blackpill_f401cc:
+    template: stm32
+    board: blackpill_f401cc
+    build_flags_extra: ["-DTICKS_PER_S=16800000UL"]   # F401: 84M÷5(PSC=4) = 16.8MHz
+
+  nucleo_h743zi:
+    template: stm32
+    board: nucleo_h743zi
+    build_flags_extra: ["-DTICKS_PER_S=20000000UL"]   # H743 @400MHz: 200M÷10(PSC=9) = 20MHz
+
+  nucleo_l476rg:
+    template: stm32
+    board: nucleo_l476rg
+    # L4: 80M÷5(PSC=4) = 16MHz → dùng default TICKS_PER_S=16000000UL từ pd_config.h
+
 versioned_environments:
   esp32:
     prefix: esp32
@@ -429,6 +460,11 @@ workflows:
       - atmelsam
       - rpipico
       - rpipico2
+      - bluepill_f103c8
+      - nucleo_g070rb
+      - blackpill_f401cc
+      - nucleo_h743zi
+      - nucleo_l476rg
     script: build-platformio.sh
 
   idf: