STM32

Bare-Metal
Embedded

C Drivers
Mini
Cookbook
 TABLE OF CONTENT

Introduction(Must Read) O1

Introduction(Must do) 03

SYSTICK-Introduction 07

SYSTICK-Documentation 09

TIMERS-Uses 11

TIM-Registers 15

Analog-To-Digital
21
Converter(ADC)

UART-Registers 26

Our Courses 31
INTRODUCTION : MUST READ

This is a mini-cookbook providing step-by-step instructions

for writing bare-metal embedded-c peripheral drivers for the

stm32f4 family of microcontrollers.

The solutions in this book have been tested on the stm32f411-

nucleo development board. However, the solutions are

expected to work the same way on all stm32f4

microcontrollers.

This book makes references to the RM0383 Reference Manual

which is one of the official reference manuals provided for the

stm32f4 microcontroller family by STMicroelectronics.

This document can be downloaded from this link:

https://www.st.com/resource/en/reference_manual/

dm00119316-stm32f411xc-e-advanced-arm-based32-

bit-mcus-stmicroelectronics.pdf

We also make references to the Cortex-M4 Generic User Guide

which is the official Cortex-M4 guide provided by ARM Ltd.

This document can be downloaded from this link:

https://developer.arm.com/documentation/dui0553/

latest/

01
 This mini-cookbook is brought to you by
https://study.embeddedexpert.io/

EmbeddedExpertIO is an online embedded systems school

focused on professional embedded systems software
programming.

If you are new to embedded systems programming our

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02
INTRODUCTION : MUST DO
Watch this lesson collection for setup and live coding of this
particular task. Link : Access Mini-Cook book Companion
Video Lessons

03
TASK: WRITE A BARE-METAL DRIVER TO TOGGLE GPIOA
PIN 5

#include "stm32f4xx.h"

int main(void) {

/*1. Enable GPIOA clock by Writing 1 to bit0

See Page 116 of RM0383

of AHB1ENR*/

Reference manual
RCC->AHB1ENR |=(1U<<0);

/*2. Set PA5 to output mode by writing 1 to

bit10 of MODER*/ See Page 156 of RM0383

GPIOA->MODER |=(1U<<10); Reference manual

while (1) {

/*3. Turn on PA5 by writing 1 to bit5 of ODR*/

See Page 158 of RM0383

Reference manual
GPIOA->ODR |=(1U<<5);

/*4. Delay for some time*/

for(int i =0; i<180000; i++){}

/*5. Turn off PA5 by writing 0 to bit5 of

See Page 158 of RM0383

ODR*/

Reference manual

GPIOA->ODR &=~(1U<<5);

/*6. Delay for some time*/

for(int i =0; i<180000; i++) {}

04
TASK: WRITE A BARE-METAL DRIVER TO READ INPUT
FROM PC13 TO TOGGLE OUTPUT AT PA5

#include "stm32f4xx.h"

int main(void) {

/*1. Enable GPIOA clock by Writing 1 to bit0

of AHB1ENR*/

RCC->AHB1ENR |=(1U<<0);

/*2. Enable GPIOC clock by writing 1 to bit2

See Page 116 of RM0383

of AHB1ENR*/

Reference manual
RCC->AHB1ENR |=(1U<<2);

/*3. Set PA5 to output mode by writing 1 to

See Page 116 of RM0383

bit10 of MODER*/

Reference manual
GPIOA->MODER |=(1U<<10);

/*4. Set PC13 to input mode by writing 0 to

bit26 and bit27 of MODER*/

See Page 156 of RM0383

GPIOC->MODER |=(0U<<26);
Reference manual
GPIOC->MODER |=(0U<<27);

while (1) {

/*5. Check if input is high by checking if bit13

See Page 156 of RM0383

is 1*/

Reference manual
if(GPIOA->IDR & (1U<<13)) {

05
/*6. Turn off PA5 by writing 0 to bit5 of ODR*/
GPIOA->ODR &=~(1U<<5);
}
else {

/*7. Turn on PA5 by writing 1 to bit5 of ODR

*/
GPIOA->ODR |=(1U<<5); See Page 158 of RM0383
Reference manual
}
}
}

06
SYSTICK-Introduction
1 Found in all ARM Cortex-Microcontrollers, regardless of silicon
manufacturer.

2 Used for taking actions periodically.

Often used as time-base for real-time operating system.

3 The Systick is a 24-bit down counter driven by the processor

clock.

SYSTICK-Counting
1 Counts from initial value down to zero

2 24-bits imply maximum initial value of: 224 = 0xFFFFFF =

16,777,216

3 nitial value can be set to a value between 0x000000 to

I

0xFFFFFF

SYSTICK-Registers
1 Systick Current Value Register (STCVR)

This register contains the current count value

2 Systick Control & Status Register (STCSR). This register allows us

to configure the systick clock source,

enable/disable interrupts and enable/disable the systick counter

3 Systick Reload Value Register (STRVR). This is where the initial

count value is placed

07
SYSTICK-Count value computations
Compute the delay achieved by loading 11 in the Systick Reload Value

Register (STRVR) given system clock = 16Mhz

Written as :
Systick->LOAD = 10
*written in the CMSIS standardt
*we write 10 although we want 11 because
the counter starts counting from 0

Solution
System clock = 16MHz = 16 000 000 cycles/second.

If 1 second executes 16 000 000 cycles, how many seconds

execute 1 cycle ?

1
= 62.5us = 62.5 x10-9 s
16000000

Then 10 cycles => 10 x 62.5 x10-9 s = 625 x10-9 s = 625us

SYSTICK-Count value computations

System Clock (SYSCLK) is chosen as clock source.
If :
Systick->LOAD = N
1 N
Delay achieved = N x =
SYSCLK SYSCLK

08
SYSTICK-Delay computation
Compute N value for achieving a 1ms delay given SYSCLK as 16MHz

Solution
1ms = 0.001s
N
Delay =
SYSCLK
N
0.001 =
16 000 000
N = 0.001 x 16 000 000
N = 16000

SYSTICK-Documentation
Because SYSTICK is a core Cortex-M peripheral its references

are found in the Cortex-M Generic User Guides provided by Arm

For more on systick you can download the Cortex-M4 Generic User
Guide using this link:

Link Here

09
TASK: WRITE BARE-DRIVER FOR THE SYSTICK TIMER TO

TOGGLE PA5 AT A RATE OF 1HZ I.E . ONCE EVERY SECOND.

#include "stm32f4xx.h"

int main(void) {

/*1. Enable GPIOA clock by Writing 1 to bit0

See Page 116 of RM0383

of AHB1ENR*/

Reference manual
RCC->AHB1ENR |=(1U<<0);

/*2.Set PA5 to output mode by writing 1 to

See Page 156 of RM0383

bit10 of MODER*/

Reference manual
GPIOA->MODER |=(1U<<10);

/* 3. Reload with number of clocks per second

See Page 4-33 Cortex-
*/

M4 Generic User Guide

SysTick->LOAD = 16000000 - 1;

/* 4.Clear Systick Current Value Register by writing any value to it*/*/

SysTick-> VAL = 0;

/*5. Enable it , no interrupt, use system clock

See Page 4-33 Cortex-
*/

M4 Generic User Guide

SysTick->CTRL = 0x5;

while (1) {

/* 6. Wait for flag to be set if COUNT flag is See Page 4-33 Cortex-

set */ M4 Generic User Guide

if (SysTick->CTRL & 0x10000) {

10
 /*7. Toggle green LED */

GPIOA->ODR &=~(1U<<5);

See Page 116 of RM0383

}
Reference manual
}

TIMER-Uses

1 Counting Events

2 Creating Delays

3 Measuring time between event

TIMER- Timer vs. Counter

TIMER vs. COUNTER

Internal clock source External clock source

E.g. PLL, XTAL, RC E.g. Clock fed to CPU

11
TIMER-STM32 Timers

1 Can be used as time base generator.

2 Can be used to measure the frequency of an external event –

Input Capture Mode.

3 Control an output waveform, or to indicate when a period of

time has elapsed - Output Compare Mode.

4 One pulse mode (OPM)- allows the counter to be started in

response to a stimulus and to generate a pulse with a
programmable length after a programmable delay.

TIMER-Registers

1 Timer Count Register (TIMx_CNT)

Shows the current counter value. Size could be 32-bit or 16-bit

depending on timer module used.

2 Timer Auto-Reload Register (TIMx_ARR)

Timer raises a flag and the counter restarts automatically when

counter value reaches the value in the auto-reload register. The
counter is an up counter by default but can also be configured
to be a down counter.

