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-rw-r--r--controller/fw/Makefile94
-rw-r--r--controller/fw/musl_include_shims/bits/alltypes.h23
-rw-r--r--controller/fw/musl_include_shims/endian.h80
-rw-r--r--controller/fw/musl_include_shims/features.h40
-rw-r--r--controller/fw/musl_include_shims/fp_arch.h6
-rw-r--r--controller/fw/musl_include_shims/libm.h270
-rw-r--r--controller/fw/src/adc.c93
-rw-r--r--controller/fw/src/adc.h10
-rw-r--r--controller/fw/src/dsss_demod.c16
-rw-r--r--controller/fw/src/dsss_demod.h3
-rw-r--r--controller/fw/src/freq_meas.c4
-rw-r--r--controller/fw/src/freq_meas.h2
-rw-r--r--controller/fw/src/main.c143
-rw-r--r--controller/fw/src/mspdebug_wrapper.c18
-rw-r--r--controller/fw/src/protocol.c7
-rw-r--r--controller/fw/src/spi_flash.c88
-rw-r--r--controller/fw/src/spi_flash.h6
-rw-r--r--controller/fw/src/sr_global.h10
-rw-r--r--controller/fw/src/startup_stm32f407xx.s521
-rw-r--r--controller/fw/src/stm32f4_isr.h98
-rw-r--r--controller/fw/src/system_stm32f4xx.c743
-rw-r--r--controller/fw/stm32f407.ld172
22 files changed, 2300 insertions, 147 deletions
diff --git a/controller/fw/Makefile b/controller/fw/Makefile
index 85ab02f..df39fe4 100644
--- a/controller/fw/Makefile
+++ b/controller/fw/Makefile
@@ -1,12 +1,13 @@
-OPENCM3_DIR ?= libopencm3
-CMSIS_DIR ?= cmsis
+CUBE_DIR ?= STM32CubeF4
+CMSIS_DIR ?= cmsis
MSPDEBUG_DIR ?= mspdebug
LIBSODIUM_DIR ?= libsodium
-TINYAES_DIR ?= tinyaes
-MUSL_DIR ?= musl
+TINYAES_DIR ?= tinyaes
+MUSL_DIR ?= musl
-C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c src/dsss_demod.c
+C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c src/dsss_demod.c src/adc.c \
+ src/protocol.c
C_SOURCES += $(MSPDEBUG_DIR)/drivers/jtaglib.c
CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_init_f32.c
@@ -23,6 +24,10 @@ MUSL_SOURCES += $(MUSL_DIR)/src/math/tanhf.c $(MUSL_DIR)/src/math/atanhf.c
MUSL_SOURCES += $(MUSL_DIR)/src/math/expm1f.c $(MUSL_DIR)/src/math/log1pf.c
MUSL_SOURCES += $(MUSL_DIR)/src/math/expf.c $(MUSL_DIR)/src/math/exp2f_data.c
MUSL_SOURCES += $(MUSL_DIR)/src/math/powf.c
+MUSL_SOURCES += $(MUSL_DIR)/src/math/fabsf.c
+MUSL_SOURCES += $(MUSL_DIR)/src/stdlib/abs.c
+MUSL_SOURCES += $(MUSL_DIR)/src/string/memset.c
+MUSL_SOURCES += $(MUSL_DIR)/src/string/memcpy.c
MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_oflowf.c
MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_uflowf.c
MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_xflowf.c
@@ -36,7 +41,6 @@ CXX_SOURCES += src/ldpc_wrapper.cpp
BUILDDIR ?= build
BINARY := safetyreset.elf
LDSCRIPT := stm32f407.ld
-OPENCM3_LIB := opencm3_stm32f4
PREFIX ?= arm-none-eabi-
@@ -47,7 +51,7 @@ FMEAS_FFT_LEN ?= 256
FMEAS_FFT_WINDOW ?= gaussian
FMEAS_FFT_WINDOW_SIGMA ?= 16.0
# TODO: validate
-FMEAS_SAMPLING_RATE ?= 10.0
+FMEAS_SAMPLING_RATE ?= $(shell echo $(FMEAS_ADC_SAMPLING_RATE) / \($(FMEAS_FFT_LEN)/2\) | bc -l)
DSSS_GOLD_CODE_NBITS ?= 5
DSSS_DECIMATION ?= 10
@@ -70,6 +74,8 @@ CXX := $(PREFIX)g++
LD := $(PREFIX)gcc
AR := $(PREFIX)ar
AS := $(PREFIX)as
+SIZE := $(PREFIX)size
+NM := $(PREFIX)nm
OBJCOPY := $(PREFIX)objcopy
OBJDUMP := $(PREFIX)objdump
GDB := $(PREFIX)gdb
@@ -84,25 +90,31 @@ HOST_OBJDUMP ?= $(HOST_PREFIX)objdump
PYTHON3 ?= python3
-OPENCM3_DIR_ABS := $(abspath $(OPENCM3_DIR))
CMSIS_DIR_ABS := $(abspath $(CMSIS_DIR))
MSPDEBUG_DIR_ABS := $(abspath $(MSPDEBUG_DIR))
LIBSODIUM_DIR_ABS := $(abspath $(LIBSODIUM_DIR))
TINYAES_DIR_ABS := $(abspath $(TINYAES_DIR))
MUSL_DIR_ABS := $(abspath $(MUSL_DIR))
-COMMON_CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers -Ilevmarq
+ARCH_FLAGS ?= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+SYSTEM_FLAGS ?= -nostdlib -ffreestanding -nostartfiles
+
+COMMON_CFLAGS += -Imspdebug/util -Imspdebug/drivers -Ilevmarq
COMMON_CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include
CFLAGS += -I$(abspath musl_include_shims)
COMMON_CFLAGS += -I$(BUILDDIR) -Isrc -Itinyaes
+CFLAGS += -I$(CUBE_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-COMMON_CFLAGS += -Os -std=gnu11 -g -DSTM32F4
-CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+COMMON_CFLAGS += -Os -std=gnu11 -g -DSTM32F407xx -DSTM32F4
+CFLAGS += $(ARCH_FLAGS) $(SYSTEM_FLAGS)
#SIM_CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=soft
-# Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here.
-CFLAGS += -nostdlib -ffreestanding
CFLAGS += -fno-common -ffunction-sections -fdata-sections
-COMMON_CFLAGS += -DDSSS_GOLD_CODE_NBITS=$(DSSS_GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX)
+COMMON_CFLAGS += -DARM_DSP_CONFIG_TABLES -DARM_FFT_ALLOW_TABLES \
+ -DARM_TABLE_TWIDDLECOEF_F32_128 -DARM_TABLE_BITREVIDX_FLT_128 \
+ -DARM_TABLE_TWIDDLECOEF_F32_128 -DARM_TABLE_TWIDDLECOEF_RFFT_F32_256
+COMMON_CFLAGS += -DDSSS_GOLD_CODE_NBITS=$(DSSS_GOLD_CODE_NBITS)
+COMMON_CFLAGS += -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN)
+COMMON_CFLAGS += -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX)
COMMON_CFLAGS += -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE)
COMMON_CFLAGS += -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA)
COMMON_CFLAGS += -DDSSS_DECIMATION=$(DSSS_DECIMATION)
@@ -117,35 +129,43 @@ COMMON_CFLAGS += -DPRESIG_STORE_SIZE=$(PRESIG_STORE_SIZE)
CFLAGS += -Dhidden=
SIM_CFLAGS += -lm -DSIMULATION -fsanitize=address
-SIM_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef
+SIM_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef -Wno-unused-parameter
-INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef
+INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef -Wno-unused-parameter
INT_CFLAGS += -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
CXXFLAGS += -Os -g
-CXXFLAGS += -nostdlib -ffreestanding
-CXXFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+CXXFLAGS += $(ARCH_FLAGS) $(SYSTEM_FLAGS)
CXXFLAGS += -fno-common -ffunction-sections -fdata-sections
CXXFLAGS += -Wall -Wextra -Wshadow -Wundef -Wredundant-decls
CXXFLAGS += -I.
-COMMON_LDFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g
-LDFLAGS += --static -nostartfiles
+LDFLAGS += $(ARCH_FLAGS) $(SYSTEM_FLAGS)
LDFLAGS += -Wl,--cre
-#LDFLAGS += -Wl,--gc-sections
-LDFLAGS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
-LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libgcc-file-name)
+LDFLAGS += --trace
+
+LIBS += -lgcc
+LDFLAGS += -Wl,--gc-sections -Wl,--trace-symbol=twiddleCoef_4096 -Wl,--trace-symbol=arm_cfft_sR_f32_len4096
-all: $(BUILDDIR)/$(BINARY)
+all: binsize
+
+.PHONY: binsize
+binsize: $(BUILDDIR)/$(BINARY)
+ @echo "▐▬▬▬▌ SyMbOL sIzE HiGhScORe LiSt ▐▬▬▬▌"
+ $(NM) --print-size --size-sort --radix=d $< | tail -n 20
+ @echo
+ @echo "===== Binary size ====="
+ $(SIZE) $<
src/dsss_demod.c: $(BUILDDIR)/generated/dsss_gold_code.h $(BUILDDIR)/generated/dsss_butter_filter.h
$(BUILDDIR)/generated/dsss_gold_code.h: $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).h
ln -srf $< $@
-.PRECIOUS: $(BUILDDIR)/generated/gold_code_%.c
-$(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h: | $(BUILDDIR)/generated
- $(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -$(patsubst .%,%,$(suffix $@)) $* > $@
+.PRECIOUS: $(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h
+$(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h &: | $(BUILDDIR)/generated
+ $(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -c $* > $(BUILDDIR)/generated/gold_code_$*.c
+ $(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -h $* > $(BUILDDIR)/generated/gold_code_$*.h
.PRECIOUS: $(BUILDDIR)/generated/fmeas_fft_window.c
$(BUILDDIR)/generated/fmeas_fft_window.c: | $(BUILDDIR)/generated
@@ -172,7 +192,8 @@ $(BUILDDIR)/generated: ; mkdir -p $@
OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o))
ALL_OBJS := $(OBJS)
-ALL_OBJS += $(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a
+ALL_OBJS += $(BUILDDIR)/src/startup_stm32f407xx.o
+ALL_OBJS += $(BUILDDIR)/src/system_stm32f4xx.o
ALL_OBJS += $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a
ALL_OBJS += $(BUILDDIR)/tinyaes/aes.o
ALL_OBJS += $(BUILDDIR)/levmarq/levmarq.o
@@ -180,8 +201,9 @@ ALL_OBJS += $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).o
ALL_OBJS += $(BUILDDIR)/generated/fmeas_fft_window.o
ALL_OBJS += $(BUILDDIR)/generated/dsss_cwt_wavelet.o
+.PRECIOUS: $(BUILDDIR)/$(BINARY)
$(BUILDDIR)/$(BINARY): $(ALL_OBJS)
- $(LD) -T$(LDSCRIPT) $(COMMON_LDFLAGS) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^
+ $(LD) -T$(LDSCRIPT) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^ $(LIBS)
tools: $(BUILDDIR)/tools/freq_meas_test
$(BUILDDIR)/tools/freq_meas_test: tools/freq_meas_test.c src/freq_meas.c levmarq/levmarq.c $(BUILDDIR)/generated/fmeas_fft_window.c $(CMSIS_SOURCES)
@@ -198,6 +220,10 @@ $(BUILDDIR)/tools/crypto_test: tools/crypto_test.c src/crypto.c tinyaes/aes.c $(
mkdir -p $(@D)
$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -lsodium -o $@ $^
+$(BUILDDIR)/src/%.o: src/%.s
+ mkdir -p $(@D)
+ $(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
+
$(BUILDDIR)/src/%.o: src/%.c
mkdir -p $(@D)
$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
@@ -214,9 +240,6 @@ $(BUILDDIR)/%.o: %.c
mkdir -p $(@D)
$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
-$(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a:
- $(MAKE) -C $(OPENCM3_DIR) -j $(shell nproc)
-
$(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a:
mkdir -p $(BUILDDIR)/libsodium
cd $(BUILDDIR)/libsodium && CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -DDEV_MODE=1" $(LIBSODIUM_DIR_ABS)/configure --host=arm-none-eabi && $(MAKE) -j $(shell nproc)
@@ -225,9 +248,9 @@ $(BUILDDIR)/tinyaes/aes.o:
mkdir -p $(@D)
make -C $(@D) -f $(TINYAES_DIR_ABS)/Makefile VPATH=$(TINYAES_DIR_ABS) CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -c" CC=$(CC) LD=$(LD) AR=$(AR) aes.o
-$(BUILDDIR)/musl/lib/libc.a:
- mkdir -p $(BUILDDIR)/musl
- cd $(BUILDDIR)/musl && CFLAGS="$(SIM_CFLAGS) $(COMMON_CFLAGS)" CC=$(CC) LD=$(LD) AR=$(AR) $(MUSL_DIR_ABS)/configure && $(MAKE) TARGET=arm-linux-musleabihf GCC_CONFIG="-mcpu=cortex-m4 -mfloat-abi=soft" -j $(shell nproc)
+# $(BUILDDIR)/musl/lib/libc.a:
+# mkdir -p $(BUILDDIR)/musl
+# cd $(BUILDDIR)/musl && CFLAGS="$(SIM_CFLAGS) $(COMMON_CFLAGS)" CC=$(CC) LD=$(LD) AR=$(AR) $(MUSL_DIR_ABS)/configure && $(MAKE) TARGET=arm-linux-musleabihf GCC_CONFIG="-mcpu=cortex-m4 -mfloat-abi=soft" -j $(shell nproc)
build/ldpc_decoder_test.so: src/ldpc_decoder.c
gcc -fPIC -shared -Wall -Wextra -Wpedantic -std=gnu11 -O0 -g -o $@ $^
@@ -240,7 +263,6 @@ clean:
mrproper: clean
rm -rf build
- -$(MAKE) -C $(OPENCM3_DIR) clean
.PHONY: clean mrproper
diff --git a/controller/fw/musl_include_shims/bits/alltypes.h b/controller/fw/musl_include_shims/bits/alltypes.h
new file mode 100644
index 0000000..581ca85
--- /dev/null
+++ b/controller/fw/musl_include_shims/bits/alltypes.h
@@ -0,0 +1,23 @@
+
+/* shim file for musl */
+
+#ifndef __MUSL_SHIM_BITS_ALLTYPES_H__
+#define __MUSL_SHIM_BITS_ALLTYPES_H__
+
+#define _REDIR_TIME64 1
+#define _Addr int
+#define _Int64 long long
+#define _Reg int
+
+#define __BYTE_ORDER 1234
+
+#define __LONG_MAX 0x7fffffffL
+
+#ifndef __cplusplus
+typedef unsigned wchar_t;
+#endif
+
+typedef float float_t;
+typedef double double_t;
+
+#endif /* __MUSL_SHIM_BITS_ALLTYPES_H__ */
diff --git a/controller/fw/musl_include_shims/endian.h b/controller/fw/musl_include_shims/endian.h
new file mode 100644
index 0000000..172c432
