diff --git a/.clangd b/.clangd new file mode 100644 index 0000000..50c62c4 --- /dev/null +++ b/.clangd @@ -0,0 +1,11 @@ +CompileFlags: + Add: + - '-ferror-limit=0' + - '-Wno-implicit-int' + CompilationDatabase: build/Debug +Diagnostics: + Suppress: + - unused-includes + - unknown_typename + - unknown_typename_suggest + - typename_requires_specqual diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..185b49a --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +build +mx.scratch +!.settings \ No newline at end of file diff --git a/.mxproject b/.mxproject index 3293382..c47f6bc 100644 --- a/.mxproject +++ b/.mxproject @@ -1,5 +1,5 @@ [PreviousLibFiles] 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[PreviousUsedKeilFiles] SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\i2c.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c; @@ -39,3 +39,8 @@ SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; +[PreviousUsedCMakes] 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+HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json new file mode 100644 index 0000000..7e6cbbe --- /dev/null +++ b/.settings/bundles-lock.store.json @@ -0,0 +1,147 @@ +{ + "resolved": [ + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "darwin", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9", + "platform": "darwin", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + } + ] + }, + { + "name": "gnu-tools-for-stm32-13_3_1-description", + "version": "1.0.1+st.1", + "platform": "all", + "selected_by": [ + { + "name": "gnu-tools-for-stm32-13_3_1-description", + "version": ">=0.0.1" + } + ] + }, + { + "name": "ninja", + "version": "1.13.1+st.1", + "platform": "darwin", + "selected_by": [ + { + "name": "ninja", + "version": "1.13.1+st.1" + } + ] + }, + { + "name": "ninja", + "version": "1.13.1+st.1", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "ninja", + "version": "1.13.1+st.1" + } + ] + }, + { + "name": "ninja", + "version": "1.13.1+st.1", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "ninja", + "version": "1.13.1+st.1" + } + ] + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3", + "platform": "darwin", + "selected_by": [ + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] + } + ] +} diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json new file mode 100644 index 0000000..d036e56 --- /dev/null +++ b/.settings/bundles.store.json @@ -0,0 +1,20 @@ +{ + "bundles": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + }, + { + "name": "ninja", + "version": "1.13.1+st.1" + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] +} diff --git a/.settings/ide.store.json b/.settings/ide.store.json new file mode 100644 index 0000000..6ffc181 --- /dev/null +++ b/.settings/ide.store.json @@ -0,0 +1,6 @@ +{ + "device": "STM32F407IGH6", + "core": "Cortex-M4", + "order": 0, + "toolchain": "GCC" +} \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..233ee1f --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,8 @@ +{ + "configurations": [ + { + "name": "STM32", + "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json" + } + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index 6cd391a..cd585b9 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,5 +1,18 @@ { "files.associations": { "chassis.h": "c" - } + }, + "cmake.cmakePath": "cube-cmake", + "cmake.configureArgs": [ + "-DCMAKE_COMMAND=cube-cmake" + ], + "cmake.preferredGenerators": [ + "Ninja" + ], + "stm32cube-ide-clangd.path": "cube", + "stm32cube-ide-clangd.arguments": [ + "starm-clangd", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe" + ] } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..56977f2 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,111 @@ +cmake_minimum_required(VERSION 3.22) + +# +# This file is generated only once, +# and is not re-generated if converter is called multiple times. +# +# User is free to modify the file as much as necessary +# + +# Setup compiler settings +set(CMAKE_C_STANDARD 11) +set(CMAKE_C_STANDARD_REQUIRED ON) +set(CMAKE_C_EXTENSIONS ON) + + +# Define the build type +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "Debug") +endif() + +# Set the project name +set(CMAKE_PROJECT_NAME hero) + +# Enable compile command to ease indexing with e.g. clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) + +# Core project settings +project(${CMAKE_PROJECT_NAME}) +message("Build type: " ${CMAKE_BUILD_TYPE}) + +# Enable CMake support for ASM and C languages +enable_language(C ASM) + +# Create an executable object type +add_executable(${CMAKE_PROJECT_NAME}) + +# Add STM32CubeMX generated sources +add_subdirectory(cmake/stm32cubemx) + +# Link directories setup +target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined library search paths +) + +# Add sources to executable +target_sources(${CMAKE_PROJECT_NAME} PRIVATE + # Add user sources here + # User/bsp sources + User/bsp/can.c + User/bsp/dwt.c + User/bsp/gpio.c + User/bsp/mm.c + User/bsp/pwm.c + User/bsp/spi.c + User/bsp/time.c + User/bsp/uart.c + + # User/component sources + User/component/ahrs.c + User/component/at9s_pro_cmd.c + User/component/filter.c + User/component/mixer.c + User/component/pid.c + User/component/user_math.c + + # User/device sources + User/device/AT9S_Pro.c + User/device/bmi088.c + User/device/motor.c + User/device/motor_dm.c + User/device/motor_rm.c + User/device/vofa.c + + # User/module sources + User/module/chassis.c + User/module/config.c + User/module/gimbal.c + User/module/shoot.c + + # User/task sources + User/task/atti_esti.c + User/task/blink.c + User/task/cmd.c + User/task/ctrl_chassis.c + User/task/ctrl_gimbal.c + User/task/ctrl_shoot.c + User/task/init.c + User/task/rc.c + User/task/user_task.c +) + +# Add include paths +target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined include paths + User +) + +# Add project symbols (macros) +target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined symbols +) + +# Remove wrong libob.a library dependency when using cpp files +list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob) + +# Add linked libraries +target_link_libraries(${CMAKE_PROJECT_NAME} + stm32cubemx + + # Add user defined libraries +) diff --git a/CMakePresets.json b/CMakePresets.json new file mode 100644 index 0000000..9a0c120 --- /dev/null +++ b/CMakePresets.json @@ -0,0 +1,38 @@ +{ + "version": 3, + "configurePresets": [ + { + "name": "default", + "hidden": true, + "generator": "Ninja", + "binaryDir": "${sourceDir}/build/${presetName}", + "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake", + "cacheVariables": { + } + }, + { + "name": "Debug", + "inherits": "default", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Debug" + } + }, + { + "name": "Release", + "inherits": "default", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Release" + } + } + ], + "buildPresets": [ + { + "name": "Debug", + "configurePreset": "Debug" + }, + { + "name": "Release", + "configurePreset": "Release" + } + ] +} \ No newline at end of file diff --git a/Core/Src/syscalls.c b/Core/Src/syscalls.c new file mode 100644 index 0000000..e10d76f --- /dev/null +++ b/Core/Src/syscalls.c @@ -0,0 +1,244 @@ +/** + ****************************************************************************** + * @file syscalls.c + * @author Auto-generated by STM32CubeMX + * @brief Minimal System calls file + * + * For more information about which c-functions + * need which of these lowlevel functions + * please consult the Newlib or Picolibc libc-manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2020-2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include +#include +#include +#include +#include +#include +#include + + +/* Variables */ +extern int __io_putchar(int ch) __attribute__((weak)); +extern int __io_getchar(void) __attribute__((weak)); + + +char *__env[1] = { 0 }; +char **environ = __env; + + +/* Functions */ +void initialise_monitor_handles() +{ +} + +int _getpid(void) +{ + return 1; +} + +int _kill(int pid, int sig) +{ + (void)pid; + (void)sig; + errno = EINVAL; + return -1; +} + +void _exit (int status) +{ + _kill(status, -1); + while (1) {} /* Make sure we hang here */ +} + +__attribute__((weak)) int _read(int file, char *ptr, int len) +{ + (void)file; + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + *ptr++ = __io_getchar(); + } + + return len; +} + +__attribute__((weak)) int _write(int file, char *ptr, int len) +{ + (void)file; + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + __io_putchar(*ptr++); + } + return len; +} + +int _close(int file) +{ + (void)file; + return -1; +} + + +int _fstat(int file, struct stat *st) +{ + (void)file; + st->st_mode = S_IFCHR; + return 0; +} + +int _isatty(int file) +{ + (void)file; + return 1; +} + +int _lseek(int file, int ptr, int dir) +{ + (void)file; + (void)ptr; + (void)dir; + return 0; +} + +int _open(char *path, int flags, ...) +{ + (void)path; + (void)flags; + /* Pretend like we always fail */ + return -1; +} + +int _wait(int *status) +{ + (void)status; + errno = ECHILD; + return -1; +} + +int _unlink(char *name) +{ + (void)name; + errno = ENOENT; + return -1; +} + +clock_t _times(struct tms *buf) +{ + (void)buf; + return -1; +} + +int _stat(const char *file, struct stat *st) +{ + (void)file; + st->st_mode = S_IFCHR; + return 0; +} + +int _link(char *old, char *new) +{ + (void)old; + (void)new; + errno = EMLINK; + return -1; +} + +int _fork(void) +{ + errno = EAGAIN; + return -1; +} + +int _execve(char *name, char **argv, char **env) +{ + (void)name; + (void)argv; + (void)env; + errno = ENOMEM; + return -1; +} + +// --- Picolibc Specific Section --- +#if defined(__PICOLIBC__) + +/** + * @brief Picolibc helper function to output a character to a FILE stream. + * This redirects the output to the low-level __io_putchar function. + * @param c Character to write. + * @param file FILE stream pointer (ignored). + * @retval int The character written. + */ +static int starm_putc(char c, FILE *file) +{ + (void) file; + __io_putchar(c); + return c; +} + +/** + * @brief Picolibc helper function to input a character from a FILE stream. + * This redirects the input from the low-level __io_getchar function. + * @param file FILE stream pointer (ignored). + * @retval int The character read, cast to an unsigned char then int. + */ +static int starm_getc(FILE *file) +{ + unsigned char c; + (void) file; + c = __io_getchar(); + return c; +} + +// Define and initialize the standard I/O streams for Picolibc. +// FDEV_SETUP_STREAM connects the starm_putc and starm_getc helper functions to a FILE structure. +// _FDEV_SETUP_RW indicates the stream is for reading and writing. +static FILE __stdio = FDEV_SETUP_STREAM(starm_putc, + starm_getc, + NULL, + _FDEV_SETUP_RW); + +// Assign the standard stream pointers (stdin, stdout, stderr) to the initialized stream. +// Picolibc uses these pointers for standard I/O operations (printf, scanf, etc.). +FILE *const stdin = &__stdio; +__strong_reference(stdin, stdout); +__strong_reference(stdin, stderr); + +// Create strong aliases mapping standard C library function names (without underscore) +// to the implemented system call stubs (with underscore). Picolibc uses these +// standard names internally, so this linking is required. +__strong_reference(_read, read); +__strong_reference(_write, write); +__strong_reference(_times, times); +__strong_reference(_execve, execve); +__strong_reference(_fork, fork); +__strong_reference(_link, link); +__strong_reference(_unlink, unlink); +__strong_reference(_stat, stat); +__strong_reference(_wait, wait); +__strong_reference(_open, open); +__strong_reference(_close, close); +__strong_reference(_lseek, lseek); +__strong_reference(_isatty, isatty); +__strong_reference(_fstat, fstat); +__strong_reference(_exit, exit); +__strong_reference(_kill, kill); +__strong_reference(_getpid, getpid); + +#endif //__PICOLIBC__ diff --git a/Core/Src/sysmem.c b/Core/Src/sysmem.c new file mode 100644 index 0000000..a875d42 --- /dev/null +++ b/Core/Src/sysmem.c @@ -0,0 +1,87 @@ +/** + ****************************************************************************** + * @file sysmem.c + * @author Generated by STM32CubeMX + * @brief System Memory calls file + * + * For more information about which C functions + * need which of these lowlevel functions + * please consult the Newlib or Picolibc libc manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include +#include + +/** + * Pointer to the current high watermark of the heap usage + */ +static uint8_t *__sbrk_heap_end = NULL; + +/** + * @brief _sbrk() allocates memory to the newlib heap and is used by malloc + * and others from the C library + * + * @verbatim + * ############################################################################ + * # .data # .bss # newlib heap # MSP stack # + * # # # # Reserved by _Min_Stack_Size # + * ############################################################################ + * ^-- RAM start ^-- _end _estack, RAM end --^ + * @endverbatim + * + * This implementation starts allocating at the '_end' linker symbol + * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack + * The implementation considers '_estack' linker symbol to be RAM end + * NOTE: If the MSP stack, at any point during execution, grows larger than the + * reserved size, please increase the '_Min_Stack_Size'. + * + * @param incr Memory size + * @return Pointer to allocated memory + */ +void *_sbrk(ptrdiff_t incr) +{ + extern uint8_t _end; /* Symbol defined in the linker script */ + extern uint8_t _estack; /* Symbol defined in the linker script */ + extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */ + const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size; + const uint8_t *max_heap = (uint8_t *)stack_limit; + uint8_t *prev_heap_end; + + /* Initialize heap end at first call */ + if (NULL == __sbrk_heap_end) + { + __sbrk_heap_end = &_end; + } + + /* Protect heap from growing into the reserved MSP stack */ + if (__sbrk_heap_end + incr > max_heap) + { + errno = ENOMEM; + return (void *)-1; + } + + prev_heap_end = __sbrk_heap_end; + __sbrk_heap_end += incr; + + return (void *)prev_heap_end; +} + +#if defined(__PICOLIBC__) + // Picolibc expects syscalls without the leading underscore. + // This creates a strong alias so that + // calls to `sbrk()` are resolved to our `_sbrk()` implementation. + __strong_reference(_sbrk, sbrk); +#endif diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c similarity index 100% rename from Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c rename to Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h similarity index 100% rename from Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h rename to Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h diff --git a/STM32F407XX_FLASH.ld b/STM32F407XX_FLASH.ld new file mode 100644 index 0000000..69b01f5 --- /dev/null +++ b/STM32F407XX_FLASH.ld @@ -0,0 +1,269 @@ +/* +****************************************************************************** +** + +** File : LinkerScript.ld +** +** Author : STM32CubeMX +** +** Abstract : Linker script for STM32F407IGHx series +** 1024Kbytes FLASH and 192Kbytes 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 +** +** Distribution: The file is distributed “as is,” without any warranty +** of any kind. +** +***************************************************************************** +** @attention +** +**

© COPYRIGHT(c) 2025 STMicroelectronics

+** +** Redistribution and use in source and binary forms, with or without modification, +** are permitted provided that the following conditions are met: +** 1. Redistributions of source code must retain the above copyright notice, +** this list of conditions and the following disclaimer. +** 2. Redistributions in binary form must reproduce the above copyright notice, +** this list of conditions and the following disclaimer in the documentation +** and/or other materials provided with the distribution. +** 3. Neither the name of STMicroelectronics nor the names of its contributors +** may be used to endorse or promote products derived from this software +** without specific prior written permission. +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +** +***************************************************************************** +*/ + +/* Entry Point */ +ENTRY(Reset_Handler) + +/* Specify the memory areas */ +MEMORY +{ +RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K +CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K +FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K +} + +/* Highest address of the user mode stack */ +_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */ +/* Generate a link error if heap and stack don't fit into RAM */ +_Min_Heap_Size = 0x1000; /* required amount of heap */ +_Min_Stack_Size = 0x1000; /* required amount of stack */ + +/* Define output sections */ +SECTIONS +{ + /* The startup code goes first into FLASH */ + .isr_vector : + { + . = ALIGN(4); + KEEP(*(.isr_vector)) /* Startup code */ + . = ALIGN(4); + } >FLASH + + /* The program code and other data goes into FLASH */ + .text : + { + . = ALIGN(4); + *(.text) /* .text sections (code) */ + *(.text*) /* .text* sections (code) */ + *(.glue_7) /* glue arm to thumb code */ + *(.glue_7t) /* glue thumb to arm code */ + *(.eh_frame) + + KEEP (*(.init)) + KEEP (*(.fini)) + + . = ALIGN(4); + _etext = .; /* define a global symbols at end of code */ + } >FLASH + + /* Constant data goes into FLASH */ + .rodata : + { + . = ALIGN(4); + *(.rodata) /* .rodata sections (constants, strings, etc.) */ + *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ + . = ALIGN(4); + } >FLASH + + .ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + *(.ARM.extab* .gnu.linkonce.armextab.*) + . = ALIGN(4); + } >FLASH + + .ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + __exidx_start = .; + *(.ARM.exidx*) + __exidx_end = .; + . = ALIGN(4); + } >FLASH + + .preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + PROVIDE_HIDDEN (__preinit_array_start = .); + KEEP (*(.preinit_array*)) + PROVIDE_HIDDEN (__preinit_array_end = .); + . = ALIGN(4); + } >FLASH + + .init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + PROVIDE_HIDDEN (__init_array_start = .); + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array*)) + PROVIDE_HIDDEN (__init_array_end = .); + . = ALIGN(4); + } >FLASH + + .fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + PROVIDE_HIDDEN (__fini_array_start = .); + KEEP (*(SORT(.fini_array.*))) + KEEP (*(.fini_array*)) + PROVIDE_HIDDEN (__fini_array_end = .); + . = ALIGN(4); + } >FLASH + + _siccmram = LOADADDR(.ccmram); + + /* CCM-RAM section + * + * IMPORTANT NOTE! + * If initialized variables will be placed in this section, + * the startup code needs to be modified to copy the init-values. + */ + .ccmram : + { + . = ALIGN(4); + _sccmram = .; /* create a global symbol at ccmram start */ + *(.ccmram) + *(.ccmram*) + + . = ALIGN(4); + _eccmram = .; /* create a global symbol at ccmram end */ + } >CCMRAM AT> FLASH + + /* used by the startup to initialize data */ + _sidata = LOADADDR(.data); + + /* Initialized data sections goes into RAM, load LMA copy after code */ + .data : + { + . = ALIGN(4); + _sdata = .; /* create a global symbol at data start */ + *(.data) /* .data sections */ + *(.data*) /* .data* sections */ + *(.RamFunc) /* .RamFunc sections */ + *(.RamFunc*) /* .RamFunc* sections */ + + . = ALIGN(4); + } >RAM AT> FLASH + + /* Initialized TLS data section */ + .tdata : ALIGN(4) + { + *(.tdata .tdata.* .gnu.linkonce.td.*) + . = ALIGN(4); + _edata = .; /* define a global symbol at data end */ + PROVIDE(__data_end = .); + PROVIDE(__tdata_end = .); + } >RAM AT> FLASH + + PROVIDE( __tdata_start = ADDR(.tdata) ); + PROVIDE( __tdata_size = __tdata_end - __tdata_start ); + + PROVIDE( __data_start = ADDR(.data) ); + PROVIDE( __data_size = __data_end - __data_start ); + + PROVIDE( __tdata_source = LOADADDR(.tdata) ); + PROVIDE( __tdata_source_end = LOADADDR(.tdata) + SIZEOF(.tdata) ); + PROVIDE( __tdata_source_size = __tdata_source_end - __tdata_source ); + + PROVIDE( __data_source = LOADADDR(.data) ); + PROVIDE( __data_source_end = __tdata_source_end ); + PROVIDE( __data_source_size = __data_source_end - __data_source ); + /* Uninitialized data section */ + .tbss (NOLOAD) : ALIGN(4) + { + /* This is used by the startup in order to initialize the .bss secion */ + _sbss = .; /* define a global symbol at bss start */ + __bss_start__ = _sbss; + *(.tbss .tbss.*) + . = ALIGN(4); + PROVIDE( __tbss_end = . ); + } >RAM + + PROVIDE( __tbss_start = ADDR(.tbss) ); + PROVIDE( __tbss_size = __tbss_end - __tbss_start ); + PROVIDE( __tbss_offset = ADDR(.tbss) - ADDR(.tdata) ); + + PROVIDE( __tls_base = __tdata_start ); + PROVIDE( __tls_end = __tbss_end ); + PROVIDE( __tls_size = __tls_end - __tls_base ); + PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) ); + PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1) ); + PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) ); + PROVIDE( __arm64_tls_tcb_offset = MAX(16, __tls_align) ); + + .bss (NOLOAD) : ALIGN(4) + { + *(.bss) + *(.bss*) + *(COMMON) + + . = ALIGN(4); + _ebss = .; /* define a global symbol at bss end */ + __bss_end__ = _ebss; + PROVIDE( __bss_end = .); + } >RAM + PROVIDE( __non_tls_bss_start = ADDR(.bss) ); + + PROVIDE( __bss_start = __tbss_start ); + PROVIDE( __bss_size = __bss_end - __bss_start ); + + /* User_heap_stack section, used to check that there is enough RAM left */ + ._user_heap_stack (NOLOAD) : + { + . = ALIGN(8); + PROVIDE ( end = . ); + PROVIDE ( _end = . ); + . = . + _Min_Heap_Size; + . = . + _Min_Stack_Size; + . = ALIGN(8); + } >RAM + + + + /* Remove information from the standard libraries */ + /DISCARD/ : + { + libc.a:* ( * ) + libm.a:* ( * ) + libgcc.a:* ( * ) + } + +} diff --git a/cmake/gcc-arm-none-eabi.cmake b/cmake/gcc-arm-none-eabi.cmake