Merge branch 'develop' into 'master'

Develop



See merge request !11

.cproject

@@ -19,26 +19,26 @@
 					<folderInfo id="0.1571827594." name="/" resourcePath="">
 						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1042648408" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
 							<targetPlatform binaryParser="org.eclipse.cdt.core.ELF" id="org.eclipse.cdt.build.core.prefbase.toolchain.1042648408.1242504024" name=""/>
-							<builder buildPath="${workspace_loc:/engine_control/source}" cleanBuildTarget="APP=test BOARD=stm32f4-discovery DEBUG=y clean" id="org.eclipse.cdt.build.core.settings.default.builder.1575007882" incrementalBuildTarget="APP=test BOARD=stm32f4-discovery DEBUG=y all" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
+							<builder buildPath="${workspace_loc:/engine_control}" cleanBuildTarget="APP=test BOARD=stm32f4-discovery DEBUG=y clean" id="org.eclipse.cdt.build.core.settings.default.builder.1575007882" incrementalBuildTarget="APP=test BOARD=stm32f4-discovery DEBUG=y all" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.583579175" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.804428440" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1612628392" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="/usr/lib/arm-none-eabi/include"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/arm-none-eabi/include"/>
-									<listOptionValue builtIn="false" value="/usr/lib/gcc/arm-none-eabi/4.8/include/"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include"/>
 								</option>
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1218410972" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
 							</tool>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.1838895569" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1874409566" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="/usr/lib/arm-none-eabi/include"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/arm-none-eabi/include"/>
-									<listOptionValue builtIn="false" value="/usr/lib/gcc/arm-none-eabi/4.8/include/"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include"/>
 								</option>
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.258587679" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
 							</tool>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.433020597" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.7772132" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="/usr/lib/arm-none-eabi/include"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/arm-none-eabi/include"/>
-									<listOptionValue builtIn="false" value="/usr/lib/gcc/arm-none-eabi/4.8/include/"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include"/>
 								</option>
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.761231156" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
 							</tool>
@@ -70,22 +70,22 @@
 							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.232481989" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.562391475" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1491856129" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="/usr/lib/arm-none-eabi/include"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/arm-none-eabi/include"/>
-									<listOptionValue builtIn="false" value="/usr/lib/gcc/arm-none-eabi/4.8/include/"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include"/>
 								</option>
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.275129533" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
 							</tool>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.193886409" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.715382618" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="/usr/lib/arm-none-eabi/include"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/arm-none-eabi/include"/>
-									<listOptionValue builtIn="false" value="/usr/lib/gcc/arm-none-eabi/4.8/include/"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include"/>
 								</option>
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1629243941" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
 							</tool>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.1854601715" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1688578924" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="/usr/lib/arm-none-eabi/include"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/arm-none-eabi/include"/>
-									<listOptionValue builtIn="false" value="/usr/lib/gcc/arm-none-eabi/4.8/include/"/>
+									<listOptionValue builtIn="false" value="/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include"/>
 								</option>
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.683508981" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
 							</tool>

.gitignore

@@ -1,3 +1,3 @@
-release/
+release
-.settings/
+.settings
 

.gitlab-ci.yml

@@ -1,67 +1,31 @@
-
-
 variables:
-#  PRODUCT_NAME: "AG"
+  SW_MAJOR: "0"
-#  PRODUCT_VARIANT: "NA"
+  SW_MINOR: "1"
-#  PRODUCT_VARIANT: "EU"
+  APP: "engine_control"
-#  PRODUCT_VARIANT: "CN"
-#  PROJECT_VERSION: "10"
-#  SW_MAJOR: "1"
-#  SW_MINOR: "3"
-
 
 before_script:
   - "echo $CI_BUILD_ID"
   - "echo $CI_BUILD_REF_NAME"
 
 stages:
-  - check
   - build
-  - test
+  - deploy
-#  - deploy
 
 build_job:
   script:
-    - "make all BOARD=stm32f4-discovery DEBUG=y"
+    - "make all BOARD=stm32f4-discovery"
   stage: build
   except:
     - /^release/.*$/
 
-check_job:
+deploy_job:
+  stage: deploy
   script:
-    - "make check BOARD=stm32f4-discovery DEBUG=y"
+    - "source/scripts/release_number.py"
-  stage: check
+    - "make deploy BOARD=stm32f4-discovery"
-
+  artifacts:
-test_job:
+    paths:
-  script:
+      - ./*.xz
-    - "python source/scripts/get_history.py"
+  only:
-    - "make install BOARD=stm32f4-discovery DEBUG=y"
+    - tags
-  stage: test
-
-#int_release_job:
-#  script:
-#    - "cd top_agricola/core"
-#    - "./generate_ci_makefile.py"
-#    - "make -f Makefile_ci.gen all"
-#    - "cd ci"
-#    - "./deploy_release.py -t rc"
-#  stage: deploy
-#  only:
-#    - /^release/.*$/
-#  except:
-#    - tags
-
-#ext_release_job:
-#  script:
-#    - "cd top_agricola/core"
-#    - "./generate_ci_makefile.py"
-#    - "make -f Makefile_ci.gen all"
-#    - "cd ci"
-#    - "./deploy_release.py -t r"
-#  stage: deploy
-#  only:
-#    - /^release/174_AG.*$/
-#  except:
-#    - branches
-
 

Makefile

@@ -1,43 +1,43 @@
-##############################################################
-#
-##############################################################
-
 include config/make/rules.mk
 
+APP ?= engine_control
+
+# version numbering deployed by ci deploy script - no necessary for local build
+ifdef SW_MAJOR
+VERSION := -$(SW_MAJOR).$(SW_MINOR).$(CI_BUILD_ID)
+else
+VERSION :=
+endif
 MAINFILE = $(EXE_DIR)/$(APP)$(ELF_EXT)
 BINFILE =  $(EXE_DIR)/$(APP)$(BIN_EXT)
 HEXFILE =  $(EXE_DIR)/$(APP)$(HEX_EXT)
 SIZEFILE =  $(SIZE_DIR)/$(APP)$(SIZE_EXT)
+MAP_FILE = $(MAP_DIR)/$(APP)$(MAP_EXT)
+
+DEPLOY_PACKET = $(APP)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT).tar.xz
 
 INCLUDES += $(SRC_DIR)
 
-SUB_FOLDER :=
-CHECK_FOLDER :=
 SOURCES := $(wildcard $(SRC_DIR)/*.c)
-ASM_SOURCES := $(wildcard $(SRC_DIR)/*.s)
 
 OBJECTS = $(SOURCES:$(ROOT_DIR)/%.c=$(OBJ_DIR)/%.o)
-ASM_OBJECTS = $(ASMSOURCES:$(ROOT_DIR)/%.s=$(OBJ_DIR)/%.o)
 DEPS = $(SOURCES:$(ROOT_DIR)/%.c=$(OBJ_DIR)/%.d)
 
 #include subfolders
 include source/application/application.mk
 
 SOURCES += $(foreach folder, $(SUB_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
-CHECKSOURCES += $(foreach folder, $(CHECK_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
-ASMSOURCES += $(foreach folder, $(SUB_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.s))
 
-all: check $(MAINFILE)
+all: $(MAINFILE)
 
-check:
+deploy: all
-	$(CPPCHECK) $(CPPCHECK_FLAGS) $(CHECKSOURCES)
+	tar cvJf $(DEPLOY_PACKET) -C $(EXE_DIR) .
 
-
+$(MAINFILE): $(OBJECTS)
-$(MAINFILE): $(OBJECTS) $(ASM_OBJECTS)
 	@$(MKDIR) $(EXE_DIR)
 	@$(MKDIR) $(MAP_DIR)
 	@$(MKDIR) $(SIZE_DIR)
-	$(CC) $(CFLAGS) -L$(LIB_DIR) $(LDFLAGS) -o $(MAINFILE) $(OBJECTS) $(ASM_OBJECTS) $(addprefix -l, $(LIBS)) 
+	$(CXX) $(GEN_FLAGS) $(L_FLAGS) -L$(LIB_DIR) -Wl,-Map,"$(MAP_FILE)" -o "$(MAINFILE)" $(OBJECTS) $(addprefix -l, $(LIBS))
 	$(OBJCOPY) $(MAINFILE) -O binary $(BINFILE) 
 	$(OBJCOPY) $(MAINFILE) -O ihex $(HEXFILE)
 	$(NM) --size-sort --print-size $(MAINFILE) > $(SIZEFILE)
@@ -48,13 +48,8 @@ $(MAINFILE): $(OBJECTS) $(ASM_OBJECTS)
 $(OBJ_DIR)/%.o: $(ROOT_DIR)/%.c
 	@$(MKDIR) $(OBJ_DIR)
 	@$(foreach folder, $(SUB_FOLDER), $(shell mkdir -p $(OBJ_DIR)/$(folder)))
-	$(call makedep,$<,$@,$(subst .o,.d,$@))
+	$(call makedep,$<,$@,$(subst .o,.d,$@),$(GEN_FLAGS) $(C_FLAGS))
-	$(CC) $(CFLAGS) -c $< -o $@
+	$(CC) $(GEN_FLAGS) $(C_FLAGS) -c -o "$@" "$<"
-
-$(OBJ_DIR)/%.o: $(ROOT_DIR)/%.s
-	@$(MKDIR) $(OBJ_DIR)
-	@$(foreach folder, $(SUB_FOLDER), $(shell mkdir -p $(OBJ_DIR)/$(folder)))
-	$(CC) $(CFLAGS) -c $< -o $@
 
 clean:
 	$(foreach folder, $(SUB_FOLDER), $(shell rm -f $(OBJ_DIR)/$(folder)/*.o))
@@ -73,10 +68,6 @@ install: all
 	$(PRE_PROGRAM)
 	$(PROGRAM)
 	
-doc:
-	@$(MKDIR) $(DOC_DIR)
-	(cat $(DOXYFILE) ; echo "INPUT=$(DOC_SRC)" ; echo "OUTPUT_DIRECTORY=$(DOC_DIR)") | doxygen -
-
 ifneq "$(MAKECMDGOALS)" "clean"
 -include $(DEPS)
 else

config/linker/libs.ld

@@ -0,0 +1,8 @@
+
+/*
+ * Placeholder to list other libraries required by the application.
+ 
+GROUP(
+)
+
+ */

config/linker/mem.ld

@@ -0,0 +1,32 @@
+/*
+ * Memory Spaces Definitions.
+ *
+ * Need modifying for a specific board. 
+ *   FLASH.ORIGIN: starting address of flash
+ *   FLASH.LENGTH: length of flash
+ *   RAM.ORIGIN: starting address of RAM bank 0
+ *   RAM.LENGTH: length of RAM bank 0
+ *
+ * The values below can be addressed in further linker scripts
+ * using functions like 'ORIGIN(RAM)' or 'LENGTH(RAM)'.
+ */
+
+MEMORY
+{
+  RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
+  CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K
+  FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
+  FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
+  MEMORY_ARRAY (xrw)  : ORIGIN = 0x20002000, LENGTH = 32
+}
+
+/*
+ * For external ram use something like:
+
+   RAM (xrw) : ORIGIN = 0x64000000, LENGTH = 2048K
+
+ */

config/linker/sections.ld

@@ -0,0 +1,445 @@
+/*
+ * Default linker script for Cortex-M (it includes specifics for STM32F[34]xx).
+ * 
+ * To make use of the multi-region initialisations, define
+ * OS_INCLUDE_STARTUP_INIT_MULTIPLE_RAM_SECTIONS for the _startup.c file.
+ */
+
+/*
+ * The '__stack' definition is required by crt0, do not remove it.
+ */
+__stack = ORIGIN(RAM) + LENGTH(RAM);
+
+_estack = __stack; 	/* STM specific definition */
+
+/*
+ * Default stack sizes.
+ * These are used by the startup in order to allocate stacks 
+ * for the different modes.
+ */
+
+__Main_Stack_Size = 1024 ;
+
+PROVIDE ( _Main_Stack_Size = __Main_Stack_Size ) ;
+
+__Main_Stack_Limit = __stack  - __Main_Stack_Size ;
+
+/* "PROVIDE" allows to easily override these values from an 
+ * object file or the command line. */
+PROVIDE ( _Main_Stack_Limit = __Main_Stack_Limit ) ;
+
+/*
+ * There will be a link error if there is not this amount of 
+ * RAM free at the end. 
+ */
+_Minimum_Stack_Size = 256 ;
+
+/*
+ * Default heap definitions.
+ * The heap start immediately after the last statically allocated 
+ * .sbss/.noinit section, and extends up to the main stack limit.
+ */
+PROVIDE ( _Heap_Begin = _end_noinit ) ;
+PROVIDE ( _Heap_Limit = __stack - __Main_Stack_Size ) ;
+
+/* 
+ * The entry point is informative, for debuggers and simulators,
+ * since the Cortex-M vector points to it anyway.
+ */
+ENTRY(_start)
+
+
+/* Sections Definitions */
+
+SECTIONS
+{
+    /*
+     * For Cortex-M devices, the beginning of the startup code is stored in
+     * the .isr_vector section, which goes to FLASH. 
+     */
+    .isr_vector : ALIGN(4)
+    {
+        FILL(0xFF)
+        
+        __vectors_start = ABSOLUTE(.) ;
+        __vectors_start__ = ABSOLUTE(.) ; /* STM specific definition */
+        KEEP(*(.isr_vector))     	/* Interrupt vectors */
+        
+		KEEP(*(.cfmconfig))			/* Freescale configuration words */   
+		     
+        /* 
+         * This section is here for convenience, to store the
+         * startup code at the beginning of the flash area, hoping that
+         * this will increase the readability of the listing.
+         */
+        *(.after_vectors .after_vectors.*)	/* Startup code and ISR */
+
+    } >FLASH
+
+    .inits : ALIGN(4)
+    {
+        /* 
+         * Memory regions initialisation arrays.
+         *
+         * Thee are two kinds of arrays for each RAM region, one for 
+         * data and one for bss. Each is iterrated at startup and the   
+         * region initialisation is performed.
+         * 
+         * The data array includes:
+         * - from (LOADADDR())
+         * - region_begin (ADDR())
+         * - region_end (ADDR()+SIZEOF())
+         *
+         * The bss array includes:
+         * - region_begin (ADDR())
+         * - region_end (ADDR()+SIZEOF())
+         *
+         * WARNING: It is mandatory that the regions are word aligned, 
+         * since the initialisation code works only on words.
+         */
+         
+        __data_regions_array_start = .;
+        
+        LONG(LOADADDR(.data));
+        LONG(ADDR(.data));
+        LONG(ADDR(.data)+SIZEOF(.data));
+        
+        LONG(LOADADDR(.data_CCMRAM));
+        LONG(ADDR(.data_CCMRAM));
+        LONG(ADDR(.data_CCMRAM)+SIZEOF(.data_CCMRAM));
+        
+        __data_regions_array_end = .;
+        
+        __bss_regions_array_start = .;
+        
+        LONG(ADDR(.bss));
+        LONG(ADDR(.bss)+SIZEOF(.bss));
+        
+        LONG(ADDR(.bss_CCMRAM));
+        LONG(ADDR(.bss_CCMRAM)+SIZEOF(.bss_CCMRAM));
+        
+        __bss_regions_array_end = .;
+
+        /* End of memory regions initialisation arrays. */
+    
+        /*
+         * These are the old initialisation sections, intended to contain
+         * naked code, with the prologue/epilogue added by crti.o/crtn.o
+         * when linking with startup files. The standalone startup code
+         * currently does not run these, better use the init arrays below.
+         */
+		KEEP(*(.init))
+		KEEP(*(.fini))
+
+		. = ALIGN(4);
+
+		/*
+         * The preinit code, i.e. an array of pointers to initialisation 
+         * functions to be performed before constructors.
+         */
+		PROVIDE_HIDDEN (__preinit_array_start = .);
+        
+        /*
+         * Used to run the SystemInit() before anything else.
+         */
+		KEEP(*(.preinit_array_sysinit .preinit_array_sysinit.*))
+        
+        /* 
+         * Used for other platform inits.
+         */
+		KEEP(*(.preinit_array_platform .preinit_array_platform.*))
+        
+        /*
+         * The application inits. If you need to enforce some order in 
+         * execution, create new sections, as before.
+         */
+		KEEP(*(.preinit_array .preinit_array.*))
+
+		PROVIDE_HIDDEN (__preinit_array_end = .);
+
+		. = ALIGN(4);
+
+		/*
+         * The init code, i.e. an array of pointers to static constructors.
+         */
+		PROVIDE_HIDDEN (__init_array_start = .);
+		KEEP(*(SORT(.init_array.*)))
+		KEEP(*(.init_array))
+		PROVIDE_HIDDEN (__init_array_end = .);
+
+		. = ALIGN(4);
+
+		/*
+         * The fini code, i.e. an array of pointers to static destructors.
+         */
+		PROVIDE_HIDDEN (__fini_array_start = .);
+		KEEP(*(SORT(.fini_array.*)))
+		KEEP(*(.fini_array))
+		PROVIDE_HIDDEN (__fini_array_end = .);
+
+    } >FLASH
+
+    /*
+     * For some STRx devices, the beginning of the startup code
+     * is stored in the .flashtext section, which goes to FLASH.
+     */
+    .flashtext : ALIGN(4)
+    {
+        *(.flashtext .flashtext.*)	/* Startup code */
+    } >FLASH
+ 
+    
+    /*
+     * The program code is stored in the .text section, 
+     * which goes to FLASH.
+     */
+    .text : ALIGN(4)
+    {
+        *(.text .text.*)			/* all remaining code */
+ 
+ 		/* read-only data (constants) */
+        *(.rodata .rodata.* .constdata .constdata.*) 		
+
+        *(vtable)					/* C++ virtual tables */
+
+		KEEP(*(.eh_frame*))
+
+		/*
+		 * Stub sections generated by the linker, to glue together 
+		 * ARM and Thumb code. .glue_7 is used for ARM code calling 
+		 * Thumb code, and .glue_7t is used for Thumb code calling 
+		 * ARM code. Apparently always generated by the linker, for some
+		 * architectures, so better leave them here.
+		 */
+        *(.glue_7)
+        *(.glue_7t)
+
+    } >FLASH
+
+	/* ARM magic sections */
+	.ARM.extab : ALIGN(4)
+   	{
+       *(.ARM.extab* .gnu.linkonce.armextab.*)
+   	} > FLASH
+   	
+    . = ALIGN(4);
+   	__exidx_start = .;   	
+   	.ARM.exidx : ALIGN(4)
+   	{
+       *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+   	} > FLASH
+   	__exidx_end = .;
+   	
+    . = ALIGN(4);
+    _etext = .;
+    __etext = .;
+    
+    /* MEMORY_ARRAY */
+    /*
+    .ROarraySection :
+    {
+     	*(.ROarraySection .ROarraySection.*)                          
+    } >MEMORY_ARRAY
+    */
+
+	/*
+	 * The secondary initialised data section.
+	 */
+    .data_CCMRAM : ALIGN(4)
+    {
+       FILL(0xFF)
+       *(.data.CCMRAM .data.CCMRAM.*)
+       . = ALIGN(4) ;
+    } > CCMRAM AT>FLASH
+
+	/* 
+     * This address is used by the startup code to 
+     * initialise the .data section.
+     */
+    _sidata = LOADADDR(.data);
+
+    /*
+     * The initialised data section.
+     *
+     * The program executes knowing that the data is in the RAM
+     * but the loader puts the initial values in the FLASH (inidata).
+     * It is one task of the startup to copy the initial values from 
+     * FLASH to RAM.
+     */
+    .data : ALIGN(4)
+    {
+    	FILL(0xFF)
+        /* This is used by the startup code to initialise the .data section */
+        _sdata = . ;        	/* STM specific definition */
+        __data_start__ = . ;
+		*(.data_begin .data_begin.*)
+
+		*(.data .data.*)
+		
+		*(.data_end .data_end.*)
+	    . = ALIGN(4);
+
+	    /* This is used by the startup code to initialise the .data section */
+        _edata = . ;        	/* STM specific definition */
+        __data_end__ = . ;
+
+    } >RAM AT>FLASH
+    
+    /*
+     * The uninitialised data sections. NOLOAD is used to avoid
+     * the "section `.bss' type changed to PROGBITS" warning
+     */
+     
+    /* The secondary uninitialised data section. */
+	.bss_CCMRAM (NOLOAD) : ALIGN(4)
+	{
+		*(.bss.CCMRAM .bss.CCMRAM.*)
+	} > CCMRAM
+
+    /* The primary uninitialised data section. */
+    .bss (NOLOAD) : ALIGN(4)
+    {
+        __bss_start__ = .;     	/* standard newlib definition */
+        _sbss = .;              /* STM specific definition */
+        *(.bss_begin .bss_begin.*)
+
+        *(.bss .bss.*)
+        *(COMMON)
+        
+        *(.bss_end .bss_end.*)
+	    . = ALIGN(4);
+        __bss_end__ = .;        /* standard newlib definition */
+        _ebss = . ;             /* STM specific definition */
+    } >RAM
+
+    .noinit_CCMRAM (NOLOAD) : ALIGN(4)
+    {
+        *(.noinit.CCMRAM .noinit.CCMRAM.*)         
+    } > CCMRAM
+    
+    .noinit (NOLOAD) : ALIGN(4)
+    {
+        _noinit = .;
+        
+        *(.noinit .noinit.*) 
+        
+         . = ALIGN(4) ;
+        _end_noinit = .;   
+    } > RAM
+    
+    /* Mandatory to be word aligned, _sbrk assumes this */
+    PROVIDE ( end = _end_noinit ); /* was _ebss */
+    PROVIDE ( _end = _end_noinit );
+    PROVIDE ( __end = _end_noinit );
+    PROVIDE ( __end__ = _end_noinit );
+    
+    /*
+     * Used for validation only, do not allocate anything here!
+     *
+     * This is just to check that there is enough RAM left for the Main
+     * stack. It should generate an error if it's full.
+     */
+    ._check_stack : ALIGN(4)
+    {
+        . = . + _Minimum_Stack_Size ;
+    } >RAM
+    
+    /*
+     * The FLASH Bank1.
+     * The C or assembly source must explicitly place the code 
+     * or data there using the "section" attribute.
+     */
+    .b1text : ALIGN(4)
+    {
+        *(.b1text)                   /* remaining code */
+        *(.b1rodata)                 /* read-only data (constants) */
+        *(.b1rodata.*)
+    } >FLASHB1
+    
+    /*
+     * The EXTMEM.
+     * The C or assembly source must explicitly place the code or data there
+     * using the "section" attribute.
+     */
+
+    /* EXTMEM Bank0 */
+    .eb0text : ALIGN(4)
+    {
+        *(.eb0text)                   /* remaining code */
+        *(.eb0rodata)                 /* read-only data (constants) */
+        *(.eb0rodata.*)
+    } >EXTMEMB0
+    
+    /* EXTMEM Bank1 */
+    .eb1text : ALIGN(4)
+    {
+        *(.eb1text)                   /* remaining code */
+        *(.eb1rodata)                 /* read-only data (constants) */
+        *(.eb1rodata.*)
+    } >EXTMEMB1
+    
+    /* EXTMEM Bank2 */
+    .eb2text : ALIGN(4)
+    {
+        *(.eb2text)                   /* remaining code */
+        *(.eb2rodata)                 /* read-only data (constants) */
+        *(.eb2rodata.*)
+    } >EXTMEMB2
+    
+    /* EXTMEM Bank0 */
+    .eb3text : ALIGN(4)
+    {
+        *(.eb3text)                   /* remaining code */
+        *(.eb3rodata)                 /* read-only data (constants) */
+        *(.eb3rodata.*)
+    } >EXTMEMB3
+   
+
+    /* After that there are only debugging sections. */
+    
+    /* This can remove the debugging information from the standard libraries */    
+    /* 
+    DISCARD :
+    {
+     libc.a ( * )
+     libm.a ( * )
+     libgcc.a ( * )
+     }
+     */
+  
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /*
+     * DWARF debug sections.
+     * Symbols in the DWARF debugging sections are relative to the beginning
+     * of the section so we begin them at 0.  
+     */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }    
+}

config/linker/stm32_flash.ld

@@ -1,170 +0,0 @@
-/*
-*****************************************************************************
-**
-**  File        : stm32_flash.ld
-**
-**  Abstract    : Linker script for STM32F407VG Device with
-**                1024KByte FLASH, 192KByte RAM
-**
-**                Set heap size, stack size and stack location according
-**                to application requirements.
-**
-**                Set memory bank area and size if external memory is used.
-**
-**  Target      : STMicroelectronics STM32
-**
-**  Environment : Atollic TrueSTUDIO(R)
-**
-**  Distribution: The file is distributed “as is,” without any warranty
-**                of any kind.
-**
-**  (c)Copyright Atollic AB.
-**  You may use this file as-is or modify it according to the needs of your
-**  project. Distribution of this file (unmodified or modified) is not
-**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
-**  rights to distribute the assembled, compiled & linked contents of this
-**  file as part of an application binary file, provided that it is built
-**  using the Atollic TrueSTUDIO(R) toolchain.
-**
-*****************************************************************************
-*/
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/* Highest address of the user mode stack */
-_estack = 0x20020000;    /* end of 128K RAM on AHB bus*/
-
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0;      /* required amount of heap  */
-_Min_Stack_Size = 0x400; /* required amount of stack */
-
-/* Specify the memory areas */
-MEMORY
-{
-  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 1024K
-  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 192K
-  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
-}
-
-/* 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) */
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    *(.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
-
-
-   .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 (*(.fini_array*))
-    KEEP (*(SORT(.fini_array.*)))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-  /* used by the startup to initialize data */
-  _sidata = .;
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : AT ( _sidata )
-  {
-    . = 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
-
-  /* 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
-
-  /* MEMORY_bank1 section, code must be located here explicitly            */
-  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
-  .memory_b1_text :
-  {
-    *(.mb1text)        /* .mb1text sections (code) */
-    *(.mb1text*)       /* .mb1text* sections (code)  */
-    *(.mb1rodata)      /* read-only data (constants) */
-    *(.mb1rodata*)
-  } >MEMORY_B1
-
-  /* Remove information from the standard libraries */
-  /DISCARD/ :
-  {
-    libc.a ( * )
-    libm.a ( * )
-    libgcc.a ( * )
-  }
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}

config/make/rules.mk

@@ -12,18 +12,6 @@ LIB_DIR += $(SRC_DIR)/os/$(DBG_REL_DIR)
 OS_LIB = kosmos-$(ARCH)-$(BOARD)$(DBG_EXT)
 LIBS += $(OS_LIB)
 
-CFLAGS += \
-	-O$(OPTIM) \
-	$(addprefix -I, $(INCLUDES)) \
-	-Wall
-
-CPPCHECK_FLAGS += \
-	--template=gcc \
-	--error-exitcode=1 \
-	--enable=warning,performance,information,style \
-	--inline-suppr \
-	$(addprefix -I, $(INCLUDES))
-
 include $(ROOT_DIR)/config/make/tools.mk
 
 SRC_DIR = $(ROOT_DIR)/source
@@ -48,6 +36,7 @@ HEX_EXT = .hex
 LIB_EXT = .a
 SIZE_EXT = .size
 TEST_EXT =
+MAP_EXT = .map
 
 DOXYFILE=$(ROOT_DIR)/config/doxygen/Doxyfile
 
@@ -56,15 +45,6 @@ define makedep
            -MF $3  \
            -MP     \
            -MT $2  \
-           $(CFLAGS)      \
+           $4      \
-           $1
-endef
-
-define maketestdep
-	$(NATIVE_CC) -MM      \
-           -MF $3         \
-           -MP            \
-           -MT $2         \
-           $(TEST_CFLAGS) \
            $1
 endef

config/make/stm32f4xx.mk

@@ -6,53 +6,81 @@ endif
 ifeq ($(BOARD), stm32f4-discovery)
 CFLAGS += -DBOARD_STM32F4_DISCOVERY
 endif
-CROSS_COMPILE=arm-none-eabi-
+CROSS_COMPILE ?= arm-none-eabi-
+
+INCLUDES += source/system/stm32f4xx
+SUB_FOLDER += source/system/stm32f4xx
 
 INCLUDES += \
-	/usr/lib/arm-none-eabi/include \
+	/opt/gcc-arm-none-eabi-5_4-2016q2/arm-none-eabi/include \
-	/usr/lib/gcc/arm-none-eabi/4.8/include
+	/opt/gcc-arm-none-eabi-5_4-2016q2/lib/gcc/arm-none-eabi/5.4.1/include
+
+GEN_FLAGS += \
+	-mcpu=cortex-m4 \
+	-mthumb \
+	-mfloat-abi=hard \
+	-mfpu=fpv4-sp-d16 \
+	-O$(OPTIM) \
+	-fmessage-length=0 \
+	-fsigned-char \
+	-ffunction-sections \
+	-fdata-sections \
+	-ffreestanding \
+	-fno-move-loop-invariants \
+	-Werror \
+	-Wunused \
+	-Wuninitialized \
+	-Wall \
+	-Wextra \
+	-Wmissing-declarations \
+	-Wconversion \
+	-Wpointer-arith \
+	-Wpadded \
+	-Wshadow \
+	-Wlogical-op \
+	-Waggregate-return \
+	-Wfloat-equal
+
+C_FLAGS += \
+	-DDEBUG \
+	-DUSE_FULL_ASSERT \
+	-DTRACE \
+	-DOS_USE_TRACE_SEMIHOSTING_DEBUG \
+	-DSTM32F407xx \
+	-DUSE_HAL_DRIVER \
+	-DHSE_VALUE=8000000 \
+	$(addprefix -I, $(INCLUDES)) \
+	-std=gnu11 \
+	-Wmissing-prototypes \
+	-Wstrict-prototypes \
+	-Wbad-function-cast \
+	-Wno-bad-function-cast \
+	-Wno-conversion \
+	-Wno-sign-conversion \
+	-Wno-unused-parameter \
+	-Wno-sign-compare \
+	-Wno-missing-prototypes \
+	-Wno-missing-declarations
+
+L_FLAGS := \
+	-T mem.ld \
+	-T libs.ld \
+	-T sections.ld \
+	-nostartfiles \
+	-Xlinker --gc-sections \
+	-L"config/linker" \
+	--specs=nano.specs
+#	--specs=nosys.specs
 
 ifeq ($(DEBUG),y)
-OPTIM = 0
+OPTIM = g
-CFLAGS += -g
+GEN_FLAGS += -g3
 DBG_EXT = -dbg
 else
 OPTIM = s
-LDFLAGS += -s
 DBG_EXT =
 endif
 
-CFLAGS += \
-	-mthumb \
-	-T $(ROOT_DIR)/config/linker/stm32_flash.ld \
-	-D USE_STDPERIPH_DRIVER\
-	-D VECT_TAB_FLASH\
-	-D GCC_ARMCM4\
-	-D THUMB_INTERWORK\
-	-D PACK_STRUCT_END=__attribute\(\(packed\)\)\
-	-D ALIGN_STRUCT_END=__attribute\(\(aligned\(4\)\)\)\
-	-mcpu=cortex-m4 \
-	-mfpu=fpv4-sp-d16 \
-	-mfloat-abi=softfp \
-	-fdata-sections \
-	-ffunction-sections
-#	-D inline= -mthumb\
-
-CPPCHECK_FLAGS += \
-	-D USE_STDPERIPH_DRIVER\
-	-D VECT_TAB_FLASH\
-	-D GCC_ARMCM4\
-	-D THUMB_INTERWORK\
-	-D PACK_STRUCT_END=__attribute\(\(packed\)\)\
-	-D ALIGN_STRUCT_END=__attribute\(\(aligned\(4\)\)\)\
-	-D __thumb__ \
-	--check-config
-
-LDFLAGS=\
-	-Wl,--gc-sections \
-	-Xlinker -M > $(MAP_DIR)/$(APP).map
-	
-ASFLAGS=-mapcs-32 -g
 ARFLAGS=rcs
 
 OOCD_IMAGE=$(BINFILE)

source/application/application.mk

@@ -1,4 +1,4 @@
 CHECK_FOLDER += source/application
 SUB_FOLDER += source/application
-INCLUDES += source/application
+INCLUDES += source/application/include
 DOC_SRC += source/application

source/application/drive_ctrl.c

@@ -0,0 +1,125 @@
+/*
+ * drive_ctrl.c
+ *
+ *  Created on: Aug 10, 2016
+ *      Author: tkl
+ */
+
+#include <stdlib.h>
+
+#include "driver.h"
+#include "board_devices.h"
+#include "engines.h"
+
+#include "drive_ctrl.h"
+
+struct drive_ctrl {
+	struct engine_ctrl *left_forward;
+	struct engine_ctrl *left_backward;
+	struct engine_ctrl *right_forward;
+	struct engine_ctrl *right_backward;
+};
+
+struct drive_ctrl_object {
+	unsigned int current_speed;
+};
+
+static struct drive_ctrl drive_ctrl = {
+		.left_forward = &left_forward,
+		.left_backward = &left_backward,
+		.right_forward = &right_forward,
+		.right_backward = &right_backward,
+};
+
+static struct drive_ctrl_object drive_ctrl_object = {
+		.current_speed = 50, /* % */
+};
+
+int drive_ctrl_init(void)
+{
+	unsigned int duty = 0;
+
+	/* open enable pins */
+	drv_open(drive_ctrl.left_forward->enable);
+	drv_write(drive_ctrl.left_forward->enable, "0", 1);
+	drv_open(drive_ctrl.left_backward->enable);
+	drv_write(drive_ctrl.left_backward->enable, "0", 1);
+	drv_open(drive_ctrl.right_forward->enable);
+	drv_write(drive_ctrl.right_forward->enable, "0", 1);
+	drv_open(drive_ctrl.right_backward->enable);
+	drv_write(drive_ctrl.right_backward->enable, "0", 1);
+
+	/* open pwm's */
+	drv_open(drive_ctrl.left_backward->pwm);
+	drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	drv_open(drive_ctrl.left_forward->pwm);
+	drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	drv_open(drive_ctrl.right_backward->pwm);
+	drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	drv_open(drive_ctrl.right_forward->pwm);
+	drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+
+	/* enable enable pins */
+	drv_write(drive_ctrl.left_forward->enable, "1", 1);
+	drv_write(drive_ctrl.left_backward->enable, "1", 1);
+	drv_write(drive_ctrl.right_forward->enable, "1", 1);
+	drv_write(drive_ctrl.right_backward->enable, "1", 1);
+
+	return 0;
+}
+
+static unsigned int calc_speed_front(int speed_percent)
+{
+	unsigned int speed_front = 0;
+	if(speed_percent > 0) {
+		if(speed_percent > 100)
+			speed_front = 100;
+		else
+			speed_front = (unsigned int) speed_percent;
+	}
+	return speed_front;
+}
+
+static unsigned int calc_speed_back(int speed_percent)
+{
+	unsigned int speed_back = 0;
+	if(speed_percent < 0) {
+		if(speed_percent < -100)
+			speed_back = 100;
+		else
+			speed_back = (unsigned int) abs(speed_percent);
+	}
+	return speed_back;
+}
+
+int drive_ctrl_set_speed_left(int speed_percent)
+{
+	unsigned int front_speed = calc_speed_front(speed_percent);
+	unsigned int back_speed = calc_speed_back(speed_percent);
+	int ret = drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
+	ret |= drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+
+	return ret;
+}
+
+int drive_ctrl_set_speed_right(int speed_percent)
+{
+	unsigned int front_speed = calc_speed_front(speed_percent);
+	unsigned int back_speed = calc_speed_back(speed_percent);
+	int ret = drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
+	ret |= drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+
+	return ret;
+}
+
+int drive_ctrl_set_speed_value(int speed_percent)
+{
+	drive_ctrl_object.current_speed = speed_percent;
+
+	return 0;
+}
+
+int drive_ctrl_get_speed_value(void)
+{
+	return drive_ctrl_object.current_speed;
+}

source/application/include/drive_ctrl.h

@@ -0,0 +1,19 @@
+/*
+ * drive_ctrl.h
+ *
+ *  Created on: Aug 10, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_
+#define SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_
+
+int drive_ctrl_init(void);
+
+int drive_ctrl_set_speed_left(int speed_percent);
+int drive_ctrl_set_speed_right(int speed_percent);
+int drive_ctrl_set_speed_value(int speed_percent);
+int drive_ctrl_get_speed_value(void);
+
+
+#endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */

source/application/include/engines.h

@@ -0,0 +1,36 @@
+/*
+ * engines.h
+ *
+ *  Created on: Aug 10, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_APPLICATION_INCLUDE_ENGINES_H_
+#define SOURCE_APPLICATION_INCLUDE_ENGINES_H_
+
+struct engine_ctrl {
+	const struct driver *pwm;
+	const struct driver *enable;
+};
+
+static struct engine_ctrl right_forward = {
+		.pwm = &pwm_2,
+		.enable = &gpio_c0,
+};
+
+static struct engine_ctrl right_backward = {
+		.pwm = &pwm_1,
+		.enable = &gpio_c1,
+};
+
+static struct engine_ctrl left_forward = {
+		.pwm = &pwm_4,
+		.enable = &gpio_c2,
+};
+
+static struct engine_ctrl left_backward = {
+		.pwm = &pwm_3,
+		.enable = &gpio_c3,
+};
+
+#endif /* SOURCE_APPLICATION_INCLUDE_ENGINES_H_ */

source/application/include/shell_commands.h

@@ -0,0 +1,13 @@
+/*
+ * shell_commands.h
+ *
+ *  Created on: Aug 10, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_APPLICATION_SHELL_COMMANDS_H_
+#define SOURCE_APPLICATION_SHELL_COMMANDS_H_
+
+int shell_commands_init(void);
+
+#endif /* SOURCE_APPLICATION_SHELL_COMMANDS_H_ */

source/application/include/version.h

@@ -0,0 +1,9 @@
+/* Release number include file */
+
+#ifndef VERSION_H
+#define VERSION_H
+
+#define MAJOR_VERSION	"unknown"
+#define MINOR_VERSION	"unknown"
+#define BUILD_NUMBER	"unknown"
+#endif /* VERSION_H */

source/application/main.c

@@ -1,57 +1,25 @@
-#include <stdint.h>
 #include <stdbool.h>
-#include <string.h>
+#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
 
-#include "driver.h"
 #include "board_devices.h"
 #include "stack.h"
 #include "queue.h"
 #include "kernel.h"
 #include "driver.h"
+#include "list.h"
+#include "shell.h"
+#include "shell_commands.h"
+#include "drive_ctrl.h"
 
-#define STACK_SIZE  256
-stack_t tc_1_stack[STACK_SIZE];
-struct thread_context tc_1;
-
-void task1(void *arg)
-{
-	char rd = '0';
-	open(&led_4);
-	write(&led_4, &rd, 1);
-	while(1) {
-		sleep_ms(1000);
-		read(&led_4, &rd, 1);
-		if(rd == '0')
-			rd = '1';
-		else
-			rd = '0';
-		write(&led_4, &rd, 1);
-		write(&uart_1, "Driver test\r\n", 13);
-	}
-}
-
-char rx_buf[80];
-void task2(void *arg)
-{
-	while(1) {
-		int i = read(&uart_1, rx_buf, 80);
-		if(i > 0) {
-			write(&uart_1, rx_buf, i);
-		}
-	}
-}
-
-stack_t tc_2_stack[STACK_SIZE];
-struct thread_context tc_2;
 int main(void)
 {
-	open(&uart_1);
+	drive_ctrl_init();
-	thread_create(&tc_1, tc_1_stack, STACK_SIZE, task1, NULL, THREAD_PRIO_LOW);
+	shell_init(&uart_1);
-	thread_create(&tc_2, tc_2_stack, STACK_SIZE, task2, NULL, THREAD_PRIO_LOW);
+	shell_commands_init();
 
-	schedule_start();
+	while(1) {
+		sleep_ms(1000);
+	}
 
 	return 0;
 }

source/application/shell_commands.c

@@ -0,0 +1,176 @@
+/*
+ * shell_commands.c
+ *
+ *  Created on: Aug 10, 2016
+ *      Author: tkl
+ */
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "list.h"
+#include "driver.h"
+#include "shell.h"
+#include "drive_ctrl.h"
+#include "version.h"
+
+static void *drive_turn_right_cb(const char *param);
+static void *drive_turn_left_cb(const char *param);
+static void *drive_boost_cb(const char *param);
+static void *drive_retard_cb(const char *param);
+static void *drive_halt_cb(const char *param);
+static void *drive_forward_cb(const char *param);
+static void *drive_backward_cb(const char *param);
+static void *app_version(const char *param);
+
+static struct command cmd_app_version = {
+		.command = "version",
+		.description = "Get application version.",
+		.command_callback = app_version,
+};
+
+static struct command drive_forward = {
+		.command = "f",
+		.description = "Start driving forward with preset speed.",
+		.command_callback = drive_forward_cb,
+};
+
+static struct command drive_backward = {
+		.command = "b",
+		.description = "Start driving backward with preset speed.",
+		.command_callback = drive_backward_cb,
+};
+
+static struct command drive_halt = {
+		.command = "h",
+		.description = "Stop driving.",
+		.command_callback = drive_halt_cb,
+};
+
+static struct command drive_boost = {
+		.command = "+",
+		.description = "Boost speed.",
+		.command_callback = drive_boost_cb,
+};
+
+static struct command drive_retard = {
+		.command = "-",
+		.description = "Retard speed",
+		.command_callback = drive_retard_cb,
+};
+
+static struct command drive_turn_left = {
+		.command = "l",
+		.description = "Turn left.",
+		.command_callback = drive_turn_left_cb,
+};
+
+static struct command drive_turn_right = {
+		.command = "r",
+		.description = "Turn right",
+		.command_callback = drive_turn_right_cb,
+};
+
+int shell_commands_init(void)
+{
+	shell_add_command(&drive_forward);
+	shell_add_command(&drive_backward);
+	shell_add_command(&drive_boost);
+	shell_add_command(&drive_retard);
+	shell_add_command(&drive_halt);
+	shell_add_command(&drive_turn_left);
+	shell_add_command(&drive_turn_right);
+	shell_add_command(&cmd_app_version);
+
+	return 0;
+}
+
+static void *drive_turn_right_cb(const char *param)
+{
+	int speed = drive_ctrl_get_speed_value();
+	drive_ctrl_set_speed_left(abs(speed));
+	if(speed > 0)
+		speed *= -1;
+	drive_ctrl_set_speed_right(speed);
+
+	return NULL;
+}
+
+static void *drive_turn_left_cb(const char *param)
+{
+	int speed = drive_ctrl_get_speed_value();
+	drive_ctrl_set_speed_right(abs(speed));
+	if(speed > 0)
+		speed *= -1;
+	drive_ctrl_set_speed_left(speed);
+
+	return NULL;
+}
+
+static void *drive_boost_cb(const char *param)
+{
+	int speed = drive_ctrl_get_speed_value();
+	speed += 10;
+	drive_ctrl_set_speed_value(speed);
+	drive_ctrl_set_speed_left(speed);
+	drive_ctrl_set_speed_right(speed);
+
+	return NULL;
+}
+
+static void *drive_retard_cb(const char *param)
+{
+	int speed = drive_ctrl_get_speed_value();
+	speed -= 10;
+	drive_ctrl_set_speed_value(speed);
+	drive_ctrl_set_speed_left(speed);
+	drive_ctrl_set_speed_right(speed);
+
+	return NULL;
+}
+
+static void *drive_halt_cb(const char *param)
+{
+	drive_ctrl_set_speed_left(0);
+	drive_ctrl_set_speed_right(0);
+
+	return NULL;
+}
+
+static void *drive_forward_cb(const char *param)
+{
+	int speed = drive_ctrl_get_speed_value();
+	if(speed < 0)
+		speed = abs(speed);
+	drive_ctrl_set_speed_value(speed);
+	drive_ctrl_set_speed_left(speed);
+	drive_ctrl_set_speed_right(speed);
+
+	return NULL;
+}
+
+static void *drive_backward_cb(const char *param)
+{
+	int speed = drive_ctrl_get_speed_value();
+	if(speed > 0)
+		speed *= -1;
+	drive_ctrl_set_speed_value(speed);
+	drive_ctrl_set_speed_left(speed);
+	drive_ctrl_set_speed_right(speed);
+
+	return NULL;
+}
+
+static void *app_version(const char *param)
+{
+#if 0
+	char *greeter = "engine_control version: ";
+
+	drv_write(shell_object.shell_device, greeter, strlen(greeter));
+	drv_write(shell_object.shell_device, MAJOR_VERSION, strlen(MAJOR_VERSION));
+	drv_write(shell_object.shell_device, ".", 1);
+	drv_write(shell_object.shell_device, MINOR_VERSION, strlen(MINOR_VERSION));
+	drv_write(shell_object.shell_device, ".", 1);
+	drv_write(shell_object.shell_device, BUILD_NUMBER, strlen(BUILD_NUMBER));
+#endif
+	return NULL;
+}