--- /dev/null
+++ b/controller/fw/musl_include_shims/endian.h
@@ -0,0 +1,80 @@
+#ifndef _ENDIAN_H
+#define _ENDIAN_H
+
+#include <features.h>
+
+#define __NEED_uint16_t
+#define __NEED_uint32_t
+#define __NEED_uint64_t
+
+#include <bits/alltypes.h>
+
+#define __PDP_ENDIAN 3412
+
+#define BIG_ENDIAN __BIG_ENDIAN
+#define LITTLE_ENDIAN __LITTLE_ENDIAN
+#define PDP_ENDIAN __PDP_ENDIAN
+#define BYTE_ORDER __BYTE_ORDER
+
+static __inline uint16_t __bswap16(uint16_t __x)
+{
+ return __x<<8 | __x>>8;
+}
+
+static __inline uint32_t __bswap32(uint32_t __x)
+{
+ return __x>>24 | __x>>8&0xff00 | __x<<8&0xff0000 | __x<<24;
+}
+
+static __inline uint64_t __bswap64(uint64_t __x)
+{
+ return __bswap32(__x)+0ULL<<32 | __bswap32(__x>>32);
+}
+
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+#define htobe16(x) __bswap16(x)
+#define be16toh(x) __bswap16(x)
+#define htobe32(x) __bswap32(x)
+#define be32toh(x) __bswap32(x)
+#define htobe64(x) __bswap64(x)
+#define be64toh(x) __bswap64(x)
+#define htole16(x) (uint16_t)(x)
+#define le16toh(x) (uint16_t)(x)
+#define htole32(x) (uint32_t)(x)
+#define le32toh(x) (uint32_t)(x)
+#define htole64(x) (uint64_t)(x)
+#define le64toh(x) (uint64_t)(x)
+#else
+#define htobe16(x) (uint16_t)(x)
+#define be16toh(x) (uint16_t)(x)
+#define htobe32(x) (uint32_t)(x)
+#define be32toh(x) (uint32_t)(x)
+#define htobe64(x) (uint64_t)(x)
+#define be64toh(x) (uint64_t)(x)
+#define htole16(x) __bswap16(x)
+#define le16toh(x) __bswap16(x)
+#define htole32(x) __bswap32(x)
+#define le32toh(x) __bswap32(x)
+#define htole64(x) __bswap64(x)
+#define le64toh(x) __bswap64(x)
+#endif
+
+#if defined(_GNU_SOURCE) || defined(_BSD_SOURCE)
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+#define betoh16(x) __bswap16(x)
+#define betoh32(x) __bswap32(x)
+#define betoh64(x) __bswap64(x)
+#define letoh16(x) (uint16_t)(x)
+#define letoh32(x) (uint32_t)(x)
+#define letoh64(x) (uint64_t)(x)
+#else
+#define betoh16(x) (uint16_t)(x)
+#define betoh32(x) (uint32_t)(x)
+#define betoh64(x) (uint64_t)(x)
+#define letoh16(x) __bswap16(x)
+#define letoh32(x) __bswap32(x)
+#define letoh64(x) __bswap64(x)
+#endif
+#endif
+
+#endif
diff --git a/controller/fw/musl_include_shims/features.h b/controller/fw/musl_include_shims/features.h
new file mode 100644
index 0000000..85cfb72
--- /dev/null
+++ b/controller/fw/musl_include_shims/features.h
@@ -0,0 +1,40 @@
+#ifndef _FEATURES_H
+#define _FEATURES_H
+
+#if defined(_ALL_SOURCE) && !defined(_GNU_SOURCE)
+#define _GNU_SOURCE 1
+#endif
+
+#if defined(_DEFAULT_SOURCE) && !defined(_BSD_SOURCE)
+#define _BSD_SOURCE 1
+#endif
+
+#if !defined(_POSIX_SOURCE) && !defined(_POSIX_C_SOURCE) \
+ && !defined(_XOPEN_SOURCE) && !defined(_GNU_SOURCE) \
+ && !defined(_BSD_SOURCE) && !defined(__STRICT_ANSI__)
+#define _BSD_SOURCE 1
+#define _XOPEN_SOURCE 700
+#endif
+
+#if __STDC_VERSION__ >= 199901L
+#define __restrict restrict
+#elif !defined(__GNUC__)
+#define __restrict
+#endif
+
+#if __STDC_VERSION__ >= 199901L || defined(__cplusplus)
+#define __inline inline
+#elif !defined(__GNUC__)
+#define __inline
+#endif
+
+#if __STDC_VERSION__ >= 201112L
+#elif defined(__GNUC__)
+#define _Noreturn __attribute__((__noreturn__))
+#else
+#define _Noreturn
+#endif
+
+#define __REDIR(x,y) __typeof__(x) x __asm__(#y)
+
+#endif
diff --git a/controller/fw/musl_include_shims/fp_arch.h b/controller/fw/musl_include_shims/fp_arch.h
new file mode 100644
index 0000000..f5bab6d
--- /dev/null
+++ b/controller/fw/musl_include_shims/fp_arch.h
@@ -0,0 +1,6 @@
+#ifndef __MUSL_SHIM_FP_ARCH_H__
+#define __MUSL_SHIM_FP_ARCH_H__
+
+#define hidden
+
+#endif /* __MUSL_SHIM_FP_ARCH_H__ */
diff --git a/controller/fw/musl_include_shims/libm.h b/controller/fw/musl_include_shims/libm.h
new file mode 100644
index 0000000..d48135d
--- /dev/null
+++ b/controller/fw/musl_include_shims/libm.h
@@ -0,0 +1,270 @@
+#ifndef _LIBM_H
+#define _LIBM_H
+
+#include <stdint.h>
+#include <float.h>
+#include <math.h>
+#include <endian.h>
+#include "fp_arch.h"
+
+#if LDBL_MANT_DIG == 53 && LDBL_MAX_EXP == 1024
+#elif LDBL_MANT_DIG == 64 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __LITTLE_ENDIAN
+union ldshape {
+ long double f;
+ struct {
+ uint64_t m;
+ uint16_t se;
+ } i;
+};
+#elif LDBL_MANT_DIG == 64 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __BIG_ENDIAN
+/* This is the m68k variant of 80-bit long double, and this definition only works
+ * on archs where the alignment requirement of uint64_t is <= 4. */
+union ldshape {
+ long double f;
+ struct {
+ uint16_t se;
+ uint16_t pad;
+ uint64_t m;
+ } i;
+};
+#elif LDBL_MANT_DIG == 113 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __LITTLE_ENDIAN
+union ldshape {
+ long double f;
+ struct {
+ uint64_t lo;
+ uint32_t mid;
+ uint16_t top;
+ uint16_t se;
+ } i;
+ struct {
+ uint64_t lo;
+ uint64_t hi;
+ } i2;
+};
+#elif LDBL_MANT_DIG == 113 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __BIG_ENDIAN
+union ldshape {
+ long double f;
+ struct {
+ uint16_t se;
+ uint16_t top;
+ uint32_t mid;
+ uint64_t lo;
+ } i;
+ struct {
+ uint64_t hi;
+ uint64_t lo;
+ } i2;
+};
+#else
+#error Unsupported long double representation
+#endif
+
+/* Support non-nearest rounding mode. */
+#define WANT_ROUNDING 1
+/* Support signaling NaNs. */
+#define WANT_SNAN 0
+
+#if WANT_SNAN
+#error SNaN is unsupported
+#else
+#define issignalingf_inline(x) 0
+#define issignaling_inline(x) 0
+#endif
+
+#ifndef TOINT_INTRINSICS
+#define TOINT_INTRINSICS 0
+#endif
+
+#if TOINT_INTRINSICS
+/* Round x to nearest int in all rounding modes, ties have to be rounded
+ consistently with converttoint so the results match. If the result
+ would be outside of [-2^31, 2^31-1] then the semantics is unspecified. */
+static double_t roundtoint(double_t);
+
+/* Convert x to nearest int in all rounding modes, ties have to be rounded
+ consistently with roundtoint. If the result is not representible in an
+ int32_t then the semantics is unspecified. */
+static int32_t converttoint(double_t);
+#endif
+
+/* Helps static branch prediction so hot path can be better optimized. */
+#ifdef __GNUC__
+#define predict_true(x) __builtin_expect(!!(x), 1)
+#define predict_false(x) __builtin_expect(x, 0)
+#else
+#define predict_true(x) (x)
+#define predict_false(x) (x)
+#endif
+
+/* Evaluate an expression as the specified type. With standard excess
+ precision handling a type cast or assignment is enough (with
+ -ffloat-store an assignment is required, in old compilers argument
+ passing and return statement may not drop excess precision). */
+
+static inline float eval_as_float(float x)
+{
+ float y = x;
+ return y;
+}
+
+static inline double eval_as_double(double x)
+{
+ double y = x;
+ return y;
+}
+
+/* fp_barrier returns its input, but limits code transformations
+ as if it had a side-effect (e.g. observable io) and returned
+ an arbitrary value. */
+
+#ifndef fp_barrierf
+#define fp_barrierf fp_barrierf
+static inline float fp_barrierf(float x)
+{
+ volatile float y = x;
+ return y;
+}
+#endif
+
+#ifndef fp_barrier
+#define fp_barrier fp_barrier
+static inline double fp_barrier(double x)
+{
+ volatile double y = x;
+ return y;
+}
+#endif
+
+#ifndef fp_barrierl
+#define fp_barrierl fp_barrierl
+static inline long double fp_barrierl(long double x)
+{
+ volatile long double y = x;
+ return y;
+}
+#endif
+
+/* fp_force_eval ensures that the input value is computed when that's
+ otherwise unused. To prevent the constant folding of the input
+ expression, an additional fp_barrier may be needed or a compilation
+ mode that does so (e.g. -frounding-math in gcc). Then it can be
+ used to evaluate an expression for its fenv side-effects only. */
+
+#ifndef fp_force_evalf
+#define fp_force_evalf fp_force_evalf
+static inline void fp_force_evalf(float x)
+{
+ volatile float y;
+ y = x;
+}
+#endif
+
+#ifndef fp_force_eval
+#define fp_force_eval fp_force_eval
+static inline void fp_force_eval(double x)
+{
+ volatile double y;
+ y = x;
+}
+#endif
+
+#ifndef fp_force_evall
+#define fp_force_evall fp_force_evall
+static inline void fp_force_evall(long double x)
+{
+ volatile long double y;
+ y = x;
+}
+#endif
+
+#define FORCE_EVAL(x) do { \
+ if (sizeof(x) == sizeof(float)) { \
+ fp_force_evalf(x); \
+ } else if (sizeof(x) == sizeof(double)) { \
+ fp_force_eval(x); \
+ } else { \
+ fp_force_evall(x); \
+ } \
+} while(0)
+
+#define asuint(f) ((union{float _f; uint32_t _i;}){f})._i
+#define asfloat(i) ((union{uint32_t _i; float _f;}){i})._f
+#define asuint64(f) ((union{double _f; uint64_t _i;}){f})._i
+#define asdouble(i) ((union{uint64_t _i; double _f;}){i})._f
+
+#define EXTRACT_WORDS(hi,lo,d) \
+do { \
+ uint64_t __u = asuint64(d); \
+ (hi) = __u >> 32; \
+ (lo) = (uint32_t)__u; \
+} while (0)
+
+#define GET_HIGH_WORD(hi,d) \
+do { \
+ (hi) = asuint64(d) >> 32; \
+} while (0)
+
+#define GET_LOW_WORD(lo,d) \
+do { \
+ (lo) = (uint32_t)asuint64(d); \
+} while (0)
+
+#define INSERT_WORDS(d,hi,lo) \
+do { \
+ (d) = asdouble(((uint64_t)(hi)<<32) | (uint32_t)(lo)); \
+} while (0)
+
+#define SET_HIGH_WORD(d,hi) \
+ INSERT_WORDS(d, hi, (uint32_t)asuint64(d))
+
+#define SET_LOW_WORD(d,lo) \
+ INSERT_WORDS(d, asuint64(d)>>32, lo)
+
+#define GET_FLOAT_WORD(w,d) \
+do { \
+ (w) = asuint(d); \
+} while (0)
+
+#define SET_FLOAT_WORD(d,w) \
+do { \
+ (d) = asfloat(w); \
+} while (0)
+
+hidden int __rem_pio2_large(double*,double*,int,int,int);
+
+hidden int __rem_pio2(double,double*);
+hidden double __sin(double,double,int);
+hidden double __cos(double,double);
+hidden double __tan(double,double,int);
+hidden double __expo2(double);
+
+hidden int __rem_pio2f(float,double*);
+hidden float __sindf(double);
+hidden float __cosdf(double);
+hidden float __tandf(double,int);
+hidden float __expo2f(float);
+
+hidden int __rem_pio2l(long double, long double *);
+hidden long double __sinl(long double, long double, int);
+hidden long double __cosl(long double, long double);
+hidden long double __tanl(long double, long double, int);
+
+hidden long double __polevll(long double, const long double *, int);
+hidden long double __p1evll(long double, const long double *, int);
+
+hidden double __lgamma_r(double, int *);
+hidden float __lgammaf_r(float, int *);
+
+/* error handling functions */
+hidden float __math_xflowf(uint32_t, float);
+hidden float __math_uflowf(uint32_t);
+hidden float __math_oflowf(uint32_t);
+hidden float __math_divzerof(uint32_t);
+hidden float __math_invalidf(float);
+hidden double __math_xflow(uint32_t, double);
+hidden double __math_uflow(uint32_t);
+hidden double __math_oflow(uint32_t);
+hidden double __math_divzero(uint32_t);
+hidden double __math_invalid(double);
+
+#endif
diff --git a/controller/fw/src/adc.c b/controller/fw/src/adc.c
new file mode 100644
index 0000000..5f6b995
--- /dev/null
+++ b/controller/fw/src/adc.c
@@ -0,0 +1,93 @@
+
+#include <stm32f407xx.h>
+#include <stm32f4_isr.h>
+
+#include "adc.h"
+#include "sr_global.h"
+
+uint16_t adc_fft_buf[2][FMEAS_FFT_LEN];
+volatile int adc_fft_buf_ready_idx = -1;
+
+static DMA_TypeDef *const adc_dma = DMA2;
+static DMA_Stream_TypeDef *const mem_stream = DMA2_Stream1;
+static DMA_Stream_TypeDef *const adc_stream = DMA2_Stream0;
+static const int dma_adc_channel = 0;
+
+/* Configure ADC1 to sample channel 0. Trigger from TIM1 CC0 every 1ms. Transfer readings into alternating buffers
+ * throug DMA. Enable DMA interrupts.
+ *
+ * We have two full FFT buffers. We always transfer data from the ADC to the back half of the active one, while a
+ * DMA memcpy'es the latter half of the inactive one to the front half of the active one. This means at the end of the
+ * ADC's DMA transfer, in the now-inactive buffer that the ADC results were just written to we have last half-period's
+ * data sitting in front of this half-period's data like so: [old_adc_data, new_adc_data]
+ *
+ * This means we can immediately start running an FFT on ADC DMA transfer complete interrupt.
+ */
+void adc_init() {
+ RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+ RCC->APB2ENR |= RCC_APB2ENR_ADC1EN | RCC_APB2ENR_TIM1EN;
+
+ adc_dma->LIFCR |= 0x3f;
+ adc_stream->CR = 0; /* disable */
+ while (adc_stream->CR & DMA_SxCR_EN)
+ ; /* wait for stream to become available */
+ adc_stream->NDTR = FMEAS_FFT_LEN/2;
+ adc_stream->PAR = ADC1->DR;
+ adc_stream->M0AR = (uint32_t) (adc_fft_buf[0] + FMEAS_FFT_LEN/2);
+ adc_stream->M1AR = (uint32_t) (adc_fft_buf[1] + FMEAS_FFT_LEN/2);
+ adc_stream->CR = (dma_adc_channel<<DMA_SxCR_CHSEL_Pos) | DMA_SxCR_DBM | (1<<DMA_SxCR_MSIZE_Pos)
+ | (1<<DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_PFCTRL
+ | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE | DMA_SxCR_EN;
+ adc_stream->CR |= DMA_SxCR_EN;
+
+ NVIC_EnableIRQ(DMA2_Stream0_IRQn);
+ NVIC_SetPriority(DMA2_Stream0_IRQn, 128);
+
+ ADC1->CR1 = (0<<ADC_CR1_RES_Pos) | (0<<ADC_CR1_DISCNUM_Pos) | ADC_CR1_DISCEN | (0<<ADC_CR1_AWDCH_Pos);
+ ADC1->CR2 = ADC_CR2_EXTEN | (0<<ADC_CR2_EXTSEL_Pos) | ADC_CR2_DMA | ADC_CR2_ADON | ADC_CR2_DDS;
+
+ TIM1->CR2 = (2<<TIM_CR2_MMS_Pos); /* Enable update event on TRGO to provide a 1ms reference to rest of system */
+ TIM1->CR1 = TIM_CR1_CEN;
+ TIM1->CCMR1 = (6<<TIM_CCMR1_OC1M_Pos) | (0<<TIM_CCMR1_CC1S_Pos);
+ TIM1->CCER = TIM_CCER_CC1E;
+ TIM1->PSC = 84; /* 1us ticks @ f_APB2=84MHz */
+ TIM1->ARR = 1000; /* 1ms period */
+ TIM1->CCR1 = 1;
+ TIM1->EGR = TIM_EGR_UG;
+}
+
+void DMA2_Stream0_IRQHandler(void) {
+ uint8_t isr = (DMA2->LISR >> DMA_LISR_FEIF0_Pos) & 0x3f;
+
+ if (isr & DMA_LISR_TCIF0) { /* Transfer complete */
+ /* Check we're done processing the old buffer */
+ if (adc_fft_buf_ready_idx != -1)
+ panic();
+
+ /* Kickoff memory DMA into new buffer */
+ if (mem_stream->CR & DMA_SxCR_EN)
+ panic(); /* We should be long done by now. */
+
+ mem_stream->NDTR = FMEAS_FFT_LEN/2;
+ int ct = !!(adc_stream->CR & DMA_SxCR_CT);
+ /* back half of old buffer (that was just written) */
+ mem_stream->PAR = (uint32_t)(adc_fft_buf[!ct]);
+ /* front half of current buffer (whose back half is being written now) */
+ mem_stream->M0AR = (uint32_t) (adc_fft_buf[ct] + 0);
+ mem_stream->CR = (1<<DMA_SxCR_MSIZE_Pos) | (1<<DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | DMA_SxCR_PINC
+ | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE;
+ mem_stream->CR |= DMA_SxCR_EN;
+
+ /* Kickoff FFT */
+ adc_fft_buf_ready_idx = !ct;
+ }
+
+ if (isr & DMA_LISR_DMEIF0) /* Direct mode error */
+ panic();
+
+ if (isr & DMA_LISR_TEIF0) /* Transfer error */
+ panic();
+
+ /* clear all flags */
+ adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos;
+}
diff --git a/controller/fw/src/adc.h b/controller/fw/src/adc.h
new file mode 100644
index 0000000..e5611cb
--- /dev/null
+++ b/controller/fw/src/adc.h
@@ -0,0 +1,10 @@
+#ifndef __ADC_H__
+#define __ADC_H__
+
+void adc_init(void);
+
+extern uint16_t adc_fft_buf[2][FMEAS_FFT_LEN];
+/* set index of ready buffer in adc.c, reset to -1 in main.c after processing */
+extern volatile int adc_fft_buf_ready_idx;
+
+#endif /* __ADC_H__ */
diff --git a/controller/fw/src/dsss_demod.c b/controller/fw/src/dsss_demod.c
index c5a2070..0758525 100644
--- a/controller/fw/src/dsss_demod.c
+++ b/controller/fw/src/dsss_demod.c
@@ -23,12 +23,15 @@ struct iir_biquad cwt_filter_bq[DSSS_FILTER_CLEN] = {DSSS_FILTER_COEFF};
void debug_print_vector(const char *name, size_t len, const float *data, size_t stride, bool index, bool debug);
static float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx, bool debug);
static float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx);
+#if 0
static float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]);
static float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st);
+#endif
static void matcher_init(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE]);
static void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE],
uint64_t ts, int peak_ch, float peak_ampl);
static void group_received(struct dsss_demod_state *st);
+static uint8_t decode_peak(int peak_ch, float peak_ampl);
#ifdef SIMULATION
void debug_print_vector(const char *name, size_t len, const float *data, size_t stride, bool index, bool debug) {
@@ -48,7 +51,8 @@ void debug_print_vector(const char *name, size_t len, const float *data, size_t
DEBUG_PRINTN("]\n");
}
#else
-void debug_print_vector(const char *name, size_t len, const float *data, size_t stride, bool index, bool debug) {}
+void debug_print_vector(unused_a const char *name, unused_a size_t len, unused_a const float *data,
+ unused_a size_t stride, unused_a bool index, unused_a bool debug) {}
#endif
void dsss_demod_init(struct dsss_demod_state *st) {
@@ -74,7 +78,7 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts)
float avg = 0.0f;
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
- avg += fabs(cwt[i]);
+ avg += fabsf(cwt[i]);
avg /= (float)DSSS_GOLD_CODE_COUNT;
/* FIXME fix this filter */
//avg = run_iir(avg, ARRAY_LENGTH(cwt_filter_bq), cwt_filter_bq, st->cwt_filter.st);
@@ -86,12 +90,12 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts)
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++) {
float val = cwt[i] / avg;
- if (fabs(val) > fabs(max_val)) {
+ if (fabsf(val) > fabsf(max_val)) {
max_val = val;
max_ch = i;
max_ts = ts;
- if (fabs(val) > DSSS_THESHOLD_FACTOR)
+ if (fabsf(val) > DSSS_THESHOLD_FACTOR)
found = true;
}
}
@@ -155,7 +159,7 @@ void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE], u
if (current_phase == states[i].last_phase) {
/* Skip sampling */
- float score = fabs(peak_ampl) * (1.0f - skip_sampling_depreciation);
+ float score = fabsf(peak_ampl) * (1.0f - skip_sampling_depreciation);
if (score > states[i].candidate_score) {
/* We win, update candidate */
assert(i < DSSS_MATCHER_CACHE_SIZE);
@@ -272,6 +276,7 @@ void group_received(struct dsss_demod_state *st) {
}
}
+#if 0
float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]) {
float intermediate = x;
for (int i=0; i<(order+1)/2; i++)
@@ -287,6 +292,7 @@ float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_st
st->reg[0] = intermediate;
return out;
}
+#endif
float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) {
float sum = 0.0f;
diff --git a/controller/fw/src/dsss_demod.h b/controller/fw/src/dsss_demod.h
index 98cf590..448abb4 100644
--- a/controller/fw/src/dsss_demod.h
+++ b/controller/fw/src/dsss_demod.h
@@ -1,6 +1,9 @@
#ifndef __DSSS_DEMOD_H__
#define __DSSS_DEMOD_H__
+#include <stdint.h>
+#include <unistd.h>
+
#define DSSS_GOLD_CODE_LENGTH ((1<<DSSS_GOLD_CODE_NBITS) - 1)
#define DSSS_GOLD_CODE_COUNT ((1<<DSSS_GOLD_CODE_NBITS) + 1)
#define DSSS_CORRELATION_LENGTH (DSSS_GOLD_CODE_LENGTH * DSSS_DECIMATION)
diff --git a/controller/fw/src/freq_meas.c b/controller/fw/src/freq_meas.c
index ba7801e..83a330c 100644
--- a/controller/fw/src/freq_meas.c
+++ b/controller/fw/src/freq_meas.c
@@ -30,7 +30,7 @@ extern arm_status arm_rfft_4096_fast_init_f32(arm_rfft_fast_instance_f32 * S);
void func_gauss_grad(float *out, float *params, int x, void *userdata);
float func_gauss(float *params, int x, void *userdata);
-int adc_buf_measure_freq(int16_t adc_buf[FMEAS_FFT_LEN], float *out) {
+int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
int rc;
float in_buf[FMEAS_FFT_LEN];
float out_buf[FMEAS_FFT_LEN];
@@ -42,7 +42,7 @@ int adc_buf_measure_freq(int16_t adc_buf[FMEAS_FFT_LEN], float *out) {
*/
//DEBUG_PRINT("Applying window function");
for (size_t i=0; i<FMEAS_FFT_LEN; i++)
- in_buf[i] = (float)adc_buf[i] / (float)FMEAS_ADC_MAX * fmeas_fft_window_table[i];
+ in_buf[i] = ((float)adc_buf[i] / (float)FMEAS_ADC_MAX - 0.5) * fmeas_fft_window_table[i];
//DEBUG_PRINT("Running FFT");
arm_rfft_fast_instance_f32 fft_inst;
diff --git a/controller/fw/src/freq_meas.h b/controller/fw/src/freq_meas.h
index 4786c0e..1c083f8 100644
--- a/controller/fw/src/freq_meas.h
+++ b/controller/fw/src/freq_meas.h
@@ -2,6 +2,6 @@
#ifndef __FREQ_MEAS_H__
#define __FREQ_MEAS_H__
-int adc_buf_measure_freq(int16_t adc_buf[FMEAS_FFT_LEN], float *out);
+int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out);
#endif /* __FREQ_MEAS_H__ */
diff --git a/controller/fw/src/main.c b/controller/fw/src/main.c
index 3131df1..58977f7 100644
--- a/controller/fw/src/main.c
+++ b/controller/fw/src/main.c
@@ -1,45 +1,126 @@
#include <stdbool.h>
+#include <stdint.h>
+#include <assert.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/spi.h>
-#include <libopencm3/stm32/gpio.h>
+#include <stm32f407xx.h>
+#include "sr_global.h"
+#include "adc.h"
#include "spi_flash.h"
+#include "freq_meas.h"
+#include "dsss_demod.h"
static struct spi_flash_if spif;
+
+void __libc_init_array(void) { /* we don't need this. */ }
+void __assert_func (unused_a const char *file, unused_a int line, unused_a const char *function, unused_a const char *expr) {
+ asm volatile ("bkpt");
+ while(1) {}
+}
+
static void clock_setup(void)
{
- rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
- rcc_periph_clock_enable(RCC_GPIOA);
- rcc_periph_clock_enable(RCC_GPIOB);
- rcc_periph_clock_enable(RCC_SPI1);
+ /* 8MHz HSE clock as PLL source.