new file mode 100644 index 0000000..e665e83 --- /dev/null +++ b/cmake/gcc-arm-none-eabi.cmake @@ -0,0 +1,43 @@ +set(CMAKE_SYSTEM_NAME Generic) +set(CMAKE_SYSTEM_PROCESSOR arm) + +set(CMAKE_C_COMPILER_ID GNU) +set(CMAKE_CXX_COMPILER_ID GNU) + +# Some default GCC settings +# arm-none-eabi- must be part of path environment +set(TOOLCHAIN_PREFIX arm-none-eabi-) + +set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc) +set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER}) +set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++) +set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++) +set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy) +set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size) + +set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_C ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf") + +set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) + +# MCU specific flags +set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}") +set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP") +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections") + +set(CMAKE_C_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_C_FLAGS_RELEASE "-Os -g0") +set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0") + +set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics") + +set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage") +set(TOOLCHAIN_LINK_LIBRARIES "m") diff --git a/cmake/starm-clang.cmake b/cmake/starm-clang.cmake new file mode 100644 index 0000000..b675e8f --- /dev/null +++ b/cmake/starm-clang.cmake @@ -0,0 +1,65 @@ +set(CMAKE_SYSTEM_NAME Generic) +set(CMAKE_SYSTEM_PROCESSOR arm) + +set(CMAKE_C_COMPILER_ID Clang) +set(CMAKE_CXX_COMPILER_ID Clang) + +# Some default llvm settings +set(TOOLCHAIN_PREFIX starm-) + +set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}clang) +set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER}) +set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}clang++) +set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}clang) +set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy) +set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size) + +set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_C ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf") + +set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) + +# STARM_TOOLCHAIN_CONFIG allows you to choose the toolchain configuration. +# Possible values are: +# "STARM_HYBRID" : Hybrid configuration using starm-clang Assemler and Compiler and GNU Linker +# "STARM_NEWLIB" : starm-clang toolchain with NEWLIB C library +# "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library +set(STARM_TOOLCHAIN_CONFIG "STARM_HYBRID") + +if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID") + set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"") +elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB") + set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg") +endif() + +# MCU specific flags +set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ${TOOLCHAIN_MULTILIBS}") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}") +set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP") +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections") + +set(CMAKE_C_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_C_FLAGS_RELEASE "-Os -g0") +set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0") + +set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics") + +set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}") + +if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs") + set(TOOLCHAIN_LINK_LIBRARIES "m") +elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys") +elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted") + +endif() + +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage ") diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt new file mode 100644 index 0000000..85a94fc --- /dev/null +++ b/cmake/stm32cubemx/CMakeLists.txt @@ -0,0 +1,123 @@ +cmake_minimum_required(VERSION 3.22) +# Enable CMake support for ASM and C languages +enable_language(C ASM) +# STM32CubeMX generated symbols (macros) +set(MX_Defines_Syms + USE_HAL_DRIVER + STM32F407xx + $<$:DEBUG> +) + +# STM32CubeMX generated include paths +set(MX_Include_Dirs + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include +) + +# STM32CubeMX generated application sources +set(MX_Application_Src + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/i2c.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32f407xx.s +) + +# STM32 HAL/LL Drivers +set(STM32_Drivers_Src + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c +) + +# Drivers Midllewares + + +set(FreeRTOS_Src + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c +) + +# Link directories setup +set(MX_LINK_DIRS + +) +# Project static libraries +set(MX_LINK_LIBS + STM32_Drivers + ${TOOLCHAIN_LINK_LIBRARIES} + FreeRTOS +) +# Interface library for includes and symbols +add_library(stm32cubemx INTERFACE) +target_include_directories(stm32cubemx INTERFACE ${MX_Include_Dirs}) +target_compile_definitions(stm32cubemx INTERFACE ${MX_Defines_Syms}) + +# Create STM32_Drivers static library +add_library(STM32_Drivers OBJECT) +target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src}) +target_link_libraries(STM32_Drivers PUBLIC stm32cubemx) + + +# Create FreeRTOS static library +add_library(FreeRTOS