miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/core/stage_1_boot.cpp

+#include <string.h>
+
+#include "core/cache_cortexMx.h"
+#include "core/interrupts.h"  //For the unexpected interrupt call
+#include "core/interrupts_cortexMx.h"
+#include "interfaces/arch_registers.h"
+#include "interfaces/bsp.h"
+#include "kernel/stage_2_boot.h"
+
+/*
+ * startup.cpp
+ * STM32 C++ startup.
+ * NOTE: for stm32f767 devices ONLY.
+ * Supports interrupt handlers in C++ without extern "C"
+ * Developed by Terraneo Federico, based on ST startup code.
+ * Additionally modified to boot Miosix.
+ */
+
+/**
+ * Called by Reset_Handler, performs initialization and calls main.
+ * Never returns.
+ */
+void program_startup() __attribute__((noreturn));
+void program_startup()
+{
+    //Cortex M7 core appears to get out of reset with interrupts already enabled
+    __disable_irq();
+
+    miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
+
+    // These are defined in the linker script
+    extern unsigned char _etext asm("_etext");
+    extern unsigned char _data asm("_data");
+    extern unsigned char _edata asm("_edata");
+    extern unsigned char _bss_start asm("_bss_start");
+    extern unsigned char _bss_end asm("_bss_end");
+
+    // Initialize .data section, clear .bss section
+    unsigned char *etext=&_etext;
+    unsigned char *data=&_data;
+    unsigned char *edata=&_edata;
+    unsigned char *bss_start=&_bss_start;
+    unsigned char *bss_end=&_bss_end;
+    memcpy(data, etext, edata-data);
+    memset(bss_start, 0, bss_end-bss_start);
+
+    // Move on to stage 2
+    _init();
+
+    // If main returns, reboot
+    NVIC_SystemReset();
+    for(;;) ;
+}
+
+/**
+ * Reset handler, called by hardware immediately after reset
+ */
+void Reset_Handler() __attribute__((__interrupt__, noreturn));
+void Reset_Handler()
+{
+    /**
+     * SystemInit() is called *before* initializing .data and zeroing .bss
+     * Despite all startup files provided by ST do the opposite, there are three
+     * good reasons to do so:
+     * 1. First, the CMSIS specifications say that SystemInit() must not access
+     *    global variables, so it is actually possible to call it before
+     * 2. Second, when running Miosix with the xram linker scripts .data and
+     *    .bss are placed in the external RAM, so we *must* call SystemInit(),
+     *    which enables xram, before touching .data and .bss
+     * 3. Third, this is a performance improvement since the loops that
+     *    initialize .data and zeros .bss now run with the CPU at full speed
+     *    instead of 8MHz
+     */
+    SystemInit();
+
+    /**
+     * ST does not provide code to initialize the SDRAM at boot.
+     * Put after SystemInit() as SDRAM is timing-sensitive and needs the full
+     * clock speed.
+     */
+    #ifdef __ENABLE_XRAM
+    miosix::configureSdram();
+    #endif  //__ENABLE_XRAM
+
+    /*
+     * Load into the program stack pointer the heap end address and switch from
+     * the msp to sps.
+     * This is required for booting Miosix, a small portion of the top of the
+     * heap area will be used as stack until the first thread starts. After,
+     * this stack will be abandoned and the process stack will point to the
+     * current thread's stack.
+     */
+    asm volatile(
+        "ldr r0,  =_heap_end          \n\t"
+        "msr psp, r0                  \n\t"
+        "movw r0, #2                  \n\n"  // Set the control register to use
+        "msr control, r0              \n\t"  // the process stack
+        "isb                          \n\t":::"r0");
+
+    program_startup();
+}
+
+/**
+ * All unused interrupts call this function.