+ *
+ * Divide by 8 -> 1 MHz */
+#define PLL_M 8
+ /* Multiply by 336 -> 336 MHz VCO frequency */
+#define PLL_N 336
+ /* Divide by 2 -> 168 MHz (max freq for our chip) */
+#define PLL_P 2
+ /* Aux clock for USB OTG, SDIO, RNG: divide VCO frequency (336 MHz) by 7 -> 48 MHz (required by USB OTG) */
+#define PLL_Q 7
+
+ RCC->CR |= RCC_CR_HSEON;
+ while(!(RCC->CR & RCC_CR_HSERDY));
+
+ RCC->APB1ENR |= RCC_APB1ENR_PWREN;
+
+ /* set voltage scale to 1 for max frequency
+ * (0b0) scale 2 for fCLK <= 144 Mhz
+ * (0b1) scale 1 for 144 Mhz < fCLK <= 168 Mhz
+ */
+ PWR->CR |= PWR_CR_VOS;
+
+ /* set AHB prescaler to /1 (CFGR:bits 7:4) */
+ RCC->CFGR |= (0 << RCC_CFGR_HPRE_Pos);
+ /* set ABP1 prescaler to 4 */
+ RCC->CFGR |= (5 << RCC_CFGR_PPRE1_Pos);
+ /* set ABP2 prescaler to 2 */
+ RCC->CFGR |= (0x4 << RCC_CFGR_PPRE2_Pos);
+
+ /* Configure PLL */
+ static_assert(PLL_P % 2 == 0);
+ static_assert(PLL_P >= 2 && PLL_P <= 8);
+ static_assert(PLL_N >= 50 && PLL_N <= 432);
+ static_assert(PLL_M >= 2 && PLL_M <= 63);
+ static_assert(PLL_Q >= 2 && PLL_Q <= 15);
+ RCC->PLLCFGR = (PLL_M<<RCC_PLLCFGR_PLLM_Pos)
+ | (PLL_N << RCC_PLLCFGR_PLLM_Pos)
+ | ((PLL_P/2 - 1) << RCC_PLLCFGR_PLLP_Pos)
+ | (PLL_Q << RCC_PLLCFGR_PLLQ_Pos)
+ | RCC_PLLCFGR_PLLSRC; /* select HSE as PLL source */
+ RCC->CR |= RCC_CR_PLLON;
+
+ /* Wait for main PLL */
+ while(!(RCC->CR & RCC_CR_PLLRDY))
+ ;
+
+ /* Configure Flash: enable prefetch, insn cache, data cache; set latency = 5 wait states
+ * See reference manual (RM0090), Section 3.5.1, Table 10 (p. 80)
+ */
+ FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | (5<<FLASH_ACR_LATENCY);
+
+ /* Select PLL as system clock source */
+ RCC->CFGR &= ~RCC_CFGR_SW_Msk;
+ RCC->CFGR |= 2 << RCC_CFGR_SW_Pos;
+
+ /* Wait for clock to switch over */
+ while ((RCC->CFGR & RCC_CFGR_SWS_Msk)>>RCC_CFGR_SWS_Pos != 2)
+ ;
}
static void led_setup(void)
{
- gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO6 | GPIO7);
+ GPIOA->MODER |= (1<<GPIO_MODER_MODER6_Pos) | (1<<GPIO_MODER_MODER7_Pos);
}
static void spi_flash_if_set_cs(bool val) {
if (val)
- gpio_set(GPIOB, GPIO0);
+ GPIOB->BSRR = 1<<0;
else
- gpio_clear(GPIOB, GPIO0);
+ GPIOB->BSRR = 1<<16;
}
static void spi_flash_setup(void)
{
- gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO3 | GPIO4 | GPIO5); /* SPI flash SCK/MISO/MOSI */
- gpio_mode_setup(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO0); /* SPI flash CS */
- gpio_set_output_options(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO0 | GPIO3 | GPIO4 | GPIO5);
- gpio_set_af(GPIOB, 5, GPIO3 | GPIO4 | GPIO5);
+ GPIOB->MODER &= ~GPIO_MODER_MODER3_Msk & ~GPIO_MODER_MODER4_Msk & ~GPIO_MODER_MODER5_Msk & ~GPIO_MODER_MODER0_Msk;
+ GPIOB->MODER |= (2<<GPIO_MODER_MODER3_Pos) /* SCK */
+ | (2<<GPIO_MODER_MODER4_Pos) /* MISO */
+ | (2<<GPIO_MODER_MODER5_Pos) /* MOSI */
+ | (1<<GPIO_MODER_MODER0_Pos); /* CS */
+
+ GPIOB->OSPEEDR &= ~GPIO_OSPEEDR_OSPEED3_Msk & ~GPIO_OSPEEDR_OSPEED4_Msk
+ & ~GPIO_OSPEEDR_OSPEED5_Msk & ~GPIO_OSPEEDR_OSPEED0_Msk;
+ GPIOB->OSPEEDR |= (2<<GPIO_OSPEEDR_OSPEED3_Pos) /* SCK */
+ | (2<<GPIO_OSPEEDR_OSPEED4_Pos) /* MISO */
+ | (2<<GPIO_OSPEEDR_OSPEED5_Pos) /* MOSI */
+ | (2<<GPIO_OSPEEDR_OSPEED0_Pos); /* CS */
+
+ GPIOB->AFR[0] &= ~GPIO_AFRL_AFSEL3_Msk & ~GPIO_AFRL_AFSEL4_Msk & ~GPIO_AFRL_AFSEL5_Msk;
+ GPIOB->AFR[0] |= (5<<GPIO_AFRL_AFSEL3_Pos) | (5<<GPIO_AFRL_AFSEL4_Pos) | (5<<GPIO_AFRL_AFSEL5_Pos);
+
+ RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+ RCC->APB2RSTR |= RCC_APB2RSTR_SPI1RST;
+ RCC->APB2RSTR &= RCC_APB2RSTR_SPI1RST;
spif_init(&spif, 256, SPI1, &spi_flash_if_set_cs);
}
-/*
+/* SPI flash test routine to be called from gdb */
+#ifdef SPI_FLASH_TEST
void spi_flash_test(void) {
spif_clear_mem(&spif);
@@ -48,7 +129,7 @@ void spi_flash_test(void) {
for (size_t i=0; i<sizeof(buf); i+= sizeof(buf[0]))
buf[i/sizeof(buf[0])] = addr + i;
- spif_write(&spif, addr, sizeof(buf), (char *)buf);
+ spif_write(&spif, addr, sizeof(buf), (char *)buf);
}
for (size_t i=0; i<sizeof(buf)/sizeof(buf[0]); i++)
@@ -56,21 +137,35 @@ void spi_flash_test(void) {
spif_read(&spif, 0x1030, sizeof(buf), (char *)buf);
asm volatile ("bkpt");
}
-*/
+#endif
+
+static unsigned int measurement_errors = 0;
+static struct dsss_demod_state demod_state;
+static uint32_t freq_sample_ts = 0;
int main(void)
{
clock_setup();
led_setup();
spi_flash_setup();
-
- gpio_set(GPIOA, GPIO6);
-
- while (1) {
- gpio_toggle(GPIOA, GPIO6 | GPIO7);
- for (int i = 0; i < 6000000; i++)
- __asm__("nop");
+ adc_init();
+
+ while (23) {
+ if (adc_fft_buf_ready_idx != -1) {
+ float out;
+ if (adc_buf_measure_freq(adc_fft_buf[adc_fft_buf_ready_idx], &out)) {
+ measurement_errors++;
+ continue;
+ }
+
+ dsss_demod_init(&demod_state);
+ dsss_demod_step(&demod_state, out, freq_sample_ts);
+
+ freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */
+ adc_fft_buf_ready_idx = -1;
+ }
}
return 0;
}
+
diff --git a/controller/fw/src/mspdebug_wrapper.c b/controller/fw/src/mspdebug_wrapper.c
index 3a6d526..eda91cc 100644
--- a/controller/fw/src/mspdebug_wrapper.c
+++ b/controller/fw/src/mspdebug_wrapper.c
@@ -2,14 +2,14 @@
#include <unistd.h>
#include <errno.h>
-#include <libopencm3/stm32/gpio.h>
-
#include "output.h"
#include "jtaglib.h"
#include "sr_global.h"
#include "mspdebug_wrapper.h"
+#include <stm32f407xx.h>
+
#define BLOCK_SIZE 512 /* bytes */
@@ -101,7 +101,7 @@ enum sr_gpio_types {
};
struct {
- uint32_t port;
+ GPIO_TypeDef *gpio;
uint16_t num;
} gpios[SR_NUM_GPIOS] = {
[SR_GPIO_TCK] = {GPIOD, 8},
@@ -114,9 +114,9 @@ struct {
static void sr_gpio_write(int num, int out) {
if (out)
- gpio_set(gpios[num].port, gpios[num].num);
+ gpios[num].gpio->BSRR = 1<<gpios[num].num;
else
- gpio_clear(gpios[num].port, gpios[num].num);
+ gpios[num].gpio->BSRR = 1<<gpios[num].num<<16;
}
static void sr_jtdev_tck(struct jtdev *p, int out) {
@@ -146,7 +146,7 @@ static void sr_jtdev_tst(struct jtdev *p, int out) {
static int sr_jtdev_tdo_get(struct jtdev *p) {
UNUSED(p);
- return gpio_get(gpios[SR_GPIO_TST].port, gpios[SR_GPIO_TST].num);
+ return !!(gpios[SR_GPIO_TST].gpio->IDR & (1<<gpios[SR_GPIO_TST].num));
}
static void sr_jtdev_tclk(struct jtdev *p, int out) {
@@ -156,14 +156,14 @@ static void sr_jtdev_tclk(struct jtdev *p, int out) {
static int sr_jtdev_tclk_get(struct jtdev *p) {
UNUSED(p);
- return gpio_get(gpios[SR_GPIO_TDI].port, gpios[SR_GPIO_TDI].num);
+ return !!(gpios[SR_GPIO_TDI].gpio->IDR & (1<<gpios[SR_GPIO_TDI].num));
}
static void sr_jtdev_tclk_strobe(struct jtdev *p, unsigned int count) {
UNUSED(p);
while (count--) {
- gpio_set(gpios[SR_GPIO_TDI].port, gpios[SR_GPIO_TDI].num);
- gpio_clear(gpios[SR_GPIO_TDI].port, gpios[SR_GPIO_TDI].num);
+ gpios[SR_GPIO_TDI].gpio->BSRR = 1<<gpios[SR_GPIO_TDI].num;
+ gpios[SR_GPIO_TDI].gpio->BSRR = 1<<gpios[SR_GPIO_TDI].num<<16;
}
}
diff --git a/controller/fw/src/protocol.c b/controller/fw/src/protocol.c
new file mode 100644
index 0000000..17020bd
--- /dev/null
+++ b/controller/fw/src/protocol.c
@@ -0,0 +1,7 @@
+
+#include "sr_global.h"
+#include "dsss_demod.h"
+
+void handle_dsss_received(uint8_t unused_a data[static TRANSMISSION_SYMBOLS]) {
+ asm volatile ("bkpt");
+}
diff --git a/controller/fw/src/spi_flash.c b/controller/fw/src/spi_flash.c
index 98c773f..305be8f 100644
--- a/controller/fw/src/spi_flash.c
+++ b/controller/fw/src/spi_flash.c
@@ -22,7 +22,6 @@
*/
#include "spi_flash.h"
-#include <libopencm3/stm32/spi.h>
enum {
WRITE_ENABLE = 0x06,
@@ -49,6 +48,10 @@ enum {
};
+static uint8_t spi_xfer(volatile SPI_TypeDef *spi, uint8_t b);
+static uint8_t spi_read(struct spi_flash_if *spif);
+static void spi_write(struct spi_flash_if *spif, uint8_t b);
+
static void spif_write_page(struct spi_flash_if *spif, size_t addr, size_t len, const char* data);
static uint8_t spif_read_status(struct spi_flash_if *spif);
static void spif_enable_write(struct spi_flash_if *spif);
@@ -58,32 +61,38 @@ static void spif_wait_for_write(struct spi_flash_if *spif);
#define mid_byte(x) ((x>>8)&0xff)
#define high_byte(x) ((x>>16)&0xff)
+uint8_t spi_xfer(volatile SPI_TypeDef *spi, uint8_t b) {
+ while (!(spi->SR & SPI_SR_TXE))
+ ;
+ (void) spi->DR; /* perform dummy read to clear RXNE flag */
+ spi->DR = b;
+ while (!(spi->SR & SPI_SR_RXNE))
+ ;
+ return spi->DR;
+}
-void spif_init(struct spi_flash_if *spif, size_t page_size, uint32_t spi_base, void (*cs)(bool val)) {
+uint8_t spi_read(struct spi_flash_if *spif) {
+ return spi_xfer(spif->spi, 0);
+}
+
+void spi_write(struct spi_flash_if *spif, uint8_t b) {
+ (void)spi_xfer(spif->spi, b);
+}
- spif->spi_base = spi_base;
+void spif_init(struct spi_flash_if *spif, size_t page_size, SPI_TypeDef *spi, void (*cs)(bool val)) {
+
+ spif->spi = spi;
spif->page_size = page_size;
spif->cs = cs;
spif->cs(1);
- spi_reset(spif->spi_base);
- spi_init_master(spif->spi_base,
- SPI_CR1_BAUDRATE_FPCLK_DIV_2,
- SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
- SPI_CR1_CPHA_CLK_TRANSITION_2,
- SPI_CR1_DFF_8BIT,
- SPI_CR1_MSBFIRST);
-
- spi_enable_software_slave_management(spif->spi_base);
- spi_set_nss_high(spif->spi_base);
-
- spi_enable(spif->spi_base);
+ spi->CR1 = (0<<SPI_CR1_BR_Pos) | SPI_CR1_CPOL | SPI_CR1_CPHA | SPI_CR1_SSM | SPI_CR1_SSI | SPI_CR1_SPE | SPI_CR1_MSTR;
spif->cs(0);
- spi_send(spif->spi_base, READ_IDENTIFICATION);
- spif->id.mfg_id = spi_xfer(spif->spi_base, 0);
- spif->id.type = spi_xfer(spif->spi_base, 0);
- spif->id.size = 1<<spi_xfer(spif->spi_base, 0);
+ spi_write(spif, READ_IDENTIFICATION);
+ spif->id.mfg_id = spi_read(spif);
+ spif->id.type = spi_read(spif);
+ spif->id.size = 1<<spi_read(spif);
spif->cs(1);
}
@@ -91,13 +100,13 @@ void spif_read(struct spi_flash_if *spif, size_t addr, size_t len, char* data) {
spif_enable_write(spif);
spif->cs(0);
- spi_xfer(spif->spi_base, READ_DATA);
- spi_xfer(spif->spi_base, high_byte(addr));
- spi_xfer(spif->spi_base, mid_byte(addr));
- spi_xfer(spif->spi_base, low_byte(addr));
+ spi_write(spif, READ_DATA);
+ spi_write(spif, high_byte(addr));
+ spi_write(spif, mid_byte(addr));
+ spi_write(spif, low_byte(addr));
for (size_t i = 0; i < len; i++)
- data[i] = spi_xfer(spif->spi_base, 0);
+ data[i] = spi_read(spif);
spif->cs(1);
}
@@ -117,8 +126,8 @@ void spif_write(struct spi_flash_if *spif, size_t addr, size_t len, const char*
static uint8_t spif_read_status(struct spi_flash_if *spif) {
spif->cs(0);
- spi_xfer(spif->spi_base, READ_STATUS);
- uint8_t status = spi_xfer(spif->spi_base, 0);
+ spi_write(spif, READ_STATUS);
+ uint8_t status = spi_read(spif);
spif->cs(1);
return status;
@@ -128,10 +137,10 @@ void spif_clear_sector(struct spi_flash_if *spif, size_t addr) {
spif_enable_write(spif);
spif->cs(0);
- spi_xfer(spif->spi_base, SECTOR_ERASE);
- spi_xfer(spif->spi_base, high_byte(addr));
- spi_xfer(spif->spi_base, mid_byte(addr));
