4 files changed, 292 insertions, 0 deletions
diff --git a/controller/fw/Makefile b/controller/fw/Makefile
new file mode 100644
index 0000000..8a6d0da
--- /dev/null
+++ b/controller/fw/Makefile
@@ -0,0 +1,93 @@
+
+SOURCES		:= main.c mspdebug_wrapper.c
+SOURCES		+= mspdebug/drivers/jtaglib.c
+
+BUILDDIR 	?= build
+BINARY 		:= safetyreset
+LDSCRIPT 	:= stm32f407.ld
+LIBNAME		:= opencm3_stm32f4
+
+OPENCM3_DIR 	?= libopencm3
+
+PREFIX		?= arm-none-eabi-
+
+
+CC		:= $(PREFIX)gcc
+CXX		:= $(PREFIX)g++
+LD		:= $(PREFIX)gcc
+AR		:= $(PREFIX)ar
+AS		:= $(PREFIX)as
+OBJCOPY		:= $(PREFIX)objcopy
+OBJDUMP		:= $(PREFIX)objdump
+GDB		:= $(PREFIX)gdb
+
+
+CFLAGS		+= -I$(OPENCM3_DIR)/include -Imspdebug/util -Imspdebug/drivers
+
+CFLAGS	+= -Os -std=c11 -g -DSTM32F4
+# Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here.
+CFLAGS	+= -nostdlib -ffreestanding
+CFLAGS	+= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g
+CFLAGS	+= -Wextra -Wshadow -Wimplicit-function-declaration -Wundef
+CFLAGS	+= -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
+CFLAGS	+= -fno-common -ffunction-sections -fdata-sections
+
+LDFLAGS		+= --static -nostartfiles
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g
+LDFLAGS		+= -Wl,--cre
+#LDFLAGS	+= -Wl,--gc-sections
+LDFLAGS		+= -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
+LDFLAGS		+= -L$(OPENCM3_DIR)/lib
+LDFLAGS		+= -l$(LIBNAME) $(shell $(CC) -print-libgcc-file-name)
+
+all: elf
+
+elf: $(BUILDDIR)/$(BINARY).elf
+bin: $(BUILDDIR)/$(BINARY).bin
+hex: $(BUILDDIR)/$(BINARY).hex
+srec: $(BUILDDIR)/$(BINARY).srec
+list: $(BUILDDIR)/$(BINARY).list
+
+images: $(BUILDDIR)/$(BINARY).images
+
+$(OPENCM3_DIR)/lib/lib$(LIBNAME).a:
+	echo "Warning, $@ not found, attempting to rebuild in $(OPENCM3_DIR)"
+	$(MAKE) -C $(OPENCM3_DIR)
+
+OBJS := $(addprefix $(BUILDDIR)/,$(SOURCES:%.c=%.o))
+
+# Define a helper macro for debugging make errors online
+# you can type "make print-OPENCM3_DIR" and it will show you
+# how that ended up being resolved by all of the included
+# makefiles.
+print-%:
+	@echo $*=$($*)
+
+$(BUILDDIR)/%.images: $(BUILDDIR)/%.bin $(BUILDDIR)/%.hex $(BUILDDIR)/%.srec $(BUILDDIR)/%.list $(BUILDDIR)/%.map
+
+$(BUILDDIR)/%.bin: $(BUILDDIR)/%.elf
+	$(OBJCOPY) -Obinary $< $@
+
+$(BUILDDIR)/%.hex: $(BUILDDIR)/%.elf
+	$(OBJCOPY) -Oihex $< $@
+
+$(BUILDDIR)/%.srec: $(BUILDDIR)/%.elf
+	$(OBJCOPY) -Osrec $< $@
+
+$(BUILDDIR)/%.list: $(BUILDDIR)/%.elf
+	$(OBJDUMP) -S $< > $@
+
+$(BUILDDIR)/%.elf: $(OBJS) $(LDSCRIPT) $(OPENCM3_DIR)/lib/lib$(LIBNAME).a
+	$(LD) $(OBJS) $(LDFLAGS) -o $@ -Wl,-Map=$*.map 
+
+$(BUILDDIR)/%.o: %.c
+	mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+clean:
+	-rm -r $(BUILDDIR)
+
+.PHONY: images clean elf bin hex srec list
+
+-include $(OBJS:.o=.d)
diff --git a/controller/fw/main.c b/controller/fw/main.c
new file mode 100644
index 0000000..7359c59
--- /dev/null
+++ b/controller/fw/main.c
@@ -0,0 +1,53 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2011 Damjan Marion <damjan.marion@gmail.com>
+ * Copyright (C) 2011 Mark Panajotovic <marko@electrontube.org>
+ *
+ * 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/>.