+ */
+extern "C" void Default_Handler() { unexpectedInterrupt(); }
+
+// System handlers
+void /*__attribute__((weak))*/ Reset_Handler();      // These interrupts are not
+void /*__attribute__((weak))*/ NMI_Handler();        // weak because they are
+void /*__attribute__((weak))*/ HardFault_Handler();  // surely defined by Miosix
+void /*__attribute__((weak))*/ MemManage_Handler();
+void /*__attribute__((weak))*/ BusFault_Handler();
+void /*__attribute__((weak))*/ UsageFault_Handler();
+void /*__attribute__((weak))*/ SVC_Handler();
+void /*__attribute__((weak))*/ DebugMon_Handler();
+void /*__attribute__((weak))*/ PendSV_Handler();
+void /*__attribute__((weak))*/ SysTick_Handler();
+
+// Interrupt handlers
+void __attribute__((weak)) WWDG_IRQHandler();
+void __attribute__((weak)) PVD_IRQHandler();
+void __attribute__((weak)) TAMP_STAMP_IRQHandler();
+void __attribute__((weak)) RTC_WKUP_IRQHandler();
+void __attribute__((weak)) FLASH_IRQHandler();
+void __attribute__((weak)) RCC_IRQHandler();
+void __attribute__((weak)) EXTI0_IRQHandler();
+void __attribute__((weak)) EXTI1_IRQHandler();
+void __attribute__((weak)) EXTI2_IRQHandler();
+void __attribute__((weak)) EXTI3_IRQHandler();
+void __attribute__((weak)) EXTI4_IRQHandler();
+void __attribute__((weak)) DMA1_Stream0_IRQHandler();
+void __attribute__((weak)) DMA1_Stream1_IRQHandler();
+void __attribute__((weak)) DMA1_Stream2_IRQHandler();
+void __attribute__((weak)) DMA1_Stream3_IRQHandler();
+void __attribute__((weak)) DMA1_Stream4_IRQHandler();
+void __attribute__((weak)) DMA1_Stream5_IRQHandler();
+void __attribute__((weak)) DMA1_Stream6_IRQHandler();
+void __attribute__((weak)) ADC_IRQHandler();
+void __attribute__((weak)) CAN1_TX_IRQHandler();
+void __attribute__((weak)) CAN1_RX0_IRQHandler();
+void __attribute__((weak)) CAN1_RX1_IRQHandler();
+void __attribute__((weak)) CAN1_SCE_IRQHandler();
+void __attribute__((weak)) EXTI9_5_IRQHandler();
+void __attribute__((weak)) TIM1_BRK_TIM9_IRQHandler();
+void __attribute__((weak)) TIM1_UP_TIM10_IRQHandler();
+void __attribute__((weak)) TIM1_TRG_COM_TIM11_IRQHandler();
+void __attribute__((weak)) TIM1_CC_IRQHandler();
+void __attribute__((weak)) TIM2_IRQHandler();
+void __attribute__((weak)) TIM3_IRQHandler();
+void __attribute__((weak)) TIM4_IRQHandler();
+void __attribute__((weak)) I2C1_EV_IRQHandler();
+void __attribute__((weak)) I2C1_ER_IRQHandler();
+void __attribute__((weak)) I2C2_EV_IRQHandler();
+void __attribute__((weak)) I2C2_ER_IRQHandler();
+void __attribute__((weak)) SPI1_IRQHandler();
+void __attribute__((weak)) SPI2_IRQHandler();
+void __attribute__((weak)) USART1_IRQHandler();
+void __attribute__((weak)) USART2_IRQHandler();
+void __attribute__((weak)) USART3_IRQHandler();
+void __attribute__((weak)) EXTI15_10_IRQHandler();
+void __attribute__((weak)) RTC_Alarm_IRQHandler();
+void __attribute__((weak)) OTG_FS_WKUP_IRQHandler();
+void __attribute__((weak)) TIM8_BRK_TIM12_IRQHandler();
+void __attribute__((weak)) TIM8_UP_TIM13_IRQHandler();
+void __attribute__((weak)) TIM8_TRG_COM_TIM14_IRQHandler();
+void __attribute__((weak)) TIM8_CC_IRQHandler();
+void __attribute__((weak)) DMA1_Stream7_IRQHandler();
+void __attribute__((weak)) FMC_IRQHandler();
+void __attribute__((weak)) SDMMC1_IRQHandler();
+void __attribute__((weak)) TIM5_IRQHandler();
+void __attribute__((weak)) SPI3_IRQHandler();
+void __attribute__((weak)) UART4_IRQHandler();
+void __attribute__((weak)) UART5_IRQHandler();
+void __attribute__((weak)) TIM6_DAC_IRQHandler();
+void __attribute__((weak)) TIM7_IRQHandler();
+void __attribute__((weak)) DMA2_Stream0_IRQHandler();
+void __attribute__((weak)) DMA2_Stream1_IRQHandler();
+void __attribute__((weak)) DMA2_Stream2_IRQHandler();
+void __attribute__((weak)) DMA2_Stream3_IRQHandler();
+void __attribute__((weak)) DMA2_Stream4_IRQHandler();
+void __attribute__((weak)) ETH_IRQHandler();
+void __attribute__((weak)) ETH_WKUP_IRQHandler();
+void __attribute__((weak)) CAN2_TX_IRQHandler();
+void __attribute__((weak)) CAN2_RX0_IRQHandler();
+void __attribute__((weak)) CAN2_RX1_IRQHandler();
+void __attribute__((weak)) CAN2_SCE_IRQHandler();
+void __attribute__((weak)) OTG_FS_IRQHandler();
+void __attribute__((weak)) DMA2_Stream5_IRQHandler();
+void __attribute__((weak)) DMA2_Stream6_IRQHandler();
+void __attribute__((weak)) DMA2_Stream7_IRQHandler();
+void __attribute__((weak)) USART6_IRQHandler();
+void __attribute__((weak)) I2C3_EV_IRQHandler();
+void __attribute__((weak)) I2C3_ER_IRQHandler();
+void __attribute__((weak)) OTG_HS_EP1_OUT_IRQHandler();
+void __attribute__((weak)) OTG_HS_EP1_IN_IRQHandler();
+void __attribute__((weak)) OTG_HS_WKUP_IRQHandler();
+void __attribute__((weak)) OTG_HS_IRQHandler();
+void __attribute__((weak)) DCMI_IRQHandler();
+void __attribute__((weak)) CRYP_IRQHandler();
+void __attribute__((weak)) RNG_IRQHandler();
+void __attribute__((weak)) FPU_IRQHandler();
+void __attribute__((weak)) UART7_IRQHandler();
+void __attribute__((weak)) UART8_IRQHandler();
+void __attribute__((weak)) SPI4_IRQHandler();
+void __attribute__((weak)) SPI5_IRQHandler();
+void __attribute__((weak)) SPI6_IRQHandler();
+void __attribute__((weak)) SAI1_IRQHandler();
+void __attribute__((weak)) LTDC_IRQHandler();
+void __attribute__((weak)) LTDC_ER_IRQHandler();
+void __attribute__((weak)) DMA2D_IRQHandler();
+void __attribute__((weak)) SAI2_IRQHandler();
+void __attribute__((weak)) QUADSPI_IRQHandler();
+void __attribute__((weak)) LPTIM1_IRQHandler();
+void __attribute__((weak)) CEC_IRQHandler();
+void __attribute__((weak)) I2C4_EV_IRQHandler();
+void __attribute__((weak)) I2C4_ER_IRQHandler();
+void __attribute__((weak)) SPDIF_RX_IRQHandler();
+void __attribute__((weak)) DSIHOST_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT0_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT1_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT2_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT3_IRQHandler();
+void __attribute__((weak)) SDMMC2_IRQHandler();
+void __attribute__((weak)) CAN3_TX_IRQHandler();
+void __attribute__((weak)) CAN3_RX0_IRQHandler();
+void __attribute__((weak)) CAN3_RX1_IRQHandler();
+void __attribute__((weak)) CAN3_SCE_IRQHandler();
+void __attribute__((weak)) JPEG_IRQHandler();
+void __attribute__((weak)) MDIOS_IRQHandler();
+
+// Stack top, defined in the linker script
+extern char _main_stack_top asm("_main_stack_top");
+
+// Interrupt vectors, must be placed @ address 0x00000000
+// The extern declaration is required otherwise g++ optimizes it out
+extern void (*const __Vectors[])();
+void (*const __Vectors[])() __attribute__((section(".isr_vector"))) =
+{
+    reinterpret_cast<void (*)()>(&_main_stack_top), /* Stack pointer*/
+    Reset_Handler,                                  /* Reset Handler */
+    NMI_Handler,                                    /* NMI Handler */
+    HardFault_Handler,                              /* Hard Fault Handler */
+    MemManage_Handler,                              /* MPU Fault Handler */
+    BusFault_Handler,                               /* Bus Fault Handler */
+    UsageFault_Handler,                             /* Usage Fault Handler */
+    0,                                              /* Reserved */
+    0,                                              /* Reserved */
+    0,                                              /* Reserved */
+    0,                                              /* Reserved */
+    SVC_Handler,                                    /* SVCall Handler */
+    DebugMon_Handler,                               /* Debug Monitor Handler */
+    0,                                              /* Reserved */
+    PendSV_Handler,                                 /* PendSV Handler */
+    SysTick_Handler,                                /* SysTick Handler */
+
+    /* External Interrupts */
+    WWDG_IRQHandler,
+    PVD_IRQHandler,
+    TAMP_STAMP_IRQHandler,
+    RTC_WKUP_IRQHandler,
+    FLASH_IRQHandler,
+    RCC_IRQHandler,
+    EXTI0_IRQHandler,
+    EXTI1_IRQHandler,
+    EXTI2_IRQHandler,
+    EXTI3_IRQHandler,
+    EXTI4_IRQHandler,
+    DMA1_Stream0_IRQHandler,
+    DMA1_Stream1_IRQHandler,
+    DMA1_Stream2_IRQHandler,
+    DMA1_Stream3_IRQHandler,
+    DMA1_Stream4_IRQHandler,
+    DMA1_Stream5_IRQHandler,
+    DMA1_Stream6_IRQHandler,
+    ADC_IRQHandler,
+    CAN1_TX_IRQHandler,
+    CAN1_RX0_IRQHandler,
+    CAN1_RX1_IRQHandler,
+    CAN1_SCE_IRQHandler,
+    EXTI9_5_IRQHandler,
+    TIM1_BRK_TIM9_IRQHandler,
+    TIM1_UP_TIM10_IRQHandler,
+    TIM1_TRG_COM_TIM11_IRQHandler,
+    TIM1_CC_IRQHandler,
+    TIM2_IRQHandler,
+    TIM3_IRQHandler,
+    TIM4_IRQHandler,
+    I2C1_EV_IRQHandler,
+    I2C1_ER_IRQHandler,
+    I2C2_EV_IRQHandler,
+    I2C2_ER_IRQHandler,
+    SPI1_IRQHandler,
+    SPI2_IRQHandler,
+    USART1_IRQHandler,
+    USART2_IRQHandler,
+    USART3_IRQHandler,
+    EXTI15_10_IRQHandler,
+    RTC_Alarm_IRQHandler,
+    OTG_FS_WKUP_IRQHandler,
+    TIM8_BRK_TIM12_IRQHandler,
+    TIM8_UP_TIM13_IRQHandler,
+    TIM8_TRG_COM_TIM14_IRQHandler,
+    TIM8_CC_IRQHandler,
+    DMA1_Stream7_IRQHandler,
+    FMC_IRQHandler,
+    SDMMC1_IRQHandler,
+    TIM5_IRQHandler,
+    SPI3_IRQHandler,
+    UART4_IRQHandler,
+    UART5_IRQHandler,
+    TIM6_DAC_IRQHandler,
+    TIM7_IRQHandler,
+    DMA2_Stream0_IRQHandler,
+    DMA2_Stream1_IRQHandler,
+    DMA2_Stream2_IRQHandler,
+    DMA2_Stream3_IRQHandler,
+    DMA2_Stream4_IRQHandler,
+    ETH_IRQHandler,
+    ETH_WKUP_IRQHandler,
+    CAN2_TX_IRQHandler,
+    CAN2_RX0_IRQHandler,
+    CAN2_RX1_IRQHandler,
+    CAN2_SCE_IRQHandler,
+    OTG_FS_IRQHandler,
+    DMA2_Stream5_IRQHandler,
+    DMA2_Stream6_IRQHandler,
+    DMA2_Stream7_IRQHandler,
+    USART6_IRQHandler,
+    I2C3_EV_IRQHandler,
+    I2C3_ER_IRQHandler,
+    OTG_HS_EP1_OUT_IRQHandler,
+    OTG_HS_EP1_IN_IRQHandler,
+    OTG_HS_WKUP_IRQHandler,
+    OTG_HS_IRQHandler,
+    DCMI_IRQHandler,
+    CRYP_IRQHandler,
+    RNG_IRQHandler,
+    FPU_IRQHandler,
+    UART7_IRQHandler,
+    UART8_IRQHandler,
+    SPI4_IRQHandler,
+    SPI5_IRQHandler,
+    SPI6_IRQHandler,
+    SAI1_IRQHandler,
+    LTDC_IRQHandler,
+    LTDC_ER_IRQHandler,
+    DMA2D_IRQHandler,
+    SAI2_IRQHandler,
+    QUADSPI_IRQHandler,
+    LPTIM1_IRQHandler,
+    CEC_IRQHandler,
+    I2C4_EV_IRQHandler,
+    I2C4_ER_IRQHandler,
+    SPDIF_RX_IRQHandler,
+    DSIHOST_IRQHandler,
+    DFSDM1_FLT0_IRQHandler,
+    DFSDM1_FLT1_IRQHandler,
+    DFSDM1_FLT2_IRQHandler,
+    DFSDM1_FLT3_IRQHandler,
+    SDMMC2_IRQHandler,
+    CAN3_TX_IRQHandler,
+    CAN3_RX0_IRQHandler,
+    CAN3_RX1_IRQHandler,
+    CAN3_SCE_IRQHandler,
+    JPEG_IRQHandler,
+    MDIOS_IRQHandler,
+};
+
+#pragma weak WWDG_IRQHandler = Default_Handler
+#pragma weak PVD_IRQHandler = Default_Handler
+#pragma weak TAMP_STAMP_IRQHandler = Default_Handler
+#pragma weak RTC_WKUP_IRQHandler = Default_Handler
+#pragma weak FLASH_IRQHandler = Default_Handler
+#pragma weak RCC_IRQHandler = Default_Handler
+#pragma weak EXTI0_IRQHandler = Default_Handler
+#pragma weak EXTI1_IRQHandler = Default_Handler
+#pragma weak EXTI2_IRQHandler = Default_Handler
+#pragma weak EXTI3_IRQHandler = Default_Handler
+#pragma weak EXTI4_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream0_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream1_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream2_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream3_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream4_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream5_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream6_IRQHandler = Default_Handler
+#pragma weak ADC_IRQHandler = Default_Handler
+#pragma weak CAN1_TX_IRQHandler = Default_Handler
+#pragma weak CAN1_RX0_IRQHandler = Default_Handler
+#pragma weak CAN1_RX1_IRQHandler = Default_Handler
+#pragma weak CAN1_SCE_IRQHandler = Default_Handler
+#pragma weak EXTI9_5_IRQHandler = Default_Handler
+#pragma weak TIM1_BRK_TIM9_IRQHandler = Default_Handler
+#pragma weak TIM1_UP_TIM10_IRQHandler = Default_Handler
+#pragma weak TIM1_TRG_COM_TIM11_IRQHandler = Default_Handler
+#pragma weak TIM1_CC_IRQHandler = Default_Handler
+#pragma weak TIM2_IRQHandler = Default_Handler
+#pragma weak TIM3_IRQHandler = Default_Handler
+#pragma weak TIM4_IRQHandler = Default_Handler
+#pragma weak I2C1_EV_IRQHandler = Default_Handler
+#pragma weak I2C1_ER_IRQHandler = Default_Handler
+#pragma weak I2C2_EV_IRQHandler = Default_Handler
+#pragma weak I2C2_ER_IRQHandler = Default_Handler
+#pragma weak SPI1_IRQHandler = Default_Handler