- spi_xfer(spif->spi_base, low_byte(addr));
+ spi_write(spif, SECTOR_ERASE);
+ spi_write(spif, high_byte(addr));
+ spi_write(spif, mid_byte(addr));
+ spi_write(spif, low_byte(addr));
spif->cs(1);
spif_wait_for_write(spif);
@@ -141,7 +150,7 @@ void spif_clear_mem(struct spi_flash_if *spif) {
spif_enable_write(spif);
spif->cs(0);
- spi_xfer(spif->spi_base, BULK_ERASE);
+ spi_write(spif, BULK_ERASE);
spif->cs(1);
spif_wait_for_write(spif);
@@ -151,13 +160,13 @@ static void spif_write_page(struct spi_flash_if *spif, size_t addr, size_t len,
spif_enable_write(spif);
spif->cs(0);
- spi_xfer(spif->spi_base, PAGE_PROGRAM);
- spi_xfer(spif->spi_base, high_byte(addr));
- spi_xfer(spif->spi_base, mid_byte(addr));
- spi_xfer(spif->spi_base, low_byte(addr));
+ spi_write(spif, PAGE_PROGRAM);
+ spi_write(spif, high_byte(addr));
+ spi_write(spif, mid_byte(addr));
+ spi_write(spif, low_byte(addr));
for (size_t i = 0; i < len; i++) {
- spi_xfer(spif->spi_base, data[i]);
+ spi_write(spif, data[i]);
}
spif->cs(1);
@@ -166,7 +175,7 @@ static void spif_write_page(struct spi_flash_if *spif, size_t addr, size_t len,
static void spif_enable_write(struct spi_flash_if *spif) {
spif->cs(0);
- spi_xfer(spif->spi_base, WRITE_ENABLE);
+ spi_write(spif, WRITE_ENABLE);
spif->cs(1);
}
@@ -178,12 +187,13 @@ static void spif_wait_for_write(struct spi_flash_if *spif) {
void spif_deep_power_down(struct spi_flash_if *spif) {
spif->cs(0);
- spi_xfer(spif->spi_base, DEEP_POWER_DOWN);
+ spi_write(spif, DEEP_POWER_DOWN);
spif->cs(1);
}
void spif_wakeup(struct spi_flash_if *spif) {
spif->cs(0);
- spi_xfer(spif->spi_base, DEEP_POWER_DOWN_RELEASE);
+ spi_write(spif, DEEP_POWER_DOWN_RELEASE);
spif->cs(1);
}
+
diff --git a/controller/fw/src/spi_flash.h b/controller/fw/src/spi_flash.h
index e647c6a..2be8933 100644
--- a/controller/fw/src/spi_flash.h
+++ b/controller/fw/src/spi_flash.h
@@ -4,6 +4,8 @@
#include <stdbool.h>
#include <unistd.h>
+#include <stm32f407xx.h>
+
struct spi_mem_id {
size_t size;
uint8_t mfg_id;
@@ -12,12 +14,12 @@ struct spi_mem_id {
struct spi_flash_if {
struct spi_mem_id id;
- uint32_t spi_base;
+ volatile SPI_TypeDef *spi;
size_t page_size;
void (*cs)(bool val);
};
-void spif_init(struct spi_flash_if *spif, size_t page_size, uint32_t spi_base, void (*cs)(bool val));
+void spif_init(struct spi_flash_if *spif, size_t page_size, SPI_TypeDef *spi, void (*cs)(bool val));
void spif_write(struct spi_flash_if *spif, size_t addr, size_t len, const char* data);
void spif_read(struct spi_flash_if *spif, size_t addr, size_t len, char* data);
diff --git a/controller/fw/src/sr_global.h b/controller/fw/src/sr_global.h
index abbad93..ac77359 100644
--- a/controller/fw/src/sr_global.h
+++ b/controller/fw/src/sr_global.h
@@ -1,9 +1,19 @@
#ifndef __SR_GLOBAL_H__
#define __SR_GLOBAL_H__
+#include <stdint.h>
+
#define UNUSED(x) ((void) x)
#define ARRAY_LENGTH(x) (sizeof(x) / sizeof(x[0]))
+#define unused_a __attribute__((unused))
+
static inline uint16_t htole(uint16_t val) { return val; }
+void __libc_init_array(void);
+
+static inline void panic(void) {
+ asm volatile ("bkpt");
+}
+
#endif /* __SR_GLOBAL_H__ */
diff --git a/controller/fw/src/startup_stm32f407xx.s b/controller/fw/src/startup_stm32f407xx.s
new file mode 100644
index 0000000..aeeeb22
--- /dev/null
+++ b/controller/fw/src/startup_stm32f407xx.s
@@ -0,0 +1,521 @@
+/**
+ ******************************************************************************
+ * @file startup_stm32f407xx.s
+ * @author MCD Application Team
+ * @brief STM32F407xx Devices vector table for GCC based toolchains.
+ * This module performs:
+ * - Set the initial SP
+ * - Set the initial PC == Reset_Handler,
+ * - Set the vector table entries with the exceptions ISR address
+ * - Branches to main in the C library (which eventually
+ * calls main()).
+ * After Reset the Cortex-M4 processor is in Thread mode,
+ * priority is Privileged, and the Stack is set to Main.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT 2017 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+ .syntax unified
+ .cpu cortex-m4
+ .fpu softvfp
+ .thumb
+
+.global g_pfnVectors
+.global Default_Handler
+
+/* start address for the initialization values of the .data section.
+defined in linker script */
+.word _sidata
+/* start address for the .data section. defined in linker script */
+.word _sdata
+/* end address for the .data section. defined in linker script */
+.word _edata
+/* start address for the .bss section. defined in linker script */
+.word _sbss
+/* end address for the .bss section. defined in linker script */
+.word _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief This is the code that gets called when the processor first
+ * starts execution following a reset event. Only the absolutely
+ * necessary set is performed, after which the application
+ * supplied main() routine is called.
+ * @param None
+ * @retval : None
+*/
+
+ .section .text.Reset_Handler
+ .weak Reset_Handler
+ .type Reset_Handler, %function
+Reset_Handler:
+ ldr sp, =_estack /* set stack pointer */
+
+/* Copy the data segment initializers from flash to SRAM */
+ movs r1, #0
+ b LoopCopyDataInit
+
+CopyDataInit:
+ ldr r3, =_sidata
+ ldr r3, [r3, r1]
+ str r3, [r0, r1]
+ adds r1, r1, #4
+
+LoopCopyDataInit:
+ ldr r0, =_sdata
+ ldr r3, =_edata
+ adds r2, r0, r1
+ cmp r2, r3
+ bcc CopyDataInit
+ ldr r2, =_sbss
+ b LoopFillZerobss
+/* Zero fill the bss segment. */
+FillZerobss:
+ movs r3, #0
+ str r3, [r2], #4
+
+LoopFillZerobss:
+ ldr r3, = _ebss
+ cmp r2, r3
+ bcc FillZerobss
+
+/* Call the clock system intitialization function.*/
+ bl SystemInit
+/* Call static constructors */
+ bl __libc_init_array
+/* Call the application's entry point.*/
+ bl main
+ bx lr
+.size Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief This is the code that gets called when the processor receives an
+ * unexpected interrupt. This simply enters an infinite loop, preserving
+ * the system state for examination by a debugger.
+ * @param None
+ * @retval None
+*/
+ .section .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+ b Infinite_Loop
+ .size Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M3. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+*
+*******************************************************************************/
+ .section .isr_vector,"a",%progbits
+ .type g_pfnVectors, %object
+ .size g_pfnVectors, .-g_pfnVectors
+
+
+g_pfnVectors:
+ .word _estack
+ .word Reset_Handler
+ .word NMI_Handler
+ .word HardFault_Handler
+ .word MemManage_Handler
+ .word BusFault_Handler
+ .word UsageFault_Handler
+ .word 0
+ .word 0
+ .word 0
+ .word 0
+ .word SVC_Handler
+ .word DebugMon_Handler
+ .word 0
+ .word PendSV_Handler
+ .word SysTick_Handler
+
+ /* External Interrupts */
+ .word WWDG_IRQHandler /* Window WatchDog */
+ .word PVD_IRQHandler /* PVD through EXTI Line detection */
+ .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
+ .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
+ .word FLASH_IRQHandler /* FLASH */
+ .word RCC_IRQHandler /* RCC */
+ .word EXTI0_IRQHandler /* EXTI Line0 */
+ .word EXTI1_IRQHandler /* EXTI Line1 */
+ .word EXTI2_IRQHandler /* EXTI Line2 */
+ .word EXTI3_IRQHandler /* EXTI Line3 */
+ .word EXTI4_IRQHandler /* EXTI Line4 */
+ .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
+ .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
+ .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
+ .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
+ .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
+ .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
+ .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
+ .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
+ .word CAN1_TX_IRQHandler /* CAN1 TX */
+ .word CAN1_RX0_IRQHandler /* CAN1 RX0 */
+ .word CAN1_RX1_IRQHandler /* CAN1 RX1 */
+ .word CAN1_SCE_IRQHandler /* CAN1 SCE */
+ .word EXTI9_5_IRQHandler /* External Line[9:5]s */
+ .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
+ .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
+ .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
+ .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
+ .word TIM2_IRQHandler /* TIM2 */
+ .word TIM3_IRQHandler /* TIM3 */
+ .word TIM4_IRQHandler /* TIM4 */
+ .word I2C1_EV_IRQHandler /* I2C1 Event */
+ .word I2C1_ER_IRQHandler /* I2C1 Error */
+ .word I2C2_EV_IRQHandler /* I2C2 Event */
+ .word I2C2_ER_IRQHandler /* I2C2 Error */
+ .word SPI1_IRQHandler /* SPI1 */
+ .word SPI2_IRQHandler /* SPI2 */
+ .word USART1_IRQHandler /* USART1 */
+ .word USART2_IRQHandler /* USART2 */
+ .word USART3_IRQHandler /* USART3 */
+ .word EXTI15_10_IRQHandler /* External Line[15:10]s */
+ .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
+ .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
+ .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
+ .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
+ .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
+ .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
+ .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
+ .word FSMC_IRQHandler /* FSMC */
+ .word SDIO_IRQHandler /* SDIO */
+ .word TIM5_IRQHandler /* TIM5 */
+ .word SPI3_IRQHandler /* SPI3 */
+ .word UART4_IRQHandler /* UART4 */
+ .word UART5_IRQHandler /* UART5 */
+ .word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
+ .word TIM7_IRQHandler /* TIM7 */
+ .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
+ .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
+ .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
+ .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
+ .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
+ .word ETH_IRQHandler /* Ethernet */
+ .word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */
+ .word CAN2_TX_IRQHandler /* CAN2 TX */
+ .word CAN2_RX0_IRQHandler /* CAN2 RX0 */
+ .word CAN2_RX1_IRQHandler /* CAN2 RX1 */
+ .word CAN2_SCE_IRQHandler /* CAN2 SCE */
+ .word OTG_FS_IRQHandler /* USB OTG FS */
+ .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
+ .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
+ .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
+ .word USART6_IRQHandler /* USART6 */
+ .word I2C3_EV_IRQHandler /* I2C3 event */
+ .word I2C3_ER_IRQHandler /* I2C3 error */
+ .word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
+ .word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
+ .word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
+ .word OTG_HS_IRQHandler /* USB OTG HS */
+ .word DCMI_IRQHandler /* DCMI */
+ .word 0 /* CRYP crypto */
+ .word HASH_RNG_IRQHandler /* Hash and Rng */
+ .word FPU_IRQHandler /* FPU */
+
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
+* this definition.