OBJECT) +target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src}) +target_link_libraries(FreeRTOS PUBLIC stm32cubemx) + +# Add STM32CubeMX generated application sources to the project +target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src}) + +# Link directories setup +target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_DIRS}) + +# Add libraries to the project +target_link_libraries(${CMAKE_PROJECT_NAME} ${MX_LINK_LIBS}) + +# Add the map file to the list of files to be removed with 'clean' target +set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES ADDITIONAL_CLEAN_FILES ${CMAKE_PROJECT_NAME}.map) + +# Validate that STM32CubeMX code is compatible with C standard +if((CMAKE_C_STANDARD EQUAL 90) OR (CMAKE_C_STANDARD EQUAL 99)) + message(ERROR "Generated code requires C11 or higher") +endif() diff --git a/hero.ioc b/hero.ioc index 4907325..328171b 100644 --- a/hero.ioc +++ b/hero.ioc @@ -319,7 +319,7 @@ ProjectManager.ProjectName=hero ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack= ProjectManager.StackSize=0x1000 -ProjectManager.TargetToolchain=MDK-ARM V5.32 +ProjectManager.TargetToolchain=CMake ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= diff --git a/startup_stm32f407xx.s b/startup_stm32f407xx.s new file mode 100644 index 0000000..cc5f27e --- /dev/null +++ b/startup_stm32f407xx.s @@ -0,0 +1,508 @@ +/** + ****************************************************************************** + * @file startup_stm32f407xx.s + * @author MCD Application Team + * @brief STM32F407xx Devices vector table for GCC based toolchains. + * This module performs: + * - Set the initial SP + * - Set the initial PC == Reset_Handler, + * - Set the vector table entries with the exceptions ISR address + * - Branches to main in the C library (which eventually + * calls main()). + * After Reset the Cortex-M4 processor is in Thread mode, + * priority is Privileged, and the Stack is set to Main. + ****************************************************************************** + * @attention + * + * Copyright (c) 2017 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + .syntax unified + .cpu cortex-m4 + .fpu softvfp + .thumb + +.global g_pfnVectors +.global Default_Handler + +/* start address for the initialization values of the .data section. +defined in linker script */ +.word _sidata +/* start address for the .data section. defined in linker script */ +.word _sdata +/* end address for the .data section. defined in linker script */ +.word _edata +/* start address for the .bss section. defined in linker script */ +.word _sbss +/* end address for the .bss section. defined in linker script */ +.word _ebss +/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ + +/** + * @brief This is the code that gets called when the processor first + * starts execution following a reset event. Only the absolutely + * necessary set is performed, after which the application + * supplied main() routine is called. + * @param None + * @retval : None +*/ + + .section .text.Reset_Handler + .weak Reset_Handler + .type Reset_Handler, %function +Reset_Handler: + ldr sp, =_estack /* set stack pointer */ + +/* Call the clock system initialization function.*/ + bl SystemInit + +/* Copy the data segment initializers from flash to SRAM */ + ldr r0, =_sdata + ldr r1, =_edata + ldr r2, =_sidata + movs r3, #0 + b LoopCopyDataInit + +CopyDataInit: + ldr r4, [r2, r3] + str r4, [r0, r3] + adds r3, r3, #4 + +LoopCopyDataInit: + adds r4, r0, r3 + cmp r4, r1 + bcc CopyDataInit + +/* Zero fill the bss segment. */ + ldr r2, =_sbss + ldr r4, =_ebss + movs r3, #0 + b LoopFillZerobss + +FillZerobss: + str r3, [r2] + adds r2, r2, #4 + +LoopFillZerobss: + cmp r2, r4 + bcc FillZerobss + +/* Call static constructors */ + bl __libc_init_array +/* Call the application's entry point.*/ + bl main + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief This is the code that gets called when the processor receives an + * unexpected interrupt. This simply enters an infinite loop, preserving + * the system state for examination by a debugger. + * @param None + * @retval None +*/ + .section .text.Default_Handler,"ax",%progbits +Default_Handler: +Infinite_Loop: + b Infinite_Loop + .size Default_Handler, .-Default_Handler +/****************************************************************************** +* +* The minimal vector table for a Cortex M3. Note that the proper constructs +* must be placed on this to ensure that it ends up at physical address +* 0x0000.0000. +* +*******************************************************************************/ + .section .isr_vector,"a",%progbits + .type g_pfnVectors, %object + + +g_pfnVectors: + .word _estack + .word Reset_Handler + .word NMI_Handler + .word HardFault_Handler + .word MemManage_Handler + .word BusFault_Handler + .word UsageFault_Handler + .word 0 + .word 0 + .word 0 + .word 0 + .word SVC_Handler + .word DebugMon_Handler + .word 0 + .word PendSV_Handler + .word SysTick_Handler + + /* External Interrupts */ + .word WWDG_IRQHandler /* Window WatchDog */ + .word PVD_IRQHandler /* PVD through EXTI Line detection */ + .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ + .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ + .word FLASH_IRQHandler /* FLASH */ + .word RCC_IRQHandler /* RCC */ + .word EXTI0_IRQHandler /* EXTI Line0 */ + .word EXTI1_IRQHandler /* EXTI Line1 */ + .word EXTI2_IRQHandler /* EXTI Line2 */ + .word EXTI3_IRQHandler /* EXTI Line3 */ + .word EXTI4_IRQHandler /* EXTI Line4 */ + .