+#pragma weak SPI2_IRQHandler = Default_Handler
+// #pragma weak USART1_IRQHandler = Default_Handler
+// #pragma weak USART2_IRQHandler = Default_Handler
+// #pragma weak USART3_IRQHandler = Default_Handler
+#pragma weak EXTI15_10_IRQHandler = Default_Handler
+#pragma weak RTC_Alarm_IRQHandler = Default_Handler
+#pragma weak OTG_FS_WKUP_IRQHandler = Default_Handler
+#pragma weak TIM8_BRK_TIM12_IRQHandler = Default_Handler
+#pragma weak TIM8_UP_TIM13_IRQHandler = Default_Handler
+#pragma weak TIM8_TRG_COM_TIM14_IRQHandler = Default_Handler
+#pragma weak TIM8_CC_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream7_IRQHandler = Default_Handler
+#pragma weak FMC_IRQHandler = Default_Handler
+#pragma weak SDMMC1_IRQHandler = Default_Handler
+#pragma weak TIM5_IRQHandler = Default_Handler
+#pragma weak SPI3_IRQHandler = Default_Handler
+// #pragma weak UART4_IRQHandler = Default_Handler
+// #pragma weak UART5_IRQHandler = Default_Handler
+#pragma weak TIM6_DAC_IRQHandler = Default_Handler
+#pragma weak TIM7_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream0_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream1_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream2_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream3_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream4_IRQHandler = Default_Handler
+#pragma weak ETH_IRQHandler = Default_Handler
+#pragma weak ETH_WKUP_IRQHandler = Default_Handler
+#pragma weak CAN2_TX_IRQHandler = Default_Handler
+#pragma weak CAN2_RX0_IRQHandler = Default_Handler
+#pragma weak CAN2_RX1_IRQHandler = Default_Handler
+#pragma weak CAN2_SCE_IRQHandler = Default_Handler
+#pragma weak OTG_FS_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream5_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream6_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream7_IRQHandler = Default_Handler
+// #pragma weak USART6_IRQHandler = Default_Handler
+#pragma weak I2C3_EV_IRQHandler = Default_Handler
+#pragma weak I2C3_ER_IRQHandler = Default_Handler
+#pragma weak OTG_HS_EP1_OUT_IRQHandler = Default_Handler
+#pragma weak OTG_HS_EP1_IN_IRQHandler = Default_Handler
+#pragma weak OTG_HS_WKUP_IRQHandler = Default_Handler
+#pragma weak OTG_HS_IRQHandler = Default_Handler
+#pragma weak DCMI_IRQHandler = Default_Handler
+#pragma weak CRYP_IRQHandler = Default_Handler
+#pragma weak RNG_IRQHandler = Default_Handler
+#pragma weak FPU_IRQHandler = Default_Handler
+// #pragma weak UART7_IRQHandler = Default_Handler
+// #pragma weak UART8_IRQHandler = Default_Handler
+#pragma weak SPI4_IRQHandler = Default_Handler
+#pragma weak SPI5_IRQHandler = Default_Handler
+#pragma weak SPI6_IRQHandler = Default_Handler
+#pragma weak SAI1_IRQHandler = Default_Handler
+#pragma weak LTDC_IRQHandler = Default_Handler
+#pragma weak LTDC_ER_IRQHandler = Default_Handler
+#pragma weak DMA2D_IRQHandler = Default_Handler
+#pragma weak SAI2_IRQHandler = Default_Handler
+#pragma weak QUADSPI_IRQHandler = Default_Handler
+#pragma weak LPTIM1_IRQHandler = Default_Handler
+#pragma weak CEC_IRQHandler = Default_Handler
+#pragma weak I2C4_EV_IRQHandler = Default_Handler
+#pragma weak I2C4_ER_IRQHandler = Default_Handler
+#pragma weak SPDIF_RX_IRQHandler = Default_Handler
+#pragma weak DSIHOST_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT0_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT1_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT2_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT3_IRQHandler = Default_Handler
+#pragma weak SDMMC2_IRQHandler = Default_Handler
+#pragma weak CAN3_TX_IRQHandler = Default_Handler
+#pragma weak CAN3_RX0_IRQHandler = Default_Handler
+#pragma weak CAN3_RX1_IRQHandler = Default_Handler
+#pragma weak CAN3_SCE_IRQHandler = Default_Handler
+#pragma weak JPEG_IRQHandler = Default_Handler
+#pragma weak MDIOS_IRQHandler = Default_Handler

miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/interfaces-impl/arch_registers_impl.h

+#ifndef ARCH_REGISTERS_IMPL_H
+#define ARCH_REGISTERS_IMPL_H
+
+// stm32f7xx.h defines a few macros like __ICACHE_PRESENT, __DCACHE_PRESENT and
+// includes core_cm7.h. Do not include core_cm7.h before.