+*
+*******************************************************************************/
+ .weak NMI_Handler
+ .thumb_set NMI_Handler,Default_Handler
+
+ .weak HardFault_Handler
+ .thumb_set HardFault_Handler,Default_Handler
+
+ .weak MemManage_Handler
+ .thumb_set MemManage_Handler,Default_Handler
+
+ .weak BusFault_Handler
+ .thumb_set BusFault_Handler,Default_Handler
+
+ .weak UsageFault_Handler
+ .thumb_set UsageFault_Handler,Default_Handler
+
+ .weak SVC_Handler
+ .thumb_set SVC_Handler,Default_Handler
+
+ .weak DebugMon_Handler
+ .thumb_set DebugMon_Handler,Default_Handler
+
+ .weak PendSV_Handler
+ .thumb_set PendSV_Handler,Default_Handler
+
+ .weak SysTick_Handler
+ .thumb_set SysTick_Handler,Default_Handler
+
+ .weak WWDG_IRQHandler
+ .thumb_set WWDG_IRQHandler,Default_Handler
+
+ .weak PVD_IRQHandler
+ .thumb_set PVD_IRQHandler,Default_Handler
+
+ .weak TAMP_STAMP_IRQHandler
+ .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+
+ .weak RTC_WKUP_IRQHandler
+ .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+
+ .weak FLASH_IRQHandler
+ .thumb_set FLASH_IRQHandler,Default_Handler
+
+ .weak RCC_IRQHandler
+ .thumb_set RCC_IRQHandler,Default_Handler
+
+ .weak EXTI0_IRQHandler
+ .thumb_set EXTI0_IRQHandler,Default_Handler
+
+ .weak EXTI1_IRQHandler
+ .thumb_set EXTI1_IRQHandler,Default_Handler
+
+ .weak EXTI2_IRQHandler
+ .thumb_set EXTI2_IRQHandler,Default_Handler
+
+ .weak EXTI3_IRQHandler
+ .thumb_set EXTI3_IRQHandler,Default_Handler
+
+ .weak EXTI4_IRQHandler
+ .thumb_set EXTI4_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream0_IRQHandler
+ .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream1_IRQHandler
+ .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream2_IRQHandler
+ .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream3_IRQHandler
+ .thumb_set DMA1_Stream3_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream4_IRQHandler
+ .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream5_IRQHandler
+ .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream6_IRQHandler
+ .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+
+ .weak ADC_IRQHandler
+ .thumb_set ADC_IRQHandler,Default_Handler
+
+ .weak CAN1_TX_IRQHandler
+ .thumb_set CAN1_TX_IRQHandler,Default_Handler
+
+ .weak CAN1_RX0_IRQHandler
+ .thumb_set CAN1_RX0_IRQHandler,Default_Handler
+
+ .weak CAN1_RX1_IRQHandler
+ .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+
+ .weak CAN1_SCE_IRQHandler
+ .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+
+ .weak EXTI9_5_IRQHandler
+ .thumb_set EXTI9_5_IRQHandler,Default_Handler
+
+ .weak TIM1_BRK_TIM9_IRQHandler
+ .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
+
+ .weak TIM1_UP_TIM10_IRQHandler
+ .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
+
+ .weak TIM1_TRG_COM_TIM11_IRQHandler
+ .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
+
+ .weak TIM1_CC_IRQHandler
+ .thumb_set TIM1_CC_IRQHandler,Default_Handler
+
+ .weak TIM2_IRQHandler
+ .thumb_set TIM2_IRQHandler,Default_Handler
+
+ .weak TIM3_IRQHandler
+ .thumb_set TIM3_IRQHandler,Default_Handler
+
+ .weak TIM4_IRQHandler
+ .thumb_set TIM4_IRQHandler,Default_Handler
+
+ .weak I2C1_EV_IRQHandler
+ .thumb_set I2C1_EV_IRQHandler,Default_Handler
+
+ .weak I2C1_ER_IRQHandler
+ .thumb_set I2C1_ER_IRQHandler,Default_Handler
+
+ .weak I2C2_EV_IRQHandler
+ .thumb_set I2C2_EV_IRQHandler,Default_Handler
+
+ .weak I2C2_ER_IRQHandler
+ .thumb_set I2C2_ER_IRQHandler,Default_Handler
+
+ .weak SPI1_IRQHandler
+ .thumb_set SPI1_IRQHandler,Default_Handler
+
+ .weak SPI2_IRQHandler
+ .thumb_set SPI2_IRQHandler,Default_Handler
+
+ .weak USART1_IRQHandler
+ .thumb_set USART1_IRQHandler,Default_Handler
+
+ .weak USART2_IRQHandler
+ .thumb_set USART2_IRQHandler,Default_Handler
+
+ .weak USART3_IRQHandler
+ .thumb_set USART3_IRQHandler,Default_Handler
+
+ .weak EXTI15_10_IRQHandler
+ .thumb_set EXTI15_10_IRQHandler,Default_Handler
+
+ .weak RTC_Alarm_IRQHandler
+ .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+
+ .weak OTG_FS_WKUP_IRQHandler
+ .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
+
+ .weak TIM8_BRK_TIM12_IRQHandler
+ .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+
+ .weak TIM8_UP_TIM13_IRQHandler
+ .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+
+ .weak TIM8_TRG_COM_TIM14_IRQHandler
+ .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+
+ .weak TIM8_CC_IRQHandler
+ .thumb_set TIM8_CC_IRQHandler,Default_Handler
+
+ .weak DMA1_Stream7_IRQHandler
+ .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+
+ .weak FSMC_IRQHandler
+ .thumb_set FSMC_IRQHandler,Default_Handler
+
+ .weak SDIO_IRQHandler
+ .thumb_set SDIO_IRQHandler,Default_Handler
+
+ .weak TIM5_IRQHandler
+ .thumb_set TIM5_IRQHandler,Default_Handler
+
+ .weak SPI3_IRQHandler
+ .thumb_set SPI3_IRQHandler,Default_Handler
+
+ .weak UART4_IRQHandler
+ .thumb_set UART4_IRQHandler,Default_Handler
+
+ .weak UART5_IRQHandler
+ .thumb_set UART5_IRQHandler,Default_Handler
+
+ .weak TIM6_DAC_IRQHandler
+ .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+
+ .weak TIM7_IRQHandler
+ .thumb_set TIM7_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream0_IRQHandler
+ .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream1_IRQHandler
+ .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream2_IRQHandler
+ .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream3_IRQHandler
+ .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream4_IRQHandler
+ .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+
+ .weak ETH_IRQHandler
+ .thumb_set ETH_IRQHandler,Default_Handler
+
+ .weak ETH_WKUP_IRQHandler
+ .thumb_set ETH_WKUP_IRQHandler,Default_Handler
+
+ .weak CAN2_TX_IRQHandler
+ .thumb_set CAN2_TX_IRQHandler,Default_Handler
+
+ .weak CAN2_RX0_IRQHandler
+ .thumb_set CAN2_RX0_IRQHandler,Default_Handler
+
+ .weak CAN2_RX1_IRQHandler
+ .thumb_set CAN2_RX1_IRQHandler,Default_Handler
+
+ .weak CAN2_SCE_IRQHandler
+ .thumb_set CAN2_SCE_IRQHandler,Default_Handler
+
+ .weak OTG_FS_IRQHandler
+ .thumb_set OTG_FS_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream5_IRQHandler
+ .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream6_IRQHandler
+ .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+
+ .weak DMA2_Stream7_IRQHandler
+ .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+
+ .weak USART6_IRQHandler
+ .thumb_set USART6_IRQHandler,Default_Handler
+
+ .weak I2C3_EV_IRQHandler
+ .thumb_set I2C3_EV_IRQHandler,Default_Handler
+
+ .weak I2C3_ER_IRQHandler
+ .thumb_set I2C3_ER_IRQHandler,Default_Handler
+
+ .weak OTG_HS_EP1_OUT_IRQHandler
+ .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+
+ .weak OTG_HS_EP1_IN_IRQHandler
+ .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+
+ .weak OTG_HS_WKUP_IRQHandler
+ .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+
+ .weak OTG_HS_IRQHandler
+ .thumb_set OTG_HS_IRQHandler,Default_Handler
+
+ .weak DCMI_IRQHandler
+ .thumb_set DCMI_IRQHandler,Default_Handler
+
+ .weak HASH_RNG_IRQHandler
+ .thumb_set HASH_RNG_IRQHandler,Default_Handler
+
+ .weak FPU_IRQHandler
+ .thumb_set FPU_IRQHandler,Default_Handler
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/controller/fw/src/stm32f4_isr.h b/controller/fw/src/stm32f4_isr.h
new file mode 100644
index 0000000..bc16421
--- /dev/null
+++ b/controller/fw/src/stm32f4_isr.h
@@ -0,0 +1,98 @@
+
+#ifndef __STM32F4_ISR_H__
+#define __STM32F4_ISR_H__
+
+void Reset_Handler(void);
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void SVC_Handler(void);
+void DebugMon_Handler(void);
+void PendSV_Handler(void);
+void SysTick_Handler(void);
+
+void WWDG_IRQHandler(void);
+void PVD_IRQHandler(void);
+void TAMP_STAMP_IRQHandler(void);
+void RTC_WKUP_IRQHandler(void);
+void FLASH_IRQHandler(void);
+void RCC_IRQHandler(void);
+void EXTI0_IRQHandler(void);
+void EXTI1_IRQHandler(void);
+void EXTI2_IRQHandler(void);
+void EXTI3_IRQHandler(void);
+void EXTI4_IRQHandler(void);
+void DMA1_Stream0_IRQHandler(void);
+void DMA1_Stream1_IRQHandler(void);
+void DMA1_Stream2_IRQHandler(void);
+void DMA1_Stream3_IRQHandler(void);
+void DMA1_Stream4_IRQHandler(void);
+void DMA1_Stream5_IRQHandler(void);
+void DMA1_Stream6_IRQHandler(void);
+void ADC_IRQHandler(void);
+void CAN1_TX_IRQHandler(void);
+void CAN1_RX0_IRQHandler(void);
+void CAN1_RX1_IRQHandler(void);
+void CAN1_SCE_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
+void TIM1_BRK_TIM9_IRQHandler(void);
+void TIM1_UP_TIM10_IRQHandler(void);
+void TIM1_TRG_COM_TIM11_IRQHandler(void);
+void TIM1_CC_IRQHandler(void);
+void TIM2_IRQHandler(void);
+void TIM3_IRQHandler(void);
+void TIM4_IRQHandler(void);
+void I2C1_EV_IRQHandler(void);
+void I2C1_ER_IRQHandler(void);
+void I2C2_EV_IRQHandler(void);
+void I2C2_ER_IRQHandler(void);
+void SPI1_IRQHandler(void);
+void SPI2_IRQHandler(void);
+void USART1_IRQHandler(void);
+void USART2_IRQHandler(void);
+void USART3_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
+void RTC_Alarm_IRQHandler(void);
+void OTG_FS_WKUP_IRQHandler(void);
+void TIM8_BRK_TIM12_IRQHandler(void);
+void TIM8_UP_TIM13_IRQHandler(void);
+void TIM8_TRG_COM_TIM14_IRQHandler(void);
+void TIM8_CC_IRQHandler(void);
+void DMA1_Stream7_IRQHandler(void);
+void FSMC_IRQHandler(void);
+void SDIO_IRQHandler(void);
+void TIM5_IRQHandler(void);
+void SPI3_IRQHandler(void);
+void UART4_IRQHandler(void);
+void UART5_IRQHandler(void);
+void TIM6_DAC_IRQHandler(void);
+void TIM7_IRQHandler(void);
+void DMA2_Stream0_IRQHandler(void);
+void DMA2_Stream1_IRQHandler(void);
+void DMA2_Stream2_IRQHandler(void);
+void DMA2_Stream3_IRQHandler(void);
+void DMA2_Stream4_IRQHandler(void);
+void ETH_IRQHandler(void);
+void ETH_WKUP_IRQHandler(void);
+void CAN2_TX_IRQHandler(void);
+void CAN2_RX0_IRQHandler(void);
+void CAN2_RX1_IRQHandler(void);
+void CAN2_SCE_IRQHandler(void);
+void OTG_FS_IRQHandler(void);
+void DMA2_Stream5_IRQHandler(void);
+void DMA2_Stream6_IRQHandler(void);
+void DMA2_Stream7_IRQHandler(void);
+void USART6_IRQHandler(void);
+void I2C3_EV_IRQHandler(void);
+void I2C3_ER_IRQHandler(void);
+void OTG_HS_EP1_OUT_IRQHandler(void);
+void OTG_HS_EP1_IN_IRQHandler(void);
+void OTG_HS_WKUP_IRQHandler(void);
+void OTG_HS_IRQHandler(void);
+void DCMI_IRQHandler(void);
+void HASH_RNG_IRQHandler(void);
+void FPU_IRQHandler(void);
+
+#endif /* __STM32F4_ISR_H__ */
diff --git a/controller/fw/src/system_stm32f4xx.c b/controller/fw/src/system_stm32f4xx.c
new file mode 100644
index 0000000..9037604
--- /dev/null
+++ b/controller/fw/src/system_stm32f4xx.c
@@ -0,0 +1,743 @@
+/**
+ ******************************************************************************
+ * @file system_stm32f4xx.c
+ * @author MCD Application Team
+ * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
+ *
+ * This file provides two functions and one global variable to be called from
+ * user application:
+ * - SystemInit(): This function is called at startup just after reset and
+ * before branch to main program. This call is made inside
+ * the "startup_stm32f4xx.s" file.
+ *
+ * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
+ * by the user application to setup the SysTick
+ * timer or configure other parameters.
+ *
+ * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
+ * be called whenever the core clock is changed
+ * during program execution.