source/os/debug/include/board_devices.h

@@ -1,12 +0,0 @@
-/* Board devices include file */
-
-#ifndef BOARD_DEVICES_H
-#define BOARD_DEVICES_H
-
-extern const struct driver uart_1;
-extern const struct driver led_3;
-extern const struct driver led_4;
-extern const struct driver led_5;
-extern const struct driver led_6;
-
-#endif /* BOARD_DEVICES_H */

source/os/debug/include/driver.h

@@ -1,30 +0,0 @@
-/*
- * driver.h
- *
- *  Created on: Jul 27, 2016
- *      Author: tkl
- */
-
-#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
-#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
-
-enum driver_type {
-	DRIVER_TYPE_ADC,
-	DRIVER_TYPE_GPIO,
-	DRIVER_TYPE_I2C,
-	DRIVER_TYPE_RTC,
-	DRIVER_TYPE_SPI,
-	DRIVER_TYPE_UART
-};
-
-struct driver {
-	enum driver_type driver_type;
-	const void *device_driver;
-};
-
-int open(const struct driver *driver);
-int close(const struct driver *driver);
-int read(const struct driver *driver, char *buffer, int len);
-int write(const struct driver *driver, const char *buffer, int len);
-
-#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_ */

source/os/debug/include/kernel.h

@@ -1,51 +0,0 @@
-/*
- * kernel.h
- *
- *  Created on: Jul 28, 2016
- *      Author: tkl
- */
-
-#ifndef SOURCE_FIRMWARE_KERNEL_INTERFACE_KERNEL_H_
-#define SOURCE_FIRMWARE_KERNEL_INTERFACE_KERNEL_H_
-
-void schedule_start(void);
-
-enum thread_priority {
-	THREAD_PRIO_IDLE = 0,
-	THREAD_PRIO_LOW,
-	THREAD_PRIO_MEDIUM,
-	THREAD_PRIO_HIGH
-};
-
-enum thread_status {
-	THREAD_STATUS_INIT = 0,
-	THREAD_STATUS_EXECUTING,
-	THREAD_STATUS_WAITING,
-	THREAD_STATUS_SLEEPING,
-	THREAD_STATUS_BLOCKING
-};
-
-struct thread_context {
-	stack_t *sp;					/**< thread's stack pointer */
-	stack_t *stack;					/**< thread's stack start address */
-	unsigned int stack_size;		/**< thread's stack size */
-	unsigned int pid;				/**< thread's process id */
-	enum thread_priority priority;	/**< thread's priority */
-	enum thread_status status;		/**< thread's status */
-	unsigned long next_executing_time;
-	void *wakeup_blocking_source;
-	struct queue_node sem_queue_node;
-};
-
-struct thread_context *thread_create(
-		struct thread_context *thread,
-		stack_t *stack,
-		unsigned int stack_size,
-		void (*thread_func)(void *),
-		void *arg,
-		enum thread_priority priority);
-
-void thread_exit(void);
-void sleep_ms(unsigned int ms);
-
-#endif /* SOURCE_FIRMWARE_KERNEL_INTERFACE_KERNEL_H_ */

source/os/debug/include/queue.h

@@ -1,26 +0,0 @@
-/*
- * queue.h
- *
- *  Created on: Oct 25, 2015
- *      Author: tkl
- */
-
-#ifndef QUEUE_H_
-#define QUEUE_H_
-
-struct queue_node {
-	struct queue_node *next;
-	unsigned int data;
-};
-
-struct queue {
-	struct queue_node *front;
-	struct queue_node *rear;
-};
-
-int queue_init(struct queue *head);
-int queue_push(struct queue *head, struct queue_node *node);
-int queue_pop(struct queue *head, struct queue_node *node);
-bool queue_is_empty(struct queue *head);
-
-#endif /* QUEUE_H_ */

source/os/debug/include/stack.h

@@ -1,8 +0,0 @@
-/* Stack include file */
-
-#ifndef STACK_H
-#define STACK_H
-
-typedef uint32_t stack_t;
-
-#endif /* STACK_H */

source/os/release/include/board_devices.h

@@ -3,10 +3,14 @@
 #ifndef BOARD_DEVICES_H
 #define BOARD_DEVICES_H
 
+extern const struct driver gpio_c0;
+extern const struct driver gpio_c1;
+extern const struct driver gpio_c2;
+extern const struct driver gpio_c3;
+extern const struct driver pwm_4;
+extern const struct driver pwm_3;
+extern const struct driver pwm_2;
+extern const struct driver pwm_1;
 extern const struct driver uart_1;
-extern const struct driver led_3;
-extern const struct driver led_4;
-extern const struct driver led_5;
-extern const struct driver led_6;
 
 #endif /* BOARD_DEVICES_H */

source/os/release/include/driver.h

@@ -8,23 +8,30 @@
 #ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
 #define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
 
+#define IOCTL_PWM_SET_DUTY_CYCLE	0
+
 enum driver_type {
 	DRIVER_TYPE_ADC,
 	DRIVER_TYPE_GPIO,
 	DRIVER_TYPE_I2C,
+	DRIVER_TYPE_PWM,
 	DRIVER_TYPE_RTC,
 	DRIVER_TYPE_SPI,
 	DRIVER_TYPE_UART
 };
 
+#pragma pack(push)
+#pragma pack(1)
 struct driver {
 	enum driver_type driver_type;
 	const void *device_driver;
 };
+#pragma pack(pop)
 
-int open(const struct driver *driver);
+int drv_open(const struct driver *driver);
-int close(const struct driver *driver);
+int drv_close(const struct driver *driver);
-int read(const struct driver *driver, char *buffer, int len);
+int drv_read(const struct driver *driver, char *buffer, int len);
-int write(const struct driver *driver, const char *buffer, int len);
+int drv_write(const struct driver *driver, const char *buffer, int len);
+int drv_ioctl(const struct driver *driver, unsigned int cmd, const void *data);
 
 #endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_ */

source/os/release/include/kernel.h

@@ -25,6 +25,8 @@ enum thread_status {
 	THREAD_STATUS_BLOCKING
 };
 
+#pragma pack(push)
+#pragma pack(1)
 struct thread_context {
 	stack_t *sp;					/**< thread's stack pointer */
 	stack_t *stack;					/**< thread's stack start address */
@@ -36,6 +38,16 @@ struct thread_context {
 	void *wakeup_blocking_source;
 	struct queue_node sem_queue_node;
 };
+#pragma pack(pop)
+
+struct kernel_version {
+	unsigned int kernel_version;
+	unsigned int major_version;
+	unsigned int minor_version;
+	unsigned int build_number;
+};
+
+int get_kernel_version(struct kernel_version *version);
 
 struct thread_context *thread_create(
 		struct thread_context *thread,
@@ -45,6 +57,7 @@ struct thread_context *thread_create(
 		void *arg,
 		enum thread_priority priority);
 
+
 void thread_exit(void);
 void sleep_ms(unsigned int ms);
 

source/os/release/include/list.h

@@ -0,0 +1,25 @@
+/*
+ * list.h
+ *
+ *  Created on: Jul 27, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_FIRMWARE_KERNEL_LIST_H_
+#define SOURCE_FIRMWARE_KERNEL_LIST_H_
+
+struct list_node {
+	struct list_node *next;
+	unsigned int data;
+};
+
+struct list {
+	struct list_node *front;
+	struct list_node *rear;
+};
+
+int list_init(struct list *head);
+int list_add(struct list *head, struct list_node *node);
+int list_get_len(struct list *head);
+
+#endif /* SOURCE_FIRMWARE_KERNEL_LIST_H_ */

source/os/release/include/shell.h

@@ -0,0 +1,23 @@
+/*
+ * shell.h
+ *
+ *  Created on: Aug 1, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_
+#define SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_
+
+typedef void *(*command_callback)(const char*);
+
+struct command {
+	const char *command;
+	const char *description;
+	const command_callback command_callback;
+	struct list_node item;
+};
+
+int shell_init(const struct driver *shell_device);
+int shell_add_command(struct command *command);
+
+#endif /* SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_ */

source/os/release/libkosmos-arm-stm32f4-discovery.a

@@ -0,0 +1 @@
+libkosmos-arm-stm32f4-discovery-0.1.4.a

source/scripts/release_number.py

@@ -0,0 +1,43 @@
+#!/usr/bin/python2
+from sys import argv, exit
+from getopt import getopt
+from re import match, sub
+import os
+
+def get_current_numbers():
+	config = {}
+	if os.environ.has_key("SW_MAJOR"):
+		config["sw_major"] = os.environ["SW_MAJOR"]
+	if os.environ.has_key("SW_MINOR"):
+		config["sw_minor"] = os.environ["SW_MINOR"]
+	if os.environ.has_key("CI_BUILD_ID"):
+		config["build_id"] = os.environ["CI_BUILD_ID"]
+	return config
+
+def generate_include(numbers):
+	f = open("source/application/include/version.h", "w")
+	f.write("/* Release number include file */\n\n")
+	f.write("#ifndef VERSION_H\n")
+	f.write("#define VERSION_H\n\n")
+	if numbers.has_key("sw_major"):
+		f.write("#define MAJOR_VERSION\t\"" + numbers["sw_major"] + "\"\n")
+	else:
+		f.write("#define MAJOR_VERSION\t\"unknown\"\n")
+	if numbers.has_key("sw_minor"):
+		f.write("#define MINOR_VERSION\t\"" + numbers["sw_minor"] + "\"\n")
+	else:
+		f.write("#define MINOR_VERSION\t\"unknown\"\n")
+	if numbers.has_key("build_id"):
+		f.write("#define BUILD_NUMBER\t\"" + numbers["build_id"] + "\"\n")
+	else:
+		f.write("#define BUILD_NUMBER\t\"unknown\"\n")
+	f.write("\n#endif /* VERSION_H */\n")
+	f.close()
+
+def main(argv):
+	numbers = get_current_numbers()
+	generate_include(numbers)
+
+if __name__ == "__main__":
+	main(argv[1:])
+