3 Timer Prescaler Register (TIMx_PSC)

The prescaler slows down the counting speed of the timer by

dividing the input clock of the timer.

12
TIMER-Clock Pre-scaling

SYSCLK

AHB Prescaler

Divide by : 1,2,4,8...512

HCLK Divide by : 1,2,4,8...256

APB1 Prescaler APB2 Prescaler

Divide by : 1,2,4,8,16 Divide by : 1,2,4,8,16

TIMx_PSC TIMx_PSC

Divide by : 1,2,4,8...65535 Divide by : 1,2,4,8...65535

to TIM_CNT to TIM_CNT

1 Timer prescaler (TIMx_PSC) determines how fast the timer

counter(TIMx_CNT) increases/decreases.

2 With each change in the counter(TIMx_CNT) value, the new

value is compared to the value in the timer auto-reload register
(TIM_ARR), when the values match, a flag is raised and an
interrupt occurs.

13
 TIMER-Clock Pre-scaling

TIMER- Some Terms

1 Update Event

When timeout occurs or how long it takes for flag to be raised

2 Period

Value loaded into auto-reload register(TIM_ARR)

3 Up counter

Counts from zero to a set value.

4 Down counter

Counts from a set value down to zero

14
TIMER- Computing Update Event
Timer
clock
Update Event =
(Prescaler+1)(Period+1)

Example
Let

Timer clock = APB1 clock = 48MHz

Prescaler = TIM_PSC value = 47999 + 1
Period = TIM_ARR value = 499 +1

48 000 000
Update Event = = 2Hz = 21 s = 0.5s
(47999+1)(499+1)

15
TIM-Registers

16
TIM-Registers

1 Prescaler (PSC)
-Prescaler value is put here

Example

TIM2->PSC = 1600 -1; // Set prescaler value to 1600

2 Auto-Reload Register (ARR)

-Auto-reload value is put here

Example

TIM2->ARR = 10000 ; // Set prescaler value to 1600

3 Control Register 1 (CR1)

-Enabling and disabling timer.

Example

TIM2->CR1 = 1; // Enable timer 2

4 Status Register (SR)

-Checking, setting and clearing the flags of the timer

Example

TIM2->SR & 1 ; // Check update interrupt flag

TIM2->SR & = ~1 ; // Clear update interrupt flag

17
5 Capture/Compare Register (CCR1, CCR2, CCR4, CCR4)
-One capture/compare register for each of the 4 channels.

Example
timestamp =TIM2->CCR1; // read captured value

6 Capture Compare Mode Register 1 (CCMR1)

-Configuring capture/compare functionality for CH1 and CH2.

7 Capture Compare Mode Register 2 (CCMR2)

-Configuring capture/compare functionality for CH3 and CH4.

Example
TIM2->CCMR1 = 0x41; // set CH1 to capture at every edge

8 Capture/Compare Enable Register (CCER)

Used to enable any of the timer channels either as input
capture or output compare

Example
TIM2->CCER = 1; // Enable channel 1

18
TASK: WRITE A BARE-METAL TIMER DRIVER TO TOGGLE
PA5 AT A 1HZ RATE.

#include "stm32f4xx.h"

int main(void) {

/*1. Enable GPIOA clock by Writing 1 to bit0

See Page-116 of RM0383

of AHB1ENR*/

Reference manual
RCC->AHB1ENR |=(1U<<0);

/*2.Set PA5 to output mode by writing 1 to

See Page-156 of RM0383

bit10 of MODER*/

Reference manual
GPIOA->MODER |=(1U<<10);

/*3. enable TIM2 clock */

See Page-117 of RM0383

RCC->APB1ENR |= (1U<<0); Reference manual

/*4.Divide system clock by 1600*/

See Page-366 of RM0383

TIM2->PSC = 1600 - 1; Reference manual

/*5. Divide t he remainder by 10000*/ See Page-366 of RM0383

TIM2->ARR = 10000 - 1; Reference manual

/*6. Clear Timer counter*/ See Page-366 of RM0383

TIM2->CNT = 0;
Reference manual

19
/*7. Enable TIM2*/
See Page-351 of RM0383
TIM2->CR1 = 1;
Reference manual
while (1) {

/*8. Wait until UIF sett */ See Page-351 of RM0383

while (! (TIM2->SR & 1)) {} Reference manual

/*9. Clear UIF*/

See Page-351 of RM0357

TIM2->SR &= ~1; Reference manual

/*10. Toggle PA5*/

GPIOA->ODR ^= (1U<<5); See Page-158 of RM0383

} Reference manual

20
ANALOG-TO-DIGTAL
CONVERTER (ADC)

21
ADC Independent Modes

1 Single-channel, single conversion mode.

2 Multichannel(scan), single conversion mode.

3 Single-channel continuous conversion mode.

4 Multichannel continuous conversion mode.

5 Injected continuous conversion mode.

Single-channel, single conversion mode

1 Simplest ADC mode.

2 ADC performs a single conversion of a

single channel x and stops after
conversion is complete.

Example use case

Measurement of voltage level to determine if a system
should be started on not.

22
ADC-Registers
1 Control Register 1 (CR1)
-For setting the ADC resolution.

2 Data Register (DR)

-Stores converted results.

3 Control Register 2 (CR2)

-For enabling/disabling the ADC
-Set trigger type

Example
ADC1->CR2 = 1 ; // Enable channel 1

4 Sampling Time Register 1 (SMPR1)

-For setting the number of clocks cycles for sampling time for
CH10 - CH18.

5 Sampling Time Register 2 (SMPR2)

-For setting the number of clocks cycles for

sampling time for CH0 - CH9.

6 Sequence Register 1 (SQR1)

-Setting total number of conversions

Example
ADC1->SQR1 = 0 ; // set sequence length to 1

23
7 Sequence Register 2 (SQR2)
-Setting conversions sequence rank.

8 Sequence Register 3 (SQR3)

-Set conversion start channel.

TASK: WRITE A BARE-METAL ADC DRIVER TO CONVERT

ANALOG INPUT FROM PA1 INTO A GLOBAL VARIABLE.

#include "stm32f4xx.h"
int main(void) {

/*1. Enable GPIOA clock by Writing 1 to bit0

of AHB1ENR*/
See Page-116 of RM0383
Reference manual
RCC->AHB1ENR |=(1U<<0);

/*2.Set PA5 to output mode by writing 1 to

bit10 of MODER*/ See Page-156 of RM0383
GPIOA->MODER |=(1U<<2); Reference manual
GPIOA->MODER |=(1U<<3);

/*3. enable ADC1 clock */ See Page-117 of RM0383

RCC->APB1ENR |= (1U<<8); Reference manual

/*4.Set ADC to SW trigger and disable ADC See Page-228 of RM0383

before configuring it*/ Reference manual
ADC1->CR2 = 0;

24
/*5. Set start of conversion sequence to ch
See Page-235 of RM0383
1*/
Reference manual
ADC1->SQR3 = 1;

/*6. Set conversion sequence length to 1*/

See Page-234 of RM0383
ADC1->SQR1 = 0; Reference manual

/*7. Enable ADC1 */

See Page-230 of RM0383
ADC1->CR2 |= 1;
Reference manual
while (1) {

/*8. Start a conversion*/ See Page-230 of RM0383

ADC1->CR2 |= 0x40000000; Reference manual

/*9. Wait for conv complete*/ See Page-227 of RM0383

while(!(ADC1->SR & 2)) {} Reference manual

/*10. Read conversion result */

result = ADC1->DR; See Page-237 of RM0383
} Reference manual
}
}

25
UART-Registers
1 Baud Rate Register (BRR)
- For setting uart baud rate.

Example
USART2->BRR = 0x0683; //9600 baud operating at 16 MHZ

2 Control Register 1 (CR1)

-Setting transmission direction.
-Setting data size.
-Enabling and disabling uart.

Example
USART2->CR1 = 0x0008; // 8-bit data, enable TX
USART2->CR1 |= 0x2000; //enable uart2

3 Control Register 2 (CR2)

-Setting stop bit.

Example
USART2->CR2 = 0x0000; // 1 stop bit

4 Control Register 3 (CR3)

-Setting flow control.

Example
USART2->CR3 = 0x0000; // no flow control

26
5 Status Register (SR)
-Checking the state of rx and tx buffers.

Example
USART2->SR & 0x0080; // check if tx buffer

TASK: WRITE A BARE-METAL DRIVER TO CONFIGURE PA2

AS UART2 TX AND PA3 AS UART2 RX. TEST CAN BE RUN
WITH A TERMINAL EMULATION PROGRAM SUCH AS TERA
TERM OR REALTERM.
#include "stm32f4xx.h"
#include <stdio.h>

void uart2_init(void);
int uart2_write(int c);
int uart2_read(void);

int main(void) {
int number;
char sentence[100];
uart2_init();
printf("Hello from STM32!! \n\r");
while (1) {
printf("Please enter a number: ");
scanf("%d", &number);
printf("the number entered is: %d\r\n", number);
printf("please type a character string: ");
gets(sentence);
printf("the character string entered is: ");
puts(sentence);
printf("\r\n");
}
}

27
/* Initialize USART2 to transmit at
9600 Baud */
void uart2_init (void) {

/*1. Enable GPIOA clock by writing 1 to bit0

See Page-116 of RM0383
of AHB1ENR*/
Reference manual
RCC->AHB1ENR |= (1U<<0);

/*2. Enable USART2 clock by writing 1 to

bit17 of APB1ENR*/
See Page-117 of RM0383
Reference manual
RCC->APB1ENR |= (1U<<17);

/*3. Enable alt7 for USART2 */ See Page-149 of RM0383

GPIOA->AFR[0] |= 0x7700; Reference manual

/*4. Enable alternate function for PA2, PA3 */ See Page-156 of RM0383
GPIOA->MODER |= 0x00A0; Reference manual

/*5. Set UART: 9600 baud @ 16 MHz */ See Page-551 of RM0383

USART2->BRR = 0x0683; Reference manual

/*6. Enable TX, RX, 8-bit data */ See Page-551 of RM0383

USART2->CR1 = 0x000C; Reference manual

/*7. Set UART :1 stop bit */ See Page-554 of

USART2->CR2 = 0; RM0383 Reference
manual

/*8. Set UART: No flow control */ See Page-555 of RM0383

USART2->CR3 = 0; Reference manual

28
/*9. Enable USART2 */
See Page-551 of RM0383
USART2->CR1 |= 0x2000; Reference manual
}

/* Write a character to USART2 */

See Page-548 of RM0383
int uart2_write (int ch) {
Reference manual
/*10. wait until Tx buffer empty*/
while (!(USART2->SR & 0x0080)) {}
/*11. Write character to DR */
USART2->DR = (ch & 0xFF); See Page-551 of RM0383
Reference manual
return ch;
}

/* Read a character from USART2 */

int uart2_read(void) {
See Page-548 of RM0383
/*12. Wait until character arrives*/ Reference manual
while (!(USART2->SR & 0x0020)) {}
/*13. Return the received character */
return USART2->DR; See Page-551 of RM0383
Reference manual
}

/*Interface to the c standard I/O library*/

struct __FILE { int handle; };
FILE __stdin = {0};
FILE __stdout = {1};
FILE __stderr = {2};
/*fgetc is called by c library console input.
The function will echo the character received*/

29
int fgetc(FILE *f) {
int c;
/*1. read the character from console */
/*2. If '\r', after it is echoed, a '\n' is appended*/
if (c == '\r') {
uart2_write(c); /* echo */
c = '\n';
}

/*3. Echoe*/
uart2_write(c);

/*4. Return character*/

return c;
}

/*fputc is called by c library console output. */

int fputc (int c, FILE *f) {
/*5. Write the character to console */
return uart2_write(c);
}

30
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Embedded AWS Cloud <> Embedded Memory

Python Gateway Security: Protecting Your
Communication

System from Tampering

This course seamlessly merges the and Unauthorized Access
realms of embedded systems and Are you looking to take your
Amazon Web Services (AWS) .. embedded systems protection ..

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42
Custom Cloud <> Python Embedded Audio Solutions:
Gateway Communication
Developing an Audio Media
Are you ready to redefine the future
Player
with IoT without the complexity of Welcome to the "Embedded Audio
wireless radios? Media Player" course, your quickest
way to developing a complete

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Master Firmware Updates Embedded Bootloader

with In-Application Development from Ground
Programming(IAP)

Up™
you an embedded systems enthusiast Get ready to dive into the exciting
or a professional engineer looking to world of bootloader development
level up your skills and with this beginner level course of our

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43
HAPPY

CODING