+#define STM32F767xx
+#include "CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h"
+
+#if (__ICACHE_PRESENT != 1) || (__DCACHE_PRESENT != 1)
+#error "Wrong include order"
+#endif
+
+#include "CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h"
+
+#define RCC_SYNC() __DSB()  // TODO: can this dsb be removed?
+
+#endif  // ARCH_REGISTERS_IMPL_H

miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/interfaces-impl/bsp.cpp

+/***************************************************************************
+ *   Copyright (C) 2018 by Terraneo Federico                               *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+/***********************************************************************
+ * bsp.cpp Part of the Miosix Embedded OS.
+ * Board support package, this file initializes hardware.
+ ************************************************************************/
+
+#include "interfaces/bsp.h"
+
+#include <inttypes.h>
+#include <sys/ioctl.h>
+
+#include <cstdlib>
+
+#include "board_settings.h"
+#include "config/miosix_settings.h"
+#include "drivers/sd_stm32f2_f4_f7.h"
+#include "drivers/serial.h"
+#include "drivers/serial_stm32.h"
+#include "drivers/stm32_backup_domain.h"
+#include "filesystem/console/console_device.h"
+#include "filesystem/file_access.h"
+#include "hwmapping.h"
+#include "interfaces/arch_registers.h"
+#include "interfaces/delays.h"
+#include "interfaces/portability.h"
+#include "kernel/kernel.h"
+#include "kernel/logging.h"
+#include "kernel/sync.h"
+
+namespace miosix
+{
+
+//
+// Initialization
+//
+
+static void sdramCommandWait()
+{
+    for (int i = 0; i < 0xffff; i++)
+        if ((FMC_Bank5_6->SDSR & FMC_SDSR_BUSY) == 0)
+            return;
+}
+
+void configureSdram()
+{
+    // Enable gpios used by the ram
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN |
+                    RCC_AHB1ENR_GPIODEN | RCC_AHB1ENR_GPIOEEN |
+                    RCC_AHB1ENR_GPIOFEN | RCC_AHB1ENR_GPIOGEN;
+    RCC_SYNC();
+
+    // On the compute unit with F767ZI, the SDRAM pins are:
+    // - PG8:  FMC_SDCLK  (sdram clock)
+    // - PB5:  FMC_SDCKE1 (sdram bank 2 clock enable)
+    // - PB6:  FMC_SDNE1  (sdram bank 2 chip enable)
+    // - PF0:  FMC_A0
+    // - PF1:  FMC_A1
+    // - PF2:  FMC_A2
+    // - PF3:  FMC_A3
+    // - PF4:  FMC_A4
+    // - PF5:  FMC_A5
+    // - PF12: FMC_A6
+    // - PF13: FMC_A7
+    // - PF14: FMC_A8
+    // - PF15: FMC_A9
+    // - PG0:  FMC_A10
+    // - PG1:  FMC_A11
+    // - PG2:  FMC_A12    (used only by the 32MB ram, not by the 8MB one)
+    // - PD14: FMC_D0
+    // - PD15: FMC_D1
+    // - PD0:  FMC_D2
+    // - PD1:  FMC_D3
+    // - PE7:  FMC_D4
+    // - PE8:  FMC_D5
+    // - PE9:  FMC_D6
+    // - PE10: FMC_D7
+    // - PE11: FMC_D8
+    // - PE12: FMC_D9
+    // - PE13: FMC_D10
+    // - PE14: FMC_D11
+    // - PE15: FMC_D12
+    // - PD8:  FMC_D13
+    // - PD9:  FMC_D14
+    // - PD10: FMC_D15
+
+    // - PG4:  FMC_BA0
+    // - PG5:  FMC_BA1
+    // - PF11: FMC_SDNRAS
+    // - PG15: FMC_SDNCAS
+    // - PC0:  FMC_SDNWE
+    // - PE0:  FMC_NBL0
+    // - PE1:  FMC_NBL1
+
+    // All SDRAM GPIOs needs to be configured with alternate function 12 and
+    // maximum speed
+
+    // WARNING: The current configuration is for the 8MB ram
+