source/system/stm32f4xx/ExceptionHandlers.h

@@ -0,0 +1,94 @@
+//
+// This file is part of the µOS++ III distribution.
+// Copyright (c) 2014 Liviu Ionescu.
+//
+
+#ifndef CORTEXM_EXCEPTION_HANDLERS_H_
+#define CORTEXM_EXCEPTION_HANDLERS_H_
+
+#include <stdint.h>
+
+#if defined(DEBUG)
+#define __DEBUG_BKPT()  asm volatile ("bkpt 0")
+#endif
+
+// ----------------------------------------------------------------------------
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+// External references to cortexm_handlers.c
+
+  extern void
+  Reset_Handler (void);
+  extern void
+  NMI_Handler (void);
+  extern void
+  HardFault_Handler (void);
+
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+  extern void
+  MemManage_Handler (void);
+  extern void
+  BusFault_Handler (void);
+  extern void
+  UsageFault_Handler (void);
+  extern void
+  DebugMon_Handler (void);
+#endif
+
+  extern void
+  SVC_Handler (void);
+
+  extern void
+  PendSV_Handler (void);
+  extern void
+  SysTick_Handler (void);
+
+  // Exception Stack Frame of the Cortex-M3 or Cortex-M4 processor.
+  typedef struct
+  {
+    uint32_t r0;
+    uint32_t r1;
+    uint32_t r2;
+    uint32_t r3;
+    uint32_t r12;
+    uint32_t lr;
+    uint32_t pc;
+    uint32_t psr;
+#if  defined(__ARM_ARCH_7EM__)
+    uint32_t s[16];
+#endif
+  } ExceptionStackFrame;
+
+#if defined(TRACE)
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+  void
+  dumpExceptionStack (ExceptionStackFrame* frame, uint32_t cfsr, uint32_t mmfar,
+                      uint32_t bfar, uint32_t lr);
+#endif // defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+#if defined(__ARM_ARCH_6M__)
+  void
+  dumpExceptionStack (ExceptionStackFrame* frame, uint32_t lr);
+#endif // defined(__ARM_ARCH_6M__)
+#endif // defined(TRACE)
+
+  void
+  HardFault_Handler_C (ExceptionStackFrame* frame, uint32_t lr);
+
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+  void
+  UsageFault_Handler_C (ExceptionStackFrame* frame, uint32_t lr);
+  void
+  BusFault_Handler_C (ExceptionStackFrame* frame, uint32_t lr);
+#endif // defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+#if defined(__cplusplus)
+}
+#endif
+
+// ----------------------------------------------------------------------------
+
+#endif // CORTEXM_EXCEPTION_HANDLERS_H_

source/system/stm32f4xx/_cxx.cpp

@@ -0,0 +1,50 @@
+//
+// This file is part of the µOS++ III distribution.
+// Copyright (c) 2014 Liviu Ionescu.
+//
+
+// ----------------------------------------------------------------------------
+
+// These functions are redefined locally, to avoid references to some
+// heavy implementations in the standard C++ library.
+
+// ----------------------------------------------------------------------------
+
+#include <cstdlib>
+#include <sys/types.h>
+#include "diag/Trace.h"
+
+// ----------------------------------------------------------------------------
+
+namespace __gnu_cxx
+{
+  void
+  __attribute__((noreturn))
+  __verbose_terminate_handler();
+
+  void
+  __verbose_terminate_handler()
+  {
+    trace_puts(__func__);
+    abort();
+  }
+}
+
+// ----------------------------------------------------------------------------
+
+extern "C"
+{
+  void
+  __attribute__((noreturn))
+  __cxa_pure_virtual();
+
+  void
+  __cxa_pure_virtual()
+  {
+    trace_puts(__func__);
+    abort();
+  }
+}
+
+// ----------------------------------------------------------------------------
+

source/system/stm32f4xx/_exit.c

@@ -0,0 +1,59 @@
+//
+// This file is part of the µOS++ III distribution.
+// Copyright (c) 2014 Liviu Ionescu.
+//
+
+// ----------------------------------------------------------------------------
+
+#include <stdlib.h>
+//#include "diag/Trace.h"
+
+// ----------------------------------------------------------------------------
+
+#if !defined(DEBUG)
+extern void
+__attribute__((noreturn))
+__reset_hardware(void);
+#endif
+
+// ----------------------------------------------------------------------------
+
+// Forward declaration
+
+void
+_exit(int code);
+
+// ----------------------------------------------------------------------------
+
+// On Release, call the hardware reset procedure.
+// On Debug we just enter an infinite loop, to be used as landmark when halting
+// the debugger.
+//
+// It can be redefined in the application, if more functionality
+// is required.
+
+void
+__attribute__((weak))
+_exit(int code __attribute__((unused)))
+{
+#if !defined(DEBUG)
+  __reset_hardware();
+#endif
+
+  // TODO: write on trace
+  while (1)
+    ;
+}
+
+// ----------------------------------------------------------------------------
+
+void
+__attribute__((weak,noreturn))
+abort(void)
+{
+//  trace_puts("abort(), exiting...");
+	while(1);
+  _exit(1);
+}
+
+// ----------------------------------------------------------------------------

source/system/stm32f4xx/_sbrk.c

@@ -0,0 +1,65 @@
+//
+// This file is part of the µOS++ III distribution.
+// Copyright (c) 2014 Liviu Ionescu.
+//
+
+// ----------------------------------------------------------------------------
+
+#include <sys/types.h>
+#include <errno.h>
+
+// ----------------------------------------------------------------------------
+
+caddr_t
+_sbrk(int incr);
+
+// ----------------------------------------------------------------------------
+
+// The definitions used here should be kept in sync with the
+// stack definitions in the linker script.
+
+caddr_t
+_sbrk(int incr)
+{
+  extern char _Heap_Begin; // Defined by the linker.
+  extern char _Heap_Limit; // Defined by the linker.
+
+  static char* current_heap_end;
+  char* current_block_address;
+
+  if (current_heap_end == 0)
+    {
+      current_heap_end = &_Heap_Begin;
+    }
+
+  current_block_address = current_heap_end;
+
+  // Need to align heap to word boundary, else will get
+  // hard faults on Cortex-M0. So we assume that heap starts on
+  // word boundary, hence make sure we always add a multiple of
+  // 4 to it.
+  incr = (incr + 3) & (~3); // align value to 4
+  if (current_heap_end + incr > &_Heap_Limit)
+    {
+      // Some of the libstdc++-v3 tests rely upon detecting
+      // out of memory errors, so do not abort here.
+#if 0
+      extern void abort (void);
+
+      _write (1, "_sbrk: Heap and stack collision\n", 32);
+
+      abort ();
+#else
+      // Heap has overflowed
+      errno = ENOMEM;
+      return (caddr_t) - 1;
+#endif
+    }
+
+  current_heap_end += incr;
+
+  return (caddr_t) current_block_address;
+}
+
+// ----------------------------------------------------------------------------
+