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ + .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ + .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ + .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ + .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ + .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ + .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ + .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ + .word CAN1_TX_IRQHandler /* CAN1 TX */ + .word CAN1_RX0_IRQHandler /* CAN1 RX0 */ + .word CAN1_RX1_IRQHandler /* CAN1 RX1 */ + .word CAN1_SCE_IRQHandler /* CAN1 SCE */ + .word EXTI9_5_IRQHandler /* External Line[9:5]s */ + .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */ + .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */ + .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */ + .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ + .word TIM2_IRQHandler /* TIM2 */ + .word TIM3_IRQHandler /* TIM3 */ + .word TIM4_IRQHandler /* TIM4 */ + .word I2C1_EV_IRQHandler /* I2C1 Event */ + .word I2C1_ER_IRQHandler /* I2C1 Error */ + .word I2C2_EV_IRQHandler /* I2C2 Event */ + .word I2C2_ER_IRQHandler /* I2C2 Error */ + .word SPI1_IRQHandler /* SPI1 */ + .word SPI2_IRQHandler /* SPI2 */ + .word USART1_IRQHandler /* USART1 */ + .word USART2_IRQHandler /* USART2 */ + .word USART3_IRQHandler /* USART3 */ + .word EXTI15_10_IRQHandler /* External Line[15:10]s */ + .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ + .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */ + .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ + .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ + .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ + .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ + .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ + .word FSMC_IRQHandler /* FSMC */ + .word SDIO_IRQHandler /* SDIO */ + .word TIM5_IRQHandler /* TIM5 */ + .word SPI3_IRQHandler /* SPI3 */ + .word UART4_IRQHandler /* UART4 */ + .word UART5_IRQHandler /* UART5 */ + .word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */ + .word TIM7_IRQHandler /* TIM7 */ + .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ + .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ + .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ + .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ + .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ + .word ETH_IRQHandler /* Ethernet */ + .word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */ + .word CAN2_TX_IRQHandler /* CAN2 TX */ + .word CAN2_RX0_IRQHandler /* CAN2 RX0 */ + .word CAN2_RX1_IRQHandler /* CAN2 RX1 */ + .word CAN2_SCE_IRQHandler /* CAN2 SCE */ + .word OTG_FS_IRQHandler /* USB OTG FS */ + .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ + .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ + .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ + .word USART6_IRQHandler /* USART6 */ + .word I2C3_EV_IRQHandler /* I2C3 event */ + .word I2C3_ER_IRQHandler /* I2C3 error */ + .word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */ + .word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */ + .word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */ + .word OTG_HS_IRQHandler /* USB OTG HS */ + .word DCMI_IRQHandler /* DCMI */ + .word 0 /* CRYP crypto */ + .word HASH_RNG_IRQHandler /* Hash and Rng */ + .word FPU_IRQHandler /* FPU */ + + + + .size g_pfnVectors, .-g_pfnVectors + +/******************************************************************************* +* +* Provide weak aliases for each Exception handler to the Default_Handler. +* As they are weak aliases, any function with the same name will override +* this definition. +* +*******************************************************************************/ + .weak NMI_Handler + .thumb_set NMI_Handler,Default_Handler + + .weak HardFault_Handler + .thumb_set HardFault_Handler,Default_Handler + + .weak MemManage_Handler + .thumb_set MemManage_Handler,Default_Handler + + .weak BusFault_Handler + .thumb_set BusFault_Handler,Default_Handler + + .weak UsageFault_Handler + .thumb_set UsageFault_Handler,Default_Handler + + .weak SVC_Handler + .thumb_set SVC_Handler,Default_Handler + + .weak DebugMon_Handler + .thumb_set DebugMon_Handler,Default_Handler + + .weak PendSV_Handler + .thumb_set PendSV_Handler,Default_Handler + + .weak SysTick_Handler + .thumb_set SysTick_Handler,Default_Handler + + .weak WWDG_IRQHandler + .thumb_set WWDG_IRQHandler,Default_Handler + + .weak PVD_IRQHandler + .thumb_set PVD_IRQHandler,Default_Handler + + .weak TAMP_STAMP_IRQHandler + .thumb_set TAMP_STAMP_IRQHandler,Default_Handler + + .weak RTC_WKUP_IRQHandler + .thumb_set RTC_WKUP_IRQHandler,Default_Handler + + .weak FLASH_IRQHandler + .thumb_set FLASH_IRQHandler,Default_Handler + + .weak RCC_IRQHandler + .thumb_set RCC_IRQHandler,Default_Handler + + .weak EXTI0_IRQHandler + .thumb_set EXTI0_IRQHandler,Default_Handler + + .weak EXTI1_IRQHandler + .thumb_set EXTI1_IRQHandler,Default_Handler + + .weak EXTI2_IRQHandler + .thumb_set EXTI2_IRQHandler,Default_Handler + + .weak EXTI3_IRQHandler + .thumb_set EXTI3_IRQHandler,Default_Handler + + .weak EXTI4_IRQHandler + .thumb_set EXTI4_IRQHandler,Default_Handler + + .weak DMA1_Stream0_IRQHandler + .thumb_set DMA1_Stream0_IRQHandler,Default_Handler + + .weak DMA1_Stream1_IRQHandler + .thumb_set DMA1_Stream1_IRQHandler,Default_Handler + + .weak