+ *
+ *
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT 2017 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/** @addtogroup CMSIS
+ * @{
+ */
+
+/** @addtogroup stm32f4xx_system
+ * @{
+ */
+
+/** @addtogroup STM32F4xx_System_Private_Includes
+ * @{
+ */
+
+
+#include "stm32f4xx.h"
+
+#if !defined (HSE_VALUE)
+ #define HSE_VALUE ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined (HSI_VALUE)
+ #define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F4xx_System_Private_Defines
+ * @{
+ */
+
+/************************* Miscellaneous Configuration ************************/
+/*!< Uncomment the following line if you need to use external SRAM or SDRAM as data memory */
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
+ || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
+ || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
+/* #define DATA_IN_ExtSRAM */
+#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx ||\
+ STM32F412Zx || STM32F412Vx */
+
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
+ || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
+/* #define DATA_IN_ExtSDRAM */
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\
+ STM32F479xx */
+
+/*!< Uncomment the following line if you need to relocate your vector Table in
+ Internal SRAM. */
+/* #define VECT_TAB_SRAM */
+#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
+ This value must be a multiple of 0x200. */
+/******************************************************************************/
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F4xx_System_Private_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F4xx_System_Private_Variables
+ * @{
+ */
+ /* This variable is updated in three ways:
+ 1) by calling CMSIS function SystemCoreClockUpdate()
+ 2) by calling HAL API function HAL_RCC_GetHCLKFreq()
+ 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
+ Note: If you use this function to configure the system clock; then there
+ is no need to call the 2 first functions listed above, since SystemCoreClock
+ variable is updated automatically.
+ */
+uint32_t SystemCoreClock = 16000000;
+const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
+const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4};
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
+ * @{
+ */
+
+#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
+ static void SystemInit_ExtMemCtl(void);
+#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F4xx_System_Private_Functions
+ * @{
+ */
+
+/**
+ * @brief Setup the microcontroller system
+ * Initialize the FPU setting, vector table location and External memory
+ * configuration.
+ * @param None
+ * @retval None
+ */
+void SystemInit(void)
+{
+ /* FPU settings ------------------------------------------------------------*/
+ #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+ SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
+ #endif
+
+#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
+ SystemInit_ExtMemCtl();
+#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
+
+ /* Configure the Vector Table location add offset address ------------------*/
+#ifdef VECT_TAB_SRAM
+ SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
+#else
+ SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
+#endif
+}
+
+/**
+ * @brief Update SystemCoreClock variable according to Clock Register Values.
+ * The SystemCoreClock variable contains the core clock (HCLK), it can
+ * be used by the user application to setup the SysTick timer or configure
+ * other parameters.
+ *
+ * @note Each time the core clock (HCLK) changes, this function must be called
+ * to update SystemCoreClock variable value. Otherwise, any configuration
+ * based on this variable will be incorrect.
+ *
+ * @note - The system frequency computed by this function is not the real
+ * frequency in the chip. It is calculated based on the predefined
+ * constant and the selected clock source:
+ *
+ * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
+ *
+ * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
+ *
+ * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
+ * or HSI_VALUE(*) multiplied/divided by the PLL factors.
+ *
+ * (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value
+ * 16 MHz) but the real value may vary depending on the variations
+ * in voltage and temperature.
+ *
+ * (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value
+ * depends on the application requirements), user has to ensure that HSE_VALUE
+ * is same as the real frequency of the crystal used. Otherwise, this function
+ * may have wrong result.
+ *
+ * - The result of this function could be not correct when using fractional
+ * value for HSE crystal.
+ *
+ * @param None
+ * @retval None
+ */
+void SystemCoreClockUpdate(void)
+{
+ uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
+
+ /* Get SYSCLK source -------------------------------------------------------*/
+ tmp = RCC->CFGR & RCC_CFGR_SWS;
+
+ switch (tmp)
+ {
+ case 0x00: /* HSI used as system clock source */
+ SystemCoreClock = HSI_VALUE;
+ break;
+ case 0x04: /* HSE used as system clock source */
+ SystemCoreClock = HSE_VALUE;
+ break;
+ case 0x08: /* PLL used as system clock source */
+
+ /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
+ SYSCLK = PLL_VCO / PLL_P
+ */
+ pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
+ pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
+
+ if (pllsource != 0)
+ {
+ /* HSE used as PLL clock source */
+ pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
+ }
+ else
+ {
+ /* HSI used as PLL clock source */
+ pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
+ }
+
+ pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
+ SystemCoreClock = pllvco/pllp;
+ break;
+ default:
+ SystemCoreClock = HSI_VALUE;
+ break;
+ }
+ /* Compute HCLK frequency --------------------------------------------------*/
+ /* Get HCLK prescaler */
+ tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
+ /* HCLK frequency */
+ SystemCoreClock >>= tmp;
+}
+
+#if defined (DATA_IN_ExtSRAM) && defined (DATA_IN_ExtSDRAM)
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
+ || defined(STM32F469xx) || defined(STM32F479xx)
+/**
+ * @brief Setup the external memory controller.
+ * Called in startup_stm32f4xx.s before jump to main.
+ * This function configures the external memories (SRAM/SDRAM)
+ * This SRAM/SDRAM will be used as program data memory (including heap and stack).
+ * @param None
+ * @retval None
+ */
+void SystemInit_ExtMemCtl(void)
+{
+ __IO uint32_t tmp = 0x00;
+
+ register uint32_t tmpreg = 0, timeout = 0xFFFF;
+ register __IO uint32_t index;
+
+ /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface clock */
+ RCC->AHB1ENR |= 0x000001F8;
+
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
+
+ /* Connect PDx pins to FMC Alternate function */
+ GPIOD->AFR[0] = 0x00CCC0CC;
+ GPIOD->AFR[1] = 0xCCCCCCCC;
+ /* Configure PDx pins in Alternate function mode */
+ GPIOD->MODER = 0xAAAA0A8A;
+ /* Configure PDx pins speed to 100 MHz */
+ GPIOD->OSPEEDR = 0xFFFF0FCF;
+ /* Configure PDx pins Output type to push-pull */
+ GPIOD->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PDx pins */
+ GPIOD->PUPDR = 0x00000000;
+
+ /* Connect PEx pins to FMC Alternate function */
+ GPIOE->AFR[0] = 0xC00CC0CC;
+ GPIOE->AFR[1] = 0xCCCCCCCC;
+ /* Configure PEx pins in Alternate function mode */
+ GPIOE->MODER = 0xAAAA828A;
+ /* Configure PEx pins speed to 100 MHz */
+ GPIOE->OSPEEDR = 0xFFFFC3CF;
+ /* Configure PEx pins Output type to push-pull */
+ GPIOE->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PEx pins */
+ GPIOE->PUPDR = 0x00000000;
+
+ /* Connect PFx pins to FMC Alternate function */
+ GPIOF->AFR[0] = 0xCCCCCCCC;
+ GPIOF->AFR[1] = 0xCCCCCCCC;
+ /* Configure PFx pins in Alternate function mode */
+ GPIOF->MODER = 0xAA800AAA;
+ /* Configure PFx pins speed to 50 MHz */
+ GPIOF->OSPEEDR = 0xAA800AAA;
+ /* Configure PFx pins Output type to push-pull */
+ GPIOF->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PFx pins */
+ GPIOF->PUPDR = 0x00000000;
+
+ /* Connect PGx pins to FMC Alternate function */
+ GPIOG->AFR[0] = 0xCCCCCCCC;
+ GPIOG->AFR[1] = 0xCCCCCCCC;
+ /* Configure PGx pins in Alternate function mode */
+ GPIOG->MODER = 0xAAAAAAAA;
+ /* Configure PGx pins speed to 50 MHz */
+ GPIOG->OSPEEDR = 0xAAAAAAAA;
+ /* Configure PGx pins Output type to push-pull */
+ GPIOG->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PGx pins */
+ GPIOG->PUPDR = 0x00000000;
+
+ /* Connect PHx pins to FMC Alternate function */
+ GPIOH->AFR[0] = 0x00C0CC00;
+ GPIOH->AFR[1] = 0xCCCCCCCC;
+ /* Configure PHx pins in Alternate function mode */
+ GPIOH->MODER = 0xAAAA08A0;
+ /* Configure PHx pins speed to 50 MHz */
+ GPIOH->OSPEEDR = 0xAAAA08A0;
+ /* Configure PHx pins Output type to push-pull */
+ GPIOH->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PHx pins */
+ GPIOH->PUPDR = 0x00000000;
+
+ /* Connect PIx pins to FMC Alternate function */
+ GPIOI->AFR[0] = 0xCCCCCCCC;
+ GPIOI->AFR[1] = 0x00000CC0;
+ /* Configure PIx pins in Alternate function mode */
+ GPIOI->MODER = 0x0028AAAA;
+ /* Configure PIx pins speed to 50 MHz */
+ GPIOI->OSPEEDR = 0x0028AAAA;
+ /* Configure PIx pins Output type to push-pull */
+ GPIOI->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PIx pins */
+ GPIOI->PUPDR = 0x00000000;
+
+/*-- FMC Configuration -------------------------------------------------------*/
+ /* Enable the FMC interface clock */
+ RCC->AHB3ENR |= 0x00000001;
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
+
+ FMC_Bank5_6->SDCR[0] = 0x000019E4;
+ FMC_Bank5_6->SDTR[0] = 0x01115351;
+
+ /* SDRAM initialization sequence */
+ /* Clock enable command */
+ FMC_Bank5_6->SDCMR = 0x00000011;
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* Delay */
+ for (index = 0; index<1000; index++);
+
+ /* PALL command */
+ FMC_Bank5_6->SDCMR = 0x00000012;
+ timeout = 0xFFFF;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* Auto refresh command */
+ FMC_Bank5_6->SDCMR = 0x00000073;
+ timeout = 0xFFFF;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* MRD register program */
+ FMC_Bank5_6->SDCMR = 0x00046014;
+ timeout = 0xFFFF;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* Set refresh count */
+ tmpreg = FMC_Bank5_6->SDRTR;
+ FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
+
+ /* Disable write protection */
+ tmpreg = FMC_Bank5_6->SDCR[0];
+ FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
+
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
+ /* Configure and enable Bank1_SRAM2 */
+ FMC_Bank1->BTCR[2] = 0x00001011;
+ FMC_Bank1->BTCR[3] = 0x00000201;
+ FMC_Bank1E->BWTR[2] = 0x0fffffff;
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */
+#if defined(STM32F469xx) || defined(STM32F479xx)
+ /* Configure and enable Bank1_SRAM2 */
+ FMC_Bank1->BTCR[2] = 0x00001091;
+ FMC_Bank1->BTCR[3] = 0x00110212;
+ FMC_Bank1E->BWTR[2] = 0x0fffffff;
+#endif /* STM32F469xx || STM32F479xx */
+
+ (void)(tmp);
+}
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
+#elif defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
+/**
+ * @brief Setup the external memory controller.
+ * Called in startup_stm32f4xx.s before jump to main.
+ * This function configures the external memories (SRAM/SDRAM)
+ * This SRAM/SDRAM will be used as program data memory (including heap and stack).