+    // Alternate functions
+    GPIOB->AFR[0] = 0x0cc00000;
+    GPIOC->AFR[0] = 0x0000000c;
+    GPIOD->AFR[0] = 0x000000cc;
+    GPIOD->AFR[1] = 0xcc000ccc;
+    GPIOE->AFR[0] = 0xc00000cc;
+    GPIOE->AFR[1] = 0xcccccccc;
+    GPIOF->AFR[0] = 0x00cccccc;
+    GPIOF->AFR[1] = 0xccccc000;
+    GPIOG->AFR[0] = 0x00cc0ccc;
+    GPIOG->AFR[1] = 0xc000000c;
+
+    // Mode
+    GPIOB->MODER = 0x00002800;
+    GPIOC->MODER = 0x00000002;
+    GPIOD->MODER = 0xa02a000a;
+    GPIOE->MODER = 0xaaaa800a;
+    GPIOF->MODER = 0xaa800aaa;
+    GPIOG->MODER = 0x80020a2a;
+
+    // Speed (high speed for all, very high speed for SDRAM pins)
+    GPIOB->OSPEEDR = 0x00003c00;
+    GPIOC->OSPEEDR = 0x00000003;
+    GPIOD->OSPEEDR = 0xf03f000f;
+    GPIOE->OSPEEDR = 0xffffc00f;
+    GPIOF->OSPEEDR = 0xffc00fff;
+    GPIOG->OSPEEDR = 0xc0030f3f;
+
+    // Since we'we un-configured PB3 and PB4 (by default they are SWO and NJRST)
+    // finish the job and remove the default pull-up
+    GPIOB->PUPDR = 0;
+
+    // Enable the SDRAM controller clock
+    RCC->AHB3ENR |= RCC_AHB3ENR_FMCEN;
+    RCC_SYNC();
+
+    // The SDRAM is a AS4C4M16SA-6TAN
+    // HCLK = 216MHz -> SDRAM clock = HCLK/2 = 133MHz
+
+    // 1. Memory device features
+    FMC_Bank5_6->SDCR[0] = 0                     // 0 delay after CAS latency
+                           | FMC_SDCR1_RBURST    // Enable read bursts
+                           | FMC_SDCR1_SDCLK_1;  // SDCLK = HCLK / 2
+    FMC_Bank5_6->SDCR[1] = 0                     // Write accesses allowed
+                           | FMC_SDCR2_CAS_1     // 2 cycles CAS latency
+                           | FMC_SDCR2_NB        // 4 internal banks
+                           | FMC_SDCR2_MWID_0    // 16 bit data bus
+                           | FMC_SDCR2_NR_1      // 13 bit row address
+                           | 0;                  // 8 bit column address
+
+// 2. Memory device timings
+#ifdef SYSCLK_FREQ_216MHz
+    // SDRAM timings. One clock cycle is 9.26ns
+    FMC_Bank5_6->SDTR[0] =
+        (2 - 1) << FMC_SDTR1_TRP_Pos     // 2 cycles TRP  (18.52ns > 18ns)
+        | (7 - 1) << FMC_SDTR1_TRC_Pos;  // 7 cycles TRC  (64.82ns > 60ns)
+    FMC_Bank5_6->SDTR[1] =
+        (2 - 1) << FMC_SDTR1_TRCD_Pos     // 2 cycles TRCD (18.52ns > 18ns)
+        | (2 - 1) << FMC_SDTR1_TWR_Pos    // 2 cycles TWR  (min 2cc > 12ns)
+        | (5 - 1) << FMC_SDTR1_TRAS_Pos   // 5 cycles TRAS (46.3ns  > 42ns)
+        | (7 - 1) << FMC_SDTR1_TXSR_Pos   // 7 cycles TXSR (74.08ns > 61.5ns)
+        | (2 - 1) << FMC_SDTR1_TMRD_Pos;  // 2 cycles TMRD (min 2cc > 12ns)
+#else
+#error No SDRAM timings for this clock
+#endif
+
+    // 3. Enable the bank 2 clock
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_0   // Clock Configuration Enable
+                         | FMC_SDCMR_CTB2;  // Bank 2
+    sdramCommandWait();
+
+    // 4. Wait during command execution
+    delayUs(100);
+
+    // 5. Issue a "Precharge All" command
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_1   // Precharge all
+                         | FMC_SDCMR_CTB2;  // Bank 2
+    sdramCommandWait();
+
+    // 6. Issue Auto-Refresh commands
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_1 | FMC_SDCMR_MODE_0  // Auto-Refresh
+                         | FMC_SDCMR_CTB2                     // Bank 2
+                         | (8 - 1) << FMC_SDCMR_NRFS_Pos;     // 2 Auto-Refresh
+    sdramCommandWait();
+
+    // 7. Issue a Load Mode Register command
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_2               /// Load mode register
+                         | FMC_SDCMR_CTB2               // Bank 2
+                         | 0x220 << FMC_SDCMR_MRD_Pos;  // CAS = 2, burst = 1
+    sdramCommandWait();
+
+// 8. Program the refresh rate (4K / 32ms)
+// 64ms / 8192 = 7.8125us
+#ifdef SYSCLK_FREQ_216MHz
+    // 7.8125us * 133MHz = 1039 - 20 = 1019
+    FMC_Bank5_6->SDRTR = 1019 << FMC_SDRTR_COUNT_Pos;
+#else
+#error No SDRAM refresh timings for this clock
+#endif
+}
+
+void IRQbspInit()
+{
+    // Enable USART1 pins port
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+
+    userLed1::mode(Mode::OUTPUT);
+    userLed2::mode(Mode::OUTPUT);
+    userLed3_1::mode(Mode::OUTPUT);
+    userLed3_2::mode(Mode::OUTPUT);
+    userLed4::mode(Mode::OUTPUT);
+    userSwitch::mode(Mode::INPUT);
+
+    using namespace interfaces;
+    spi1::sck::mode(Mode::ALTERNATE);
+    spi1::sck::alternateFunction(5);
+    spi1::miso::mode(Mode::ALTERNATE);
+    spi1::miso::alternateFunction(5);
+    spi1::mosi::mode(Mode::ALTERNATE);
+    spi1::mosi::alternateFunction(5);
+
+    spi3::sck::mode(Mode::ALTERNATE);
+    spi3::sck::alternateFunction(6);
+    spi3::miso::mode(Mode::ALTERNATE);
+    spi3::miso::alternateFunction(6);
+    spi3::mosi::mode(Mode::ALTERNATE);
+    spi3::mosi::alternateFunction(5);
+
+    spi4::sck::mode(Mode::ALTERNATE);
+    spi4::sck::alternateFunction(5);
+    spi4::miso::mode(Mode::ALTERNATE);
+    spi4::miso::alternateFunction(5);
+    spi4::mosi::mode(Mode::ALTERNATE);
+    spi4::mosi::alternateFunction(5);
+
+    can2::rx::mode(Mode::ALTERNATE);
+    can2::rx::alternateFunction(9);
+    can2::tx::mode(Mode::ALTERNATE);
+    can2::tx::alternateFunction(9);
+
+    usart1::tx::mode(Mode::ALTERNATE);
+    usart1::tx::alternateFunction(7);
+    usart1::rx::mode(Mode::ALTERNATE);
+    usart1::rx::alternateFunction(7);
+
+    usart2::tx::mode(Mode::ALTERNATE);
+    usart2::tx::alternateFunction(7);
+    usart2::rx::mode(Mode::ALTERNATE);
+    usart2::rx::alternateFunction(7);
+
+    using namespace radio;
+    cs::mode(Mode::OUTPUT);
+    cs::getPin().high();
+    dio0::mode(Mode::INPUT);
+    dio1::mode(Mode::INPUT);
+    dio3::mode(Mode::INPUT);
+    tx_enable::mode(Mode::OUTPUT);
+    rx_enable::mode(Mode::OUTPUT);
+
+    using namespace timers;
+    tim3ch2::mode(Mode::ALTERNATE);
+    tim3ch2::alternateFunction(2);
+    tim4ch1::mode(Mode::ALTERNATE);
+    tim4ch1::alternateFunction(2);
+
+    stepper1::enable::mode(Mode::OUTPUT);
+    stepper1::direction::mode(Mode::OUTPUT);
+
+    stepper2::enable::mode(Mode::OUTPUT);
+    stepper2::direction::mode(Mode::OUTPUT);
+
+    DefaultConsole::instance().IRQset(intrusive_ref_ptr<Device>(new STM32Serial(
+        defaultSerial, defaultSerialSpeed, STM32Serial::NOFLOWCTRL)));
+}
+
+void bspInit2()
+{
+#ifdef WITH_FILESYSTEM
+    basicFilesystemSetup(SDIODriver::instance());
+#endif  // WITH_FILESYSTEM
+
+#ifdef WITH_BACKUP_SRAM
+    BackupDomain::instance().enable();
+    BackupDomain::instance().enableBackupSRAM();
+#endif
+