DMA1_Stream2_IRQHandler + .thumb_set DMA1_Stream2_IRQHandler,Default_Handler + + .weak DMA1_Stream3_IRQHandler + .thumb_set DMA1_Stream3_IRQHandler,Default_Handler + + .weak DMA1_Stream4_IRQHandler + .thumb_set DMA1_Stream4_IRQHandler,Default_Handler + + .weak DMA1_Stream5_IRQHandler + .thumb_set DMA1_Stream5_IRQHandler,Default_Handler + + .weak DMA1_Stream6_IRQHandler + .thumb_set DMA1_Stream6_IRQHandler,Default_Handler + + .weak ADC_IRQHandler + .thumb_set ADC_IRQHandler,Default_Handler + + .weak CAN1_TX_IRQHandler + .thumb_set CAN1_TX_IRQHandler,Default_Handler + + .weak CAN1_RX0_IRQHandler + .thumb_set CAN1_RX0_IRQHandler,Default_Handler + + .weak CAN1_RX1_IRQHandler + .thumb_set CAN1_RX1_IRQHandler,Default_Handler + + .weak CAN1_SCE_IRQHandler + .thumb_set CAN1_SCE_IRQHandler,Default_Handler + + .weak EXTI9_5_IRQHandler + .thumb_set EXTI9_5_IRQHandler,Default_Handler + + .weak TIM1_BRK_TIM9_IRQHandler + .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler + + .weak TIM1_UP_TIM10_IRQHandler + .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler + + .weak TIM1_TRG_COM_TIM11_IRQHandler + .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler + + .weak TIM1_CC_IRQHandler + .thumb_set TIM1_CC_IRQHandler,Default_Handler + + .weak TIM2_IRQHandler + .thumb_set TIM2_IRQHandler,Default_Handler + + .weak TIM3_IRQHandler + .thumb_set TIM3_IRQHandler,Default_Handler + + .weak TIM4_IRQHandler + .thumb_set TIM4_IRQHandler,Default_Handler + + .weak I2C1_EV_IRQHandler + .thumb_set I2C1_EV_IRQHandler,Default_Handler + + .weak I2C1_ER_IRQHandler + .thumb_set I2C1_ER_IRQHandler,Default_Handler + + .weak I2C2_EV_IRQHandler + .thumb_set I2C2_EV_IRQHandler,Default_Handler + + .weak I2C2_ER_IRQHandler + .thumb_set I2C2_ER_IRQHandler,Default_Handler + + .weak SPI1_IRQHandler + .thumb_set SPI1_IRQHandler,Default_Handler + + .weak SPI2_IRQHandler + .thumb_set SPI2_IRQHandler,Default_Handler + + .weak USART1_IRQHandler + .thumb_set USART1_IRQHandler,Default_Handler + + .weak USART2_IRQHandler + .thumb_set USART2_IRQHandler,Default_Handler + + .weak USART3_IRQHandler + .thumb_set USART3_IRQHandler,Default_Handler + + .weak EXTI15_10_IRQHandler + .thumb_set EXTI15_10_IRQHandler,Default_Handler + + .weak RTC_Alarm_IRQHandler + .thumb_set RTC_Alarm_IRQHandler,Default_Handler + + .weak OTG_FS_WKUP_IRQHandler + .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler + + .weak TIM8_BRK_TIM12_IRQHandler + .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler + + .weak TIM8_UP_TIM13_IRQHandler + .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler + + .weak TIM8_TRG_COM_TIM14_IRQHandler + .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler + + .weak TIM8_CC_IRQHandler + .thumb_set TIM8_CC_IRQHandler,Default_Handler + + .weak DMA1_Stream7_IRQHandler + .thumb_set DMA1_Stream7_IRQHandler,Default_Handler + + .weak FSMC_IRQHandler + .thumb_set FSMC_IRQHandler,Default_Handler + + .weak SDIO_IRQHandler + .thumb_set SDIO_IRQHandler,Default_Handler + + .weak TIM5_IRQHandler + .thumb_set TIM5_IRQHandler,Default_Handler + + .weak SPI3_IRQHandler + .thumb_set SPI3_IRQHandler,Default_Handler + + .weak UART4_IRQHandler + .thumb_set UART4_IRQHandler,Default_Handler + + .weak UART5_IRQHandler + .thumb_set UART5_IRQHandler,Default_Handler + + .weak TIM6_DAC_IRQHandler + .thumb_set TIM6_DAC_IRQHandler,Default_Handler + + .weak TIM7_IRQHandler + .thumb_set TIM7_IRQHandler,Default_Handler + + .weak DMA2_Stream0_IRQHandler + .thumb_set DMA2_Stream0_IRQHandler,Default_Handler + + .weak DMA2_Stream1_IRQHandler + .thumb_set DMA2_Stream1_IRQHandler,Default_Handler + + .weak DMA2_Stream2_IRQHandler + .thumb_set DMA2_Stream2_IRQHandler,Default_Handler + + .weak DMA2_Stream3_IRQHandler + .thumb_set DMA2_Stream3_IRQHandler,Default_Handler + + .weak DMA2_Stream4_IRQHandler + .thumb_set DMA2_Stream4_IRQHandler,Default_Handler + + .weak ETH_IRQHandler + .thumb_set ETH_IRQHandler,Default_Handler + + .weak ETH_WKUP_IRQHandler + .thumb_set ETH_WKUP_IRQHandler,Default_Handler + + .weak CAN2_TX_IRQHandler + .thumb_set CAN2_TX_IRQHandler,Default_Handler + + .weak CAN2_RX0_IRQHandler + .thumb_set CAN2_RX0_IRQHandler,Default_Handler + + .weak CAN2_RX1_IRQHandler + .thumb_set CAN2_RX1_IRQHandler,Default_Handler + + .weak CAN2_SCE_IRQHandler + .thumb_set CAN2_SCE_IRQHandler,Default_Handler + + .weak OTG_FS_IRQHandler + .thumb_set OTG_FS_IRQHandler,Default_Handler + + .weak DMA2_Stream5_IRQHandler + .thumb_set DMA2_Stream5_IRQHandler,Default_Handler + + .weak DMA2_Stream6_IRQHandler + .thumb_set DMA2_Stream6_IRQHandler,Default_Handler + + .weak DMA2_Stream7_IRQHandler + .thumb_set DMA2_Stream7_IRQHandler,Default_Handler + + .weak USART6_IRQHandler + .thumb_set USART6_IRQHandler,Default_Handler + + .weak I2C3_EV_IRQHandler + .thumb_set I2C3_EV_IRQHandler,Default_Handler + + .weak I2C3_ER_IRQHandler + .thumb_set I2C3_ER_IRQHandler,Default_Handler + + .weak OTG_HS_EP1_OUT_IRQHandler + .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler + + .weak OTG_HS_EP1_IN_IRQHandler + .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler + + .weak OTG_HS_WKUP_IRQHandler + .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler + + .weak OTG_HS_IRQHandler + .thumb_set OTG_HS_IRQHandler,Default_Handler + + .weak DCMI_IRQHandler + .thumb_set DCMI_IRQHandler,Default_Handler + + .weak HASH_RNG_IRQHandler + .thumb_set HASH_RNG_IRQHandler,Default_Handler + + .weak FPU_IRQHandler + .thumb_set FPU_IRQHandler,Default_Handler