+ */
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+
+/* Set STM32 to 168 MHz. */
+static void clock_setup(void)
+{
+	rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
+	rcc_periph_clock_enable(RCC_GPIOA);
+}
+
+static void gpio_setup(void)
+{
+	gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO6 | GPIO7);
+}
+
+int main(void)
+{
+	int i;
+
+	clock_setup();
+	gpio_setup();
+
+	gpio_set(GPIOA, GPIO6);
+
+	while (1) {
+		gpio_toggle(GPIOA, GPIO6 | GPIO7);
+		for (i = 0; i < 6000000; i++)
+			__asm__("nop");
+	}
+
+	return 0;
+}
diff --git a/controller/fw/mspdebug_wrapper.c b/controller/fw/mspdebug_wrapper.c
new file mode 100644
index 0000000..3d8daf5
--- /dev/null
+++ b/controller/fw/mspdebug_wrapper.c
@@ -0,0 +1,112 @@
+
+#include "sr_global.h"
+
+#include "output.h"
+#include "jtaglib.h"
+
+int printc_err(const char *fmt, ...) {
+	UNUSED(fmt);
+	/* ignore */
+}
+
+
+static void sr_jtdev_power_on(struct jtdev *p) {
+	/* ignore */
+}
+
+static void sr_jtdev_connect(struct jtdev *p) {
+	/* ignore */
+}
+
+static enum sr_gpio_types {
+	SR_GPIO_TCK,
+	SR_GPIO_TMS,
+	SR_GPIO_TDI,
+	SR_GPIO_RST,
+	SR_GPIO_TST,
+	SR_GPIO_TDO,
+	SR_NUM_GPIOS
+};
+
+struct {
+	uint32_t port, uint16_t num,
+} gpios[SR_NUM_GPIOS] = {
+	[SR_GPIO_TCK] = {},
+	[SR_GPIO_TMS] = {},
+	[SR_GPIO_TDI] = {},
+	[SR_GPIO_RST] = {},
+	[SR_GPIO_TST] = {},
+	[SR_GPIO_TDO] = {},
+};
+
+static void sr_jtdev_tck(struct jtdev *p, int out) {
+}
+
+static void sr_jtdev_tms(struct jtdev *p, int out) {
+}
+
+static void sr_jtdev_tdi(struct jtdev *p, int out) {
+}
+
+static void sr_jtdev_rst(struct jtdev *p, int out) {
+}
+
+static void sr_jtdev_tst(struct jtdev *p, int out) {
+}
+
+static int sr_jtdev_tdo_get(struct jtdev *p) {
+}
+
+static void sr_jtdev_tclk(struct jtdev *p, int out) {
+}
+
+static int sr_jtdev_tclk_get(struct jtdev *p) {
+}
+
+static void sr_jtdev_tclk_strobe(struct jtdev *p, unsigned int count) {
+}
+
+static void sr_jtdev_led_green(struct jtdev *p, int out) {
+	UNUSED(p);
+	UNUSED(out);
+	/* ignore */
+}
+
+static void sr_jtdev_led_red(struct jtdev *p, int out) {
+	UNUSED(p);
+	UNUSED(out);
+	/* ignore */
+}
+
+
+static struct jtdev_func sr_jtdev_vtable = {
+	.jtdev_open = 0,
+	.jtdev_close = 0,
+
+	.jtdev_power_off = 0,
+	.jtdev_release = 0,
+
+	.jtdev_power_on = sr_jtdev_power_on,
+	.jtdev_connect = sr_jtdev_connect,
+
+	.jtdev_tck = sr_jtdev_tck,
+	.jtdev_tms = sr_jtdev_tms,
+	.jtdev_tdi = sr_jtdev_tdi,
+	.jtdev_rst = sr_jtdev_rst,
+	.jtdev_tst = sr_jtdev_tst,
+	.jtdev_tdo_get = sr_jtdev_tdo_get,
+
+	.jtdev_tclk = sr_jtdev_tclk,
+	.jtdev_tclk_get = sr_jtdev_tclk_get,
+	.jtdev_tclk_strobe = sr_jtdev_tclk_strobe,
+
+	.jtdev_led_green = sr_jtdev_led_green,
+	.jtdev_led_red = sr_jtdev_led_red,
+
+};
+
+static struct jtdev sr_jtdev = {
+	0,
+	.f = &sr_jtdev_vtable
+};
+
diff --git a/controller/fw/stm32f407.ld b/controller/fw/stm32f407.ld
new file mode 100644
index 0000000..764ed6b
--- /dev/null
+++ b/controller/fw/stm32f407.ld
@@ -0,0 +1,34 @@
+/*
+ * 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
+}
+
+/* Include the common ld script. */
+INCLUDE cortex-m-generic.ld
+