+ * @param None
+ * @retval None
+ */
+void SystemInit_ExtMemCtl(void)
+{
+ __IO uint32_t tmp = 0x00;
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
+ || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
+#if defined (DATA_IN_ExtSDRAM)
+ register uint32_t tmpreg = 0, timeout = 0xFFFF;
+ register __IO uint32_t index;
+
+#if defined(STM32F446xx)
+ /* Enable GPIOA, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG interface
+ clock */
+ RCC->AHB1ENR |= 0x0000007D;
+#else
+ /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface
+ clock */
+ RCC->AHB1ENR |= 0x000001F8;
+#endif /* STM32F446xx */
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
+
+#if defined(STM32F446xx)
+ /* Connect PAx pins to FMC Alternate function */
+ GPIOA->AFR[0] |= 0xC0000000;
+ GPIOA->AFR[1] |= 0x00000000;
+ /* Configure PDx pins in Alternate function mode */
+ GPIOA->MODER |= 0x00008000;
+ /* Configure PDx pins speed to 50 MHz */
+ GPIOA->OSPEEDR |= 0x00008000;
+ /* Configure PDx pins Output type to push-pull */
+ GPIOA->OTYPER |= 0x00000000;
+ /* No pull-up, pull-down for PDx pins */
+ GPIOA->PUPDR |= 0x00000000;
+
+ /* Connect PCx pins to FMC Alternate function */
+ GPIOC->AFR[0] |= 0x00CC0000;
+ GPIOC->AFR[1] |= 0x00000000;
+ /* Configure PDx pins in Alternate function mode */
+ GPIOC->MODER |= 0x00000A00;
+ /* Configure PDx pins speed to 50 MHz */
+ GPIOC->OSPEEDR |= 0x00000A00;
+ /* Configure PDx pins Output type to push-pull */
+ GPIOC->OTYPER |= 0x00000000;
+ /* No pull-up, pull-down for PDx pins */
+ GPIOC->PUPDR |= 0x00000000;
+#endif /* STM32F446xx */
+
+ /* Connect PDx pins to FMC Alternate function */
+ GPIOD->AFR[0] = 0x000000CC;
+ GPIOD->AFR[1] = 0xCC000CCC;
+ /* Configure PDx pins in Alternate function mode */
+ GPIOD->MODER = 0xA02A000A;
+ /* Configure PDx pins speed to 50 MHz */
+ GPIOD->OSPEEDR = 0xA02A000A;
+ /* Configure PDx pins Output type to push-pull */
+ GPIOD->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PDx pins */
+ GPIOD->PUPDR = 0x00000000;
+
+ /* Connect PEx pins to FMC Alternate function */
+ GPIOE->AFR[0] = 0xC00000CC;
+ GPIOE->AFR[1] = 0xCCCCCCCC;
+ /* Configure PEx pins in Alternate function mode */
+ GPIOE->MODER = 0xAAAA800A;
+ /* Configure PEx pins speed to 50 MHz */
+ GPIOE->OSPEEDR = 0xAAAA800A;
+ /* Configure PEx pins Output type to push-pull */
+ GPIOE->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PEx pins */
+ GPIOE->PUPDR = 0x00000000;
+
+ /* Connect PFx pins to FMC Alternate function */
+ GPIOF->AFR[0] = 0xCCCCCCCC;
+ GPIOF->AFR[1] = 0xCCCCCCCC;
+ /* Configure PFx pins in Alternate function mode */
+ GPIOF->MODER = 0xAA800AAA;
+ /* Configure PFx pins speed to 50 MHz */
+ GPIOF->OSPEEDR = 0xAA800AAA;
+ /* Configure PFx pins Output type to push-pull */
+ GPIOF->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PFx pins */
+ GPIOF->PUPDR = 0x00000000;
+
+ /* Connect PGx pins to FMC Alternate function */
+ GPIOG->AFR[0] = 0xCCCCCCCC;
+ GPIOG->AFR[1] = 0xCCCCCCCC;
+ /* Configure PGx pins in Alternate function mode */
+ GPIOG->MODER = 0xAAAAAAAA;
+ /* Configure PGx pins speed to 50 MHz */
+ GPIOG->OSPEEDR = 0xAAAAAAAA;
+ /* Configure PGx pins Output type to push-pull */
+ GPIOG->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PGx pins */
+ GPIOG->PUPDR = 0x00000000;
+
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
+ || defined(STM32F469xx) || defined(STM32F479xx)
+ /* Connect PHx pins to FMC Alternate function */
+ GPIOH->AFR[0] = 0x00C0CC00;
+ GPIOH->AFR[1] = 0xCCCCCCCC;
+ /* Configure PHx pins in Alternate function mode */
+ GPIOH->MODER = 0xAAAA08A0;
+ /* Configure PHx pins speed to 50 MHz */
+ GPIOH->OSPEEDR = 0xAAAA08A0;
+ /* Configure PHx pins Output type to push-pull */
+ GPIOH->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PHx pins */
+ GPIOH->PUPDR = 0x00000000;
+
+ /* Connect PIx pins to FMC Alternate function */
+ GPIOI->AFR[0] = 0xCCCCCCCC;
+ GPIOI->AFR[1] = 0x00000CC0;
+ /* Configure PIx pins in Alternate function mode */
+ GPIOI->MODER = 0x0028AAAA;
+ /* Configure PIx pins speed to 50 MHz */
+ GPIOI->OSPEEDR = 0x0028AAAA;
+ /* Configure PIx pins Output type to push-pull */
+ GPIOI->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PIx pins */
+ GPIOI->PUPDR = 0x00000000;
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
+
+/*-- FMC Configuration -------------------------------------------------------*/
+ /* Enable the FMC interface clock */
+ RCC->AHB3ENR |= 0x00000001;
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
+
+ /* Configure and enable SDRAM bank1 */
+#if defined(STM32F446xx)
+ FMC_Bank5_6->SDCR[0] = 0x00001954;
+#else
+ FMC_Bank5_6->SDCR[0] = 0x000019E4;
+#endif /* STM32F446xx */
+ FMC_Bank5_6->SDTR[0] = 0x01115351;
+
+ /* SDRAM initialization sequence */
+ /* Clock enable command */
+ FMC_Bank5_6->SDCMR = 0x00000011;
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* Delay */
+ for (index = 0; index<1000; index++);
+
+ /* PALL command */
+ FMC_Bank5_6->SDCMR = 0x00000012;
+ timeout = 0xFFFF;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* Auto refresh command */
+#if defined(STM32F446xx)
+ FMC_Bank5_6->SDCMR = 0x000000F3;
+#else
+ FMC_Bank5_6->SDCMR = 0x00000073;
+#endif /* STM32F446xx */
+ timeout = 0xFFFF;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* MRD register program */
+#if defined(STM32F446xx)
+ FMC_Bank5_6->SDCMR = 0x00044014;
+#else
+ FMC_Bank5_6->SDCMR = 0x00046014;
+#endif /* STM32F446xx */
+ timeout = 0xFFFF;
+ while((tmpreg != 0) && (timeout-- > 0))
+ {
+ tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
+ }
+
+ /* Set refresh count */
+ tmpreg = FMC_Bank5_6->SDRTR;
+#if defined(STM32F446xx)
+ FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1));
+#else
+ FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
+#endif /* STM32F446xx */
+
+ /* Disable write protection */
+ tmpreg = FMC_Bank5_6->SDCR[0];
+ FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
+#endif /* DATA_IN_ExtSDRAM */
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
+
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
+ || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
+ || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
+
+#if defined(DATA_IN_ExtSRAM)
+/*-- GPIOs Configuration -----------------------------------------------------*/
+ /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
+ RCC->AHB1ENR |= 0x00000078;
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);
+
+ /* Connect PDx pins to FMC Alternate function */
+ GPIOD->AFR[0] = 0x00CCC0CC;
+ GPIOD->AFR[1] = 0xCCCCCCCC;
+ /* Configure PDx pins in Alternate function mode */
+ GPIOD->MODER = 0xAAAA0A8A;
+ /* Configure PDx pins speed to 100 MHz */
+ GPIOD->OSPEEDR = 0xFFFF0FCF;
+ /* Configure PDx pins Output type to push-pull */
+ GPIOD->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PDx pins */
+ GPIOD->PUPDR = 0x00000000;
+
+ /* Connect PEx pins to FMC Alternate function */
+ GPIOE->AFR[0] = 0xC00CC0CC;
+ GPIOE->AFR[1] = 0xCCCCCCCC;
+ /* Configure PEx pins in Alternate function mode */
+ GPIOE->MODER = 0xAAAA828A;
+ /* Configure PEx pins speed to 100 MHz */
+ GPIOE->OSPEEDR = 0xFFFFC3CF;
+ /* Configure PEx pins Output type to push-pull */
+ GPIOE->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PEx pins */
+ GPIOE->PUPDR = 0x00000000;
+
+ /* Connect PFx pins to FMC Alternate function */
+ GPIOF->AFR[0] = 0x00CCCCCC;
+ GPIOF->AFR[1] = 0xCCCC0000;
+ /* Configure PFx pins in Alternate function mode */
+ GPIOF->MODER = 0xAA000AAA;
+ /* Configure PFx pins speed to 100 MHz */
+ GPIOF->OSPEEDR = 0xFF000FFF;
+ /* Configure PFx pins Output type to push-pull */
+ GPIOF->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PFx pins */
+ GPIOF->PUPDR = 0x00000000;
+
+ /* Connect PGx pins to FMC Alternate function */
+ GPIOG->AFR[0] = 0x00CCCCCC;
+ GPIOG->AFR[1] = 0x000000C0;
+ /* Configure PGx pins in Alternate function mode */
+ GPIOG->MODER = 0x00085AAA;
+ /* Configure PGx pins speed to 100 MHz */
+ GPIOG->OSPEEDR = 0x000CAFFF;
+ /* Configure PGx pins Output type to push-pull */
+ GPIOG->OTYPER = 0x00000000;
+ /* No pull-up, pull-down for PGx pins */
+ GPIOG->PUPDR = 0x00000000;
+
+/*-- FMC/FSMC Configuration --------------------------------------------------*/
+ /* Enable the FMC/FSMC interface clock */
+ RCC->AHB3ENR |= 0x00000001;
+
+#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
+ /* Configure and enable Bank1_SRAM2 */
+ FMC_Bank1->BTCR[2] = 0x00001011;
+ FMC_Bank1->BTCR[3] = 0x00000201;
+ FMC_Bank1E->BWTR[2] = 0x0fffffff;
+#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */
+#if defined(STM32F469xx) || defined(STM32F479xx)
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
+ /* Configure and enable Bank1_SRAM2 */
+ FMC_Bank1->BTCR[2] = 0x00001091;
+ FMC_Bank1->BTCR[3] = 0x00110212;
+ FMC_Bank1E->BWTR[2] = 0x0fffffff;
+#endif /* STM32F469xx || STM32F479xx */
+#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)\
+ || defined(STM32F412Zx) || defined(STM32F412Vx)
+ /* Delay after an RCC peripheral clock enabling */
+ tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);
+ /* Configure and enable Bank1_SRAM2 */
+ FSMC_Bank1->BTCR[2] = 0x00001011;
+ FSMC_Bank1->BTCR[3] = 0x00000201;
+ FSMC_Bank1E->BWTR[2] = 0x0FFFFFFF;
+#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx */
+
+#endif /* DATA_IN_ExtSRAM */
+#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
+ STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx */
+ (void)(tmp);
+}
+#endif /* DATA_IN_ExtSRAM && DATA_IN_ExtSDRAM */
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/controller/fw/stm32f407.ld b/controller/fw/stm32f407.ld
index 764ed6b..f998b4a 100644
--- a/controller/fw/stm32f407.ld
+++ b/controller/fw/stm32f407.ld
@@ -1,34 +1,148 @@
-/*
- * This file is part of the libopencm3 project.
- *
- * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
- * Copyright (C) 2011 Stephen Caudle <scaudle@doceme.com>
- *
- * This library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with this library. If not, see <http://www.gnu.org/licenses/>.
- */
-
-/* Linker script for ST STM32F4DISCOVERY (STM32F407VG, 1024K flash, 128K RAM). */
-
-/* Define memory regions. */
MEMORY
{
- rom (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
- ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
- ccm (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
- bkp (rwx) : ORIGIN = 0x40024000, LENGTH = 4K
+ FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
+ RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+ CCMRAM (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+ BACKUP (rwx) : ORIGIN = 0x40024000, LENGTH = 4K
+}
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = 0x20020000; /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x200;; /* required amount of heap */
+_Min_Stack_Size = 0x400;; /* required amount of stack */
+
+/* Define output sections */
+SECTIONS
+{
+ /* The startup code goes first into FLASH */
+ .isr_vector :
+ {
+ . = ALIGN(4);
+ KEEP(*(.isr_vector)) /* Startup code */
+ . = ALIGN(4);
+ } >FLASH
+
+ /* The program code and other data goes into FLASH */
+ .text :
+ {
+ . = ALIGN(4);
+ *(.text) /* .text sections (code) */
+ *(.text*) /* .text* sections (code) */
+ *(.glue_7) /* glue arm to thumb code */
+ *(.glue_7t) /* glue thumb to arm code */
+ *(.eh_frame)
+
+ KEEP (*(.init))
+ KEEP (*(.fini))
+
+ . = ALIGN(4);
+ _etext = .; /* define a global symbols at end of code */
+ } >FLASH
+
+ /* Constant data goes into FLASH */
+ .rodata :
+ {
+ . = ALIGN(4);
+ *(.rodata) /* .rodata sections (constants, strings, etc.) */
+ *(.rodata*) /* .rodata* sections (constants, strings, etc.) */
+ . = ALIGN(4);
+ } >FLASH
+
+ .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+ .ARM : {
+ __exidx_start = .;
+ *(.ARM.exidx*)
+ __exidx_end = .;
+ } >FLASH
+
+ .preinit_array :
+ {
+ PROVIDE_HIDDEN (__preinit_array_start = .);
+ KEEP (*(.preinit_array*))
+ PROVIDE_HIDDEN (__preinit_array_end = .);
+ } >FLASH
+ .init_array :
+ {
+ PROVIDE_HIDDEN (__init_array_start = .);
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array*))
+ PROVIDE_HIDDEN (__init_array_end = .);
+ } >FLASH
+ .fini_array :
+ {
+ PROVIDE_HIDDEN (__fini_array_start = .);
+ KEEP (*(SORT(.fini_array.*)))
+ KEEP (*(.fini_array*))
+ PROVIDE_HIDDEN (__fini_array_end = .);
+ } >FLASH
+
+ /* used by the startup to initialize data */
+ _sidata = LOADADDR(.data);
+
+ /* Initialized data sections goes into RAM, load LMA copy after code */
+ .data :
+ {
+ . = ALIGN(4);
+ _sdata = .; /* create a global symbol at data start */
+ *(.data) /* .data sections */
+ *(.data*) /* .data* sections */
+
+ . = ALIGN(4);
+ _edata = .; /* define a global symbol at data end */
+ } >RAM AT> FLASH
+
+ _siccmram = LOADADDR(.ccmram);
+
+ /* CCM-RAM section
+ *
+ * IMPORTANT NOTE!
+ * If initialized variables will be placed in this section,
+ * the startup code needs to be modified to copy the init-values.
+ */
+ .ccmram :
+ {
+ . = ALIGN(4);
+ _sccmram = .; /* create a global symbol at ccmram start */
+ *(.ccmram)
+ *(.ccmram*)
+
+ . = ALIGN(4);
+ _eccmram = .; /* create a global symbol at ccmram end */
+ } >CCMRAM AT> FLASH
+
+
+ /* Uninitialized data section */
+ . = ALIGN(4);
+ .bss :
+ {
+ /* This is used by the startup in order to initialize the .bss secion */
+ _sbss = .; /* define a global symbol at bss start */
+ __bss_start__ = _sbss;
+ *(.bss)
+ *(.bss*)
+ *(COMMON)
+
+ . = ALIGN(4);
+ _ebss = .; /* define a global symbol at bss end */
+ __bss_end__ = _ebss;
+ } >RAM
+
+ /* User_heap_stack section, used to check that there is enough RAM left */
+ ._user_heap_stack :
+ {
+ . = ALIGN(4);
+ PROVIDE ( end = . );
+ PROVIDE ( _end = . );
+ . = . + _Min_Heap_Size;
+ . = . + _Min_Stack_Size;
+ . = ALIGN(4);
+ } >RAM
+
+ .ARM.attributes 0 : { *(.ARM.attributes) }
}
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
generated by cgit (git 2.34.1) at 2024-11-25 02:17:23 +0000