source/system/stm32f4xx/_startup.c

@@ -0,0 +1,327 @@
+//
+// This file is part of the µOS++ III distribution.
+// Copyright (c) 2014 Liviu Ionescu.
+//
+
+// ----------------------------------------------------------------------------
+
+// This module contains the startup code for a portable embedded
+// C/C++ application, built with newlib.
+//
+// Control reaches here from the reset handler via jump or call.
+//
+// The actual steps performed by _start are:
+// - copy the initialised data region(s)
+// - clear the BSS region(s)
+// - initialise the system
+// - run the preinit/init array (for the C++ static constructors)
+// - initialise the arc/argv
+// - branch to main()
+// - run the fini array (for the C++ static destructors)
+// - call _exit(), directly or via exit()
+//
+// If OS_INCLUDE_STARTUP_INIT_MULTIPLE_RAM_SECTIONS is defined, the
+// code is capable of initialising multiple regions.
+//
+// The normal configuration is standalone, with all support
+// functions implemented locally.
+//
+// For this to be called, the project linker must be configured without
+// the startup sequence (-nostartfiles).
+
+// ----------------------------------------------------------------------------
+
+#include <stdint.h>
+#include <sys/types.h>
+
+// ----------------------------------------------------------------------------
+
+#if !defined(OS_INCLUDE_STARTUP_GUARD_CHECKS)
+#define OS_INCLUDE_STARTUP_GUARD_CHECKS (1)
+#endif
+
+// ----------------------------------------------------------------------------
+
+#if !defined(OS_INCLUDE_STARTUP_INIT_MULTIPLE_RAM_SECTIONS)
+// Begin address for the initialisation values of the .data section.
+// defined in linker script
+extern unsigned int _sidata;
+// Begin address for the .data section; defined in linker script
+extern unsigned int _sdata;
+// End address for the .data section; defined in linker script
+extern unsigned int _edata;
+
+// Begin address for the .bss section; defined in linker script
+extern unsigned int __bss_start__;
+// End address for the .bss section; defined in linker script
+extern unsigned int __bss_end__;
+#else
+// The following symbols are constructs generated by the linker, indicating
+// the location of various points in the "Memory regions initialisation arrays".
+// These arrays are created by the linker via the managed linker script
+// of each RW data mechanism. It contains the load address, execution address
+// and length section and the execution and length of each BSS (zero
+// initialised) section.
+extern unsigned int __data_regions_array_start;
+extern unsigned int __data_regions_array_end;
+extern unsigned int __bss_regions_array_start;
+extern unsigned int __bss_regions_array_end;
+#endif
+
+extern void
+__initialize_args (int*, char***);
+
+// main() is the entry point for newlib based applications.
+// By default, there are no arguments, but this can be customised
+// by redefining __initialize_args(), which is done when the
+// semihosting configurations are used.
+extern int
+start_application (int argc, char* argv[]);
+
+// The implementation for the exit routine; for embedded
+// applications, a system reset will be performed.
+extern void
+__attribute__((noreturn))
+_exit (int);
+
+// ----------------------------------------------------------------------------
+
+// Forward declarations
+
+void
+_start (void);
+
+void
+__initialize_data (unsigned int* from, unsigned int* region_begin,
+		   unsigned int* region_end);
+
+void
+__initialize_bss (unsigned int* region_begin, unsigned int* region_end);
+
+void
+__run_init_array (void);
+
+void
+__run_fini_array (void);
+
+void
+__initialize_hardware_early (void);
+
+void
+__initialize_hardware (void);
+
+// ----------------------------------------------------------------------------
+
+inline void
+__attribute__((always_inline))
+__initialize_data (unsigned int* from, unsigned int* region_begin,
+		   unsigned int* region_end)
+{
+  // Iterate and copy word by word.
+  // It is assumed that the pointers are word aligned.
+  unsigned int *p = region_begin;
+  while (p < region_end)
+    *p++ = *from++;
+}
+
+inline void
+__attribute__((always_inline))
+__initialize_bss (unsigned int* region_begin, unsigned int* region_end)
+{
+  // Iterate and clear word by word.
+  // It is assumed that the pointers are word aligned.
+  unsigned int *p = region_begin;
+  while (p < region_end)
+    *p++ = 0;
+}
+
+// These magic symbols are provided by the linker.
+extern void
+(*__preinit_array_start[]) (void) __attribute__((weak));
+extern void
+(*__preinit_array_end[]) (void) __attribute__((weak));
+extern void
+(*__init_array_start[]) (void) __attribute__((weak));
+extern void
+(*__init_array_end[]) (void) __attribute__((weak));
+extern void
+(*__fini_array_start[]) (void) __attribute__((weak));
+extern void
+(*__fini_array_end[]) (void) __attribute__((weak));
+
+// Iterate over all the preinit/init routines (mainly static constructors).
+inline void
+__attribute__((always_inline))
+__run_init_array (void)
+{
+  int count;
+  int i;
+
+  count = __preinit_array_end - __preinit_array_start;
+  for (i = 0; i < count; i++)
+    __preinit_array_start[i] ();
+
+  // If you need to run the code in the .init section, please use
+  // the startup files, since this requires the code in crti.o and crtn.o
+  // to add the function prologue/epilogue.
+  //_init(); // DO NOT ENABE THIS!
+
+  count = __init_array_end - __init_array_start;
+  for (i = 0; i < count; i++)
+    __init_array_start[i] ();
+}
+
+// Run all the cleanup routines (mainly static destructors).
+inline void
+__attribute__((always_inline))
+__run_fini_array (void)
+{
+  int count;
+  int i;
+
+  count = __fini_array_end - __fini_array_start;
+  for (i = count; i > 0; i--)
+    __fini_array_start[i - 1] ();
+
+  // If you need to run the code in the .fini section, please use
+  // the startup files, since this requires the code in crti.o and crtn.o
+  // to add the function prologue/epilogue.
+  //_fini(); // DO NOT ENABE THIS!
+}
+
+#if defined(DEBUG) && (OS_INCLUDE_STARTUP_GUARD_CHECKS)
+
+// These definitions are used to check if the routines used to
+// clear the BSS and to copy the initialised DATA perform correctly.
+
+#define BSS_GUARD_BAD_VALUE (0xCADEBABA)
+
+static uint32_t volatile __attribute__ ((section(".bss_begin")))
+__bss_begin_guard;
+static uint32_t volatile __attribute__ ((section(".bss_end")))
+__bss_end_guard;
+
+#define DATA_GUARD_BAD_VALUE (0xCADEBABA)
+#define DATA_BEGIN_GUARD_VALUE (0x12345678)
+#define DATA_END_GUARD_VALUE (0x98765432)
+
+static uint32_t volatile __attribute__ ((section(".data_begin")))
+__data_begin_guard = DATA_BEGIN_GUARD_VALUE;
+
+static uint32_t volatile __attribute__ ((section(".data_end")))
+__data_end_guard = DATA_END_GUARD_VALUE;
+
+#endif // defined(DEBUG) && (OS_INCLUDE_STARTUP_GUARD_CHECKS)
+
+// This is the place where Cortex-M core will go immediately after reset,
+// via a call or jump from the Reset_Handler.
+//
+// For the call to work, and for the call to __initialize_hardware_early()
+// to work, the reset stack must point to a valid internal RAM area.
+
+void __attribute__ ((section(".after_vectors"),noreturn,weak))
+_start (void)
+{
+
+  // Initialise hardware right after reset, to switch clock to higher
+  // frequency and have the rest of the initialisations run faster.
+  //
+  // Mandatory on platforms like Kinetis, which start with the watch dog
+  // enabled and require an early sequence to disable it.
+  //
+  // Also useful on platform with external RAM, that need to be
+  // initialised before filling the BSS section.
+
+  __initialize_hardware_early ();
+
+  // Use Old Style DATA and BSS section initialisation,
+  // that will manage a single BSS sections.
+
+#if defined(DEBUG) && (OS_INCLUDE_STARTUP_GUARD_CHECKS)
+  __data_begin_guard = DATA_GUARD_BAD_VALUE;
+  __data_end_guard = DATA_GUARD_BAD_VALUE;
+#endif
+
+#if !defined(OS_INCLUDE_STARTUP_INIT_MULTIPLE_RAM_SECTIONS)
+  // Copy the DATA segment from Flash to RAM (inlined).
+  __initialize_data(&_sidata, &_sdata, &_edata);
+#else
+
+  // Copy the data sections from flash to SRAM.
+  for (unsigned int* p = &__data_regions_array_start;
+      p < &__data_regions_array_end;)
+    {
+      unsigned int* from = (unsigned int *) (*p++);
+      unsigned int* region_begin = (unsigned int *) (*p++);
+      unsigned int* region_end = (unsigned int *) (*p++);
+
+      __initialize_data (from, region_begin, region_end);
+    }
+
+#endif
+
+#if defined(DEBUG) && (OS_INCLUDE_STARTUP_GUARD_CHECKS)
+  if ((__data_begin_guard != DATA_BEGIN_GUARD_VALUE)
+      || (__data_end_guard != DATA_END_GUARD_VALUE))
+    {
+      for (;;)
+	;
+    }
+#endif
+
+#if defined(DEBUG) && (OS_INCLUDE_STARTUP_GUARD_CHECKS)
+  __bss_begin_guard = BSS_GUARD_BAD_VALUE;
+  __bss_end_guard = BSS_GUARD_BAD_VALUE;
+#endif
+
+#if !defined(OS_INCLUDE_STARTUP_INIT_MULTIPLE_RAM_SECTIONS)
+  // Zero fill the BSS section (inlined).
+  __initialize_bss(&__bss_start__, &__bss_end__);
+#else
+
+  // Zero fill all bss segments
+  for (unsigned int *p = &__bss_regions_array_start;
+      p < &__bss_regions_array_end;)
+    {
+      unsigned int* region_begin = (unsigned int*) (*p++);
+      unsigned int* region_end = (unsigned int*) (*p++);
+      __initialize_bss (region_begin, region_end);
+    }
+#endif
+
+#if defined(DEBUG) && (OS_INCLUDE_STARTUP_GUARD_CHECKS)
+  if ((__bss_begin_guard != 0) || (__bss_end_guard != 0))
+    {
+      for (;;)
+	;
+    }
+#endif
+
+  // Hook to continue the initialisations. Usually compute and store the
+  // clock frequency in the global CMSIS variable, cleared above.
+  __initialize_hardware ();
+
+  // Get the argc/argv (useful in semihosting configurations).
+  int argc;
+  char** argv;
+  __initialize_args (&argc, &argv);
+
+  // Call the standard library initialisation (mandatory for C++ to
+  // execute the constructors for the static objects).
+  __run_init_array ();
+
+  // Call the main entry point, and save the exit code.
+  int code = start_application (argc, argv);
+
+  // Run the C++ static destructors.
+  __run_fini_array ();
+
+  _exit (code);
+
+  // Should never reach this, _exit() should have already
+  // performed a reset.
+  for (;;)
+    ;
+}
+
+// ----------------------------------------------------------------------------

source/system/stm32f4xx/assert.c

@@ -0,0 +1,55 @@
+//
+// This file is part of the µOS++ III distribution.
+// Copyright (c) 2014 Liviu Ionescu.
+//
+
+#include <assert.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+//#include "diag/Trace.h"
+
+// ----------------------------------------------------------------------------
+
+void
+__attribute__((noreturn))
+__assert_func (const char *file, int line, const char *func,
+               const char *failedexpr)
+{
+//  trace_printf ("assertion \"%s\" failed: file \"%s\", line %d%s%s\n",
+//                failedexpr, file, line, func ? ", function: " : "",
+//                func ? func : "");
+  abort ();
+  /* NOTREACHED */
+}
+
+// ----------------------------------------------------------------------------
+
+// This is STM32 specific, but can be used on other platforms too.
+// If you need it, add the following to your application header:
+
+//#ifdef  USE_FULL_ASSERT
+//#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
+//void assert_failed(uint8_t* file, uint32_t line);
+//#else
+//#define assert_param(expr) ((void)0)
+//#endif // USE_FULL_ASSERT
+
+#if defined(USE_FULL_ASSERT)
+
+void
+assert_failed (uint8_t* file, uint32_t line);
+
+// Called from the assert_param() macro, usually defined in the stm32f*_conf.h
+void
+__attribute__((noreturn, weak))
+assert_failed (uint8_t* file, uint32_t line)
+{
+//  trace_printf ("assert_param() failed: file \"%s\", line %d\n", file, line);
+  abort ();
+  /* NOTREACHED */
+}
+
+#endif // defined(USE_FULL_ASSERT)
+
+// ----------------------------------------------------------------------------

source/system/stm32f4xx/vectors_stm32f407xx.c

@@ -0,0 +1,335 @@
+//
+// Copyright (c) 2015 Liviu Ionescu.
+// This file was automatically generated by the xPacks scripts.
+//
+
+// The list of external handlers is from the ARM assembly startup files.
+
+// ----------------------------------------------------------------------------
+
+#include "ExceptionHandlers.h"
+
+// ----------------------------------------------------------------------------
+
+void __attribute__((weak))
+Default_Handler(void);
+
+// Forward declaration of the specific IRQ handlers. These are aliased
+// to the Default_Handler, which is a 'forever' loop. When the application
+// defines a handler (with the same name), this will automatically take
+// precedence over these weak definitions
+
+void __attribute__ ((weak, alias ("Default_Handler")))
+WWDG_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+PVD_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TAMP_STAMP_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+RTC_WKUP_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+FLASH_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+RCC_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI0_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI2_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI3_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI4_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream0_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream2_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream3_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream4_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream5_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream6_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+ADC_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN1_TX_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN1_RX0_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN1_RX1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN1_SCE_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI9_5_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM1_BRK_TIM9_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM1_UP_TIM10_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM1_TRG_COM_TIM11_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM1_CC_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM2_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM3_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM4_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+I2C1_EV_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+I2C1_ER_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+I2C2_EV_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+I2C2_ER_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+SPI1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+SPI2_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+USART1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+USART2_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+USART3_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+EXTI15_10_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+RTC_Alarm_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+OTG_FS_WKUP_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM8_BRK_TIM12_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM8_UP_TIM13_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM8_TRG_COM_TIM14_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM8_CC_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA1_Stream7_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+FMC_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+SDIO_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM5_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+SPI3_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+UART4_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+UART5_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM6_DAC_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+TIM7_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream0_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream2_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream3_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream4_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+ETH_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+ETH_WKUP_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN2_TX_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN2_RX0_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN2_RX1_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+CAN2_SCE_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+OTG_FS_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream5_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream6_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DMA2_Stream7_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+USART6_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+I2C3_EV_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+I2C3_ER_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+OTG_HS_EP1_OUT_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+OTG_HS_EP1_IN_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+OTG_HS_WKUP_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+OTG_HS_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+DCMI_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+HASH_RNG_IRQHandler(void);
+void __attribute__ ((weak, alias ("Default_Handler")))
+FPU_IRQHandler(void);
+
+// ----------------------------------------------------------------------------
+
+extern unsigned int _estack;
+
+typedef void
+(* const pHandler)(void);
+
+// ----------------------------------------------------------------------------
+
+// The table of interrupt handlers. It has an explicit section name
+// and relies on the linker script to place it at the correct location
+// in memory.
+
+__attribute__ ((section(".isr_vector"),used))
+pHandler __isr_vectors[] =
+  {
+    // Cortex-M Core Handlers
+    (pHandler) &_estack,               // The initial stack pointer
+    Reset_Handler,                     // The reset handler
+
+    NMI_Handler,                       // The NMI handler
+    HardFault_Handler,                 // The hard fault handler
+
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+    MemManage_Handler,                 // The MPU fault handler
+    BusFault_Handler,                  // The bus fault handler
+    UsageFault_Handler,                // The usage fault handler
+#else
+    0,                                 // Reserved
+    0,                                 // Reserved
+    0,                                 // Reserved
+#endif
+    0,                                 // Reserved
+    0,                                 // Reserved
+    0,                                 // Reserved
+    0,                                 // Reserved
+    SVC_Handler,                       // SVCall handler
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+    DebugMon_Handler,                  // Debug monitor handler
+#else
+    0,                                 // Reserved
+#endif
+    0,                                 // Reserved
+    PendSV_Handler,                    // The PendSV handler
+    SysTick_Handler,                   // The SysTick handler
+
+    // ----------------------------------------------------------------------
+    // External Interrupts
+    WWDG_IRQHandler,                   // Window WatchDog
+    PVD_IRQHandler,                    // PVD through EXTI Line detection
+    TAMP_STAMP_IRQHandler,             // Tamper and TimeStamps through the EXTI line
+    RTC_WKUP_IRQHandler,               // RTC Wakeup through the EXTI line
+    FLASH_IRQHandler,                  // FLASH
+    RCC_IRQHandler,                    // RCC
+    EXTI0_IRQHandler,                  // EXTI Line0
+    EXTI1_IRQHandler,                  // EXTI Line1
+    EXTI2_IRQHandler,                  // EXTI Line2
+    EXTI3_IRQHandler,                  // EXTI Line3
+    EXTI4_IRQHandler,                  // EXTI Line4
+    DMA1_Stream0_IRQHandler,           // DMA1 Stream 0
+    DMA1_Stream1_IRQHandler,           // DMA1 Stream 1
+    DMA1_Stream2_IRQHandler,           // DMA1 Stream 2
+    DMA1_Stream3_IRQHandler,           // DMA1 Stream 3
+    DMA1_Stream4_IRQHandler,           // DMA1 Stream 4
+    DMA1_Stream5_IRQHandler,           // DMA1 Stream 5
+    DMA1_Stream6_IRQHandler,           // DMA1 Stream 6
+    ADC_IRQHandler,                    // ADC1, ADC2 and ADC3s
+    CAN1_TX_IRQHandler,                // CAN1 TX
+    CAN1_RX0_IRQHandler,               // CAN1 RX0
+    CAN1_RX1_IRQHandler,               // CAN1 RX1
+    CAN1_SCE_IRQHandler,               // CAN1 SCE
+    EXTI9_5_IRQHandler,                // External Line[9:5]s
+    TIM1_BRK_TIM9_IRQHandler,          // TIM1 Break and TIM9
+    TIM1_UP_TIM10_IRQHandler,          // TIM1 Update and TIM10
+    TIM1_TRG_COM_TIM11_IRQHandler,     // TIM1 Trigger and Commutation and TIM11
+    TIM1_CC_IRQHandler,                // TIM1 Capture Compare
+    TIM2_IRQHandler,                   // TIM2
+    TIM3_IRQHandler,                   // TIM3
+    TIM4_IRQHandler,                   // TIM4
+    I2C1_EV_IRQHandler,                // I2C1 Event
+    I2C1_ER_IRQHandler,                // I2C1 Error
+    I2C2_EV_IRQHandler,                // I2C2 Event
+    I2C2_ER_IRQHandler,                // I2C2 Error
+    SPI1_IRQHandler,                   // SPI1
+    SPI2_IRQHandler,                   // SPI2
+    USART1_IRQHandler,                 // USART1
+    USART2_IRQHandler,                 // USART2
+    USART3_IRQHandler,                 // USART3
+    EXTI15_10_IRQHandler,              // External Line[15:10]s
+    RTC_Alarm_IRQHandler,              // RTC Alarm (A and B) through EXTI Line
+    OTG_FS_WKUP_IRQHandler,            // USB OTG FS Wakeup through EXTI line
+    TIM8_BRK_TIM12_IRQHandler,         // TIM8 Break and TIM12
+    TIM8_UP_TIM13_IRQHandler,          // TIM8 Update and TIM13
+    TIM8_TRG_COM_TIM14_IRQHandler,     // TIM8 Trigger and Commutation and TIM14
+    TIM8_CC_IRQHandler,                // TIM8 Capture Compare
+    DMA1_Stream7_IRQHandler,           // DMA1 Stream7
+    FMC_IRQHandler,                    // FMC
+    SDIO_IRQHandler,                   // SDIO
+    TIM5_IRQHandler,                   // TIM5
+    SPI3_IRQHandler,                   // SPI3
+    UART4_IRQHandler,                  // UART4
+    UART5_IRQHandler,                  // UART5
+    TIM6_DAC_IRQHandler,               // TIM6 and DAC1&2 underrun errors
+    TIM7_IRQHandler,                   // TIM7
+    DMA2_Stream0_IRQHandler,           // DMA2 Stream 0
+    DMA2_Stream1_IRQHandler,           // DMA2 Stream 1
+    DMA2_Stream2_IRQHandler,           // DMA2 Stream 2
+    DMA2_Stream3_IRQHandler,           // DMA2 Stream 3
+    DMA2_Stream4_IRQHandler,           // DMA2 Stream 4
+    ETH_IRQHandler,                    // Ethernet
+    ETH_WKUP_IRQHandler,               // Ethernet Wakeup through EXTI line
+    CAN2_TX_IRQHandler,                // CAN2 TX
+    CAN2_RX0_IRQHandler,               // CAN2 RX0
+    CAN2_RX1_IRQHandler,               // CAN2 RX1
+    CAN2_SCE_IRQHandler,               // CAN2 SCE
+    OTG_FS_IRQHandler,                 // USB OTG FS
+    DMA2_Stream5_IRQHandler,           // DMA2 Stream 5
+    DMA2_Stream6_IRQHandler,           // DMA2 Stream 6
+    DMA2_Stream7_IRQHandler,           // DMA2 Stream 7
+    USART6_IRQHandler,                 // USART6
+    I2C3_EV_IRQHandler,                // I2C3 event
+    I2C3_ER_IRQHandler,                // I2C3 error
+    OTG_HS_EP1_OUT_IRQHandler,         // USB OTG HS End Point 1 Out
+    OTG_HS_EP1_IN_IRQHandler,          // USB OTG HS End Point 1 In
+    OTG_HS_WKUP_IRQHandler,            // USB OTG HS Wakeup through EXTI
+    OTG_HS_IRQHandler,                 // USB OTG HS
+    DCMI_IRQHandler,                   // DCMI
+    0,                                 // Reserved
+    HASH_RNG_IRQHandler,               // Hash and Rng
+    FPU_IRQHandler,                    // FPU
+};
+
+// ----------------------------------------------------------------------------
+
+// Processor ends up here if an unexpected interrupt occurs or a
+// specific handler is not present in the application code.
+// When in DEBUG, trigger a debug exception to clearly notify
+// the user of the exception and help identify the cause.
+
+void __attribute__ ((section(".after_vectors")))
+Default_Handler(void)
+{
+#if defined(DEBUG)
+__DEBUG_BKPT();
+#endif
+while (1)
+  {
+  }
+}
+
+// ----------------------------------------------------------------------------

source/test/firmware/kernel/ringbuffer/Makefile

@@ -1,42 +0,0 @@
-include ../../../../../config/make/rules.mk
-
-TEST_MAINFILE = $(TEST_EXE_DIR)cunit_ringbuffer
-TEST_INCLUDES = \
-	-I . \
-	-I /usr/include \
-	-I $(ROOT_DIR)/source/firmware/kernel
-
-TEST_SOURCES = \
-	$(ROOT_DIR)/source/firmware/kernel/ringbuffer.c \
-	$(ROOT_DIR)/source/test/firmware/kernel/ringbuffer/cunit_ringbuffer.c
-
-TEST_OBJECTS = $(TEST_SOURCES:$(SRC_DIR)/%.c=$(TEST_OBJ_DIR)/%.o)
-TEST_DEPS = $(TEST_SOURCES:$(SRC_DIR)/%.c=$(TEST_OBJ_DIR)/%.d)
-
-TEST_CFLAGS = \
-	$(CFLAGS) \
-	$(TEST_INCLUDES)
-
-TEST_LDFLAGS = \
-	$(LDFLAGS) \
-	-lcunit
-
-all: $(TEST_MAINFILE)
-
-clean:
-	-rm -f $(TEST_OBJECTS) \
-	$(TEST_DEPS) \
-	$(TEST_MAINFILE)
-
-$(TEST_MAINFILE): $(TEST_OBJECTS)
-	@$(MKDIR) $(TEST_EXE_DIR)
-	$(NATIVE_CC) $(TEST_CFLAGS) $(TEST_LDFLAGS) $(TEST_OBJECTS) -o $(TEST_MAINFILE)
-
-$(TEST_OBJ_DIR)/%.o: $(SRC_DIR)/%.c
-	@$(MKDIR) $(dir $@)
-	$(call maketestdep,$<,$@,$(subst .o,.d,$@))
-	$(NATIVE_CC) $(TEST_CFLAGS) -c $< -o $@
-
-ifneq "$(MAKECMDGOALS)" "clean"
--include $(TEST_DEPS)
-endif

source/test/firmware/kernel/ringbuffer/cpu.h

@@ -1,14 +0,0 @@
-/*
- * cpu.h
- *
- *  Created on: Nov 3, 2013
- *      Author: tkl
- */
-
-#ifndef CPU_H_
-#define CPU_H_
-
-#define disable_irq()
-#define enable_irq()
-
-#endif /* CPU_H_ */

source/test/firmware/kernel/ringbuffer/cunit_ringbuffer.c

@@ -1,67 +0,0 @@
-#include <CUnit/CUnit.h>
-#include <CUnit/Basic.h>
-
-#if 0
-#include <CUnit/Automated.h>
-#endif
-
-#include "ringbuffer.h"
-
-static int init_suite(void)
-{
-	return 0;
-}
-
-static int clean_suite(void)
-{
-	return 0;
-}
-
-/* DUT */
-static char mem[10];
-static struct ringbuffer rb = {
-		mem,
-		mem,
-		mem,
-		sizeof(mem),
-		0
-};
-
-static void test_ringbuffer_size(void)
-{
-	char str[] = "0123456789ABCDEFGHI";
-	CU_ASSERT(sizeof(mem) == ringbuffer_write(&rb, str, sizeof(str)));
-}
-
-int main(void)
-{
-	/* test suite section */
-	CU_pSuite suite = NULL;
-	if(CUE_SUCCESS != CU_initialize_registry())
-		goto exit_2;
-	suite = CU_add_suite("list test suite", init_suite, clean_suite);
-	if(NULL == suite)
-		goto exit_1;
-
-	/* test case section */
-	if(
-			NULL == CU_add_test(suite, "ringbuffer size", test_ringbuffer_size)
-	  )
-		goto exit_1;
-
-	/* basic interface using tests */
-	CU_basic_set_mode(CU_BRM_VERBOSE);
-	CU_basic_run_tests();
-	CU_basic_show_failures(CU_get_failure_list());
-
-#if 0
-	/* automated interface using tests */
-	CU_automated_run_tests();
-	CU_list_tests_to_file();
-#endif
-
-exit_1:
-	CU_cleanup_registry();
-exit_2:
-	return CU_get_error();
-}