This page is no longer updated regularly, the current documentation can be found at GitHub.

Board Support Words

Defaults: Digital port pins D0 to D7 are push pull outputs, D8 to D15 are inputs with pull-up resistors.

led1!        ( ? -- )    set LED1 (blue)
led2!        ( ? -- )    set LED2 (green)
led3!        ( ? -- )    set LED3 (red)
led1@        ( -- ? )    get LED1 (blue)
led2@        ( -- ? )    get LED2 (green)
led3@        ( -- ? )    get LED3 (red)

switch1?     ( -- ? )    get switch1, closed=TRUE
switch2?     ( -- ? )    get switch2, closed=TRUE
switch3?     ( -- ? )    get switch3, closed=TRUE

dport!       ( n -- )    set the digital output port (D0=bit0 .. D15=bit15).
dport@       ( -- n )    get the digital input/output port (D0=bit0 .. D15=bit15).
dpin!        ( n a -- )  set the digital output port pin (D0=0 .. D15=15)
dpin@        ( a -- n )  get the digital input/output port pin 
dmod         ( u a -- )  set the pin mode: 0 in, 1 in pull-up, 2 in pull-down, 3 out push pull, 4 out open drain, 
                                            5 out push pull PWM, 6 input capture, 7 output compare, 8 I2C

EXTImod      ( u a -- )  set for pin a (D2, D4, D7, D10) the EXTI mode u: 0 rising, 1 falling, 2 both edges, 3 none
EXTIwait     ( u a -- )  wait for EXTI interrupt on pin a (D2, D4, D7, D10), timeout u in [ms]

pwmpin!      ( u a -- )  set the digital output port pin a (D3=3, D6=6, D9=9) to a PWM value u (0..1000). Default frequency is 1 kHz, TIMER1
pwmprescale  ( u --  )   Set the PWM prescale for TIMER1. 32 kHz / prescale, default 32 -> PWM frequency 1 kHz

ICOCprescale ( u -- )    set the input capture / output compare prescale for TIMER2. default 32 -> 32 MHz / 32 = 1 MHz, timer resolution 1 us
ICOCperiod!  ( u -- )    set the input capture / output compare (TIMER2) period. default $FFFFFFFF (4'294'967'295). 
                         When the up counter reaches the period, the counter is set to 0. 
                         For prescale 32 the maximum time is about 1 h 11 m
ICOCcount!   ( -- u )    set the input capture / output compare counter for TIMER2
ICOCcount@   ( u -- )    get the input capture / output compare counter for TIMER2
ICOCstart    ( -- )      start the ICOC period
ICOCstop     ( -- )      stop the ICOC period
OCmod        ( u a -- )  set for pin a (D0, D1, D5) the Output Compare mode u: 0 frozen, 1 active level on match, 2 inactive level on match, 
                            3 toggle on match, 4 forced active, 5 forced inactive
    
OCstart      ( u a -- )  start the output compare mode for pin a with pulse u
OCstop       ( a -- )    stop output compare for pin a
ICstart      ( u -- )    start input capture u: 0 rising edge, 1 falling edge, 2 both edges
ICstop       ( -- )      stop input capture

waitperiod   ( -- )      wait for the end of the TIMER2 period
OCwait       ( a -- )    wait for the end of output capture on pin a
ICwait       ( u -- u )  wait for the end of input capture with timeout u, returns counter u

apin@        ( a -- u )  get the analog input port pin (A0 .. A5). Returns a 12 bit value (0..4095) 
vref@        ( -- u )    get the Vref voltage in mV (rather the VDDA)
vbat@        ( -- u )    get the Vbat voltage in mV
CPUtemp@     ( -- u )    get CPU temperature in degree Celsius

I2Cput       ( a # u -- )     put a message with length u (count in bytes) from buffer at a to the I2C slave device u
I2Cget       ( a # u -- )     get a message with length u from I2C slave device to buffer at a
I2Cputget    ( a #1 #2 u -- ) put a message with length #1 from buffer at a to the I2C slave device u
                              and get a message with length #2 from device to buffer at a

SPIget       ( a # -- )       get a message with length # from SPI slave device to buffer at a
SPIput       ( a # -- )       put a message with length # from buffer at a to the SPI slave device 
SPIputget    ( a #1 #2 -- )   put a message with length #1 from buffer at a to the SPI slave device 
                              and get a message with length #2 from device to buffer at a
SPImutex     ( -- a )         get the SPI mutex address

Using the Digital Port Pins (Input and Output)

This example is very similar to the McForth#Knight_Rider program. dport! and dport@ set and get all 16 digital pins (D0 to D15) at once. You have to press the SW1 push button til D0 is set to cancel the operation.

3 0 dmod   \ set D0 to Output
3 1 dmod   \ set D1 to Output
3 2 dmod   \ set D2 to Output
3 3 dmod   \ set D3 to Output
3 4 dmod   \ set D4 to Output
3 5 dmod   \ set D5 to Output
3 6 dmod   \ set D6 to Output
3 7 dmod   \ set D7 to Output

: left ( -- ) 
  7 0 do  
    dport@ shl dport!  
    100 osDelay drop  
  loop 
;

: right ( -- )
  7 0 do  
    dport@ shr dport!
    100 osDelay drop  
  loop 
;

: knightrider ( -- )
  1 dport! 
  begin 
    left right 
    switch1? \ or key?
  until 
  0 dport!
;

Single port pin variant (no side effects on port pins D8 to D15):

: left ( -- ) 
  7 0 do
    1 i dpin! 
    100 osDelay drop  
    0 i dpin!
  loop 
;

: right ( -- )
  8 1 do  
    1 8 i - dpin! 
    100 osDelay drop  
    0 8 i - dpin!
  loop 
;

: knigthrider ( -- )
  begin 
    left right 
    switch1? 
  until 
  0 0 dpin!
;

Using the ADC (Analog Input Pins)

apin@ ( a -- u ) returns the ADC value (12 bit, 0 .. 4095) from one of the analog pins A0 to A5 (0 .. 5). Here I use the A0 to control the delay.

: left ( -- ) 
  7 0 do
    1 i dpin! 
    0 apin@ 10 / osDelay drop  \ delay depends on A0
    0 i dpin!
  loop 
;

: right ( -- )
  8 1 do  
    1 8 i - dpin! 
    0 apin@ 10 / osDelay drop  \ delay depends on A0
    0 8 i - dpin!
  loop 
;

To get an idea how fast the ADC, RTOS, and the Forth program are. The left or right word takes about 125 us, the knightrider loop about 50 us (no osDelay). Pretty fast for my opinion.

CH1 yellow: D0 pin
CH2 blue: D1 pin

Using the PWM (Analog Output Pins)

PWM port pins: D6 (TIM1CH1), D9 (TIM1CH2), D3 (TIM1CH3)

Simple test program to set brightness of a LED on pin D3 with a potentiometer on A0. Default PWM frequency is 1 kHz (prescaler set to 32). You can set the prescale with the word pwmprescale from 32 kHz (value 1) down to 0.5 Hz (64000).

5 3 dmod   \ set D3 to PWM

: pwm ( -- )
  begin 
    0 apin@  4 /  3 pwmpin!
    10 osDelay drop
    switch1? 
  until 
;

Using Input Capture and Output Compare

Time Base

Default timer resolution is 1 us. The 32 bit TIMER2 is used as time base for Input Capture / Output Compare. For a 5 s period 5'000'000 cycles are needed. All channels (input capture / output compare) use the same time base.

: period ( -- )
  5000000 ICOCperiod! \ 5 s period
  ICOCstart
  begin
     waitperiod
     cr .time
  key? until
  key drop 
;

Output Compare

: oc-toggle ( -- )
  5000000 ICOCperiod! \ 5 s period
  ICOCstart
  3 0 OCmod  1000000 0 OCstart \ toggle D0 after 1 s
  3 1 OCmod  2000000 1 OCstart \ toggle D1 after 2 s
  3 5 OCmod  3000000 5 OCstart \ toggle D5 after 3 s 
  begin
     waitperiod
     cr .time
  key? until
  key drop 
;

When you abort (hit any key) the program, the timer still runs and controls the port pins. To stop the port pins:

0 OCstop  1 OCstop  5 OCstop

Or change the prescale to make it faster or slower:

1 ICOCprescale

Input Capture

This sample program measures the time between the edges on port A2. if no event occurs within 2 seconds, "timeout" is issued. Hit any key to abort program.

: ic-test ( -- )
  6 2 dmod \ input capture on A2
  ICOCstart
  2 ICstart  \ both edges
  ICOCcount@ ( -- count )
  begin
    2000 \ 2 s timeout
    ICwait ( -- old-capture capture ) 
    cr
    dup 0= if
      ." timeout" drop
    else 
      dup rot ( -- capture capture old-capture )
      - 1000 / . ." ms"
    then
  key? until
  key drop
  drop
  ICstop
;

Using EXTI line

: exti-test ( -- )
  2 2 EXTImod \ both edges on D2
  begin
    2000 2 EXTIwait \ wait for edge on D2 with 2 s timeout
    cr
    0= if
      2 dpin@ if
        ." rising edge"
      else
        ." falling edge"
      then 
    else
      ." timeout"
    then
  key? until
  key drop
;

Pinouts

STM32WB Nucleo Board

• https://www.st.com/en/evaluation-tools/p-nucleo-wb55.html
• Schematic Nucleo Board MB1355
• Schematic Nucleo Dongle MB1293

Arduino Pinout

• Arduino Uno Pinout Guide

Arduino left

Arduino right

Morpho Pinout

Morpho left

Morpho right

Push Buttons

LEDs

UART VCP ST-LINK

Quad SPI for Flash

STM32WB Nucleo Dongle

Push Button

LEDs

Nucleo Dongle - Feather Adaptor

Remove the USB Type A plug from the dongle and add a Adafruit Micro B breakout board. It is convenient to have a Micro-SD breakout board (level shifter is not needed) and JTAG connector (I prefer the 14 pin STM variant to have a serial interface by the ST-LINK). Everything mounted on headers on the backside of FeatherWing Tripler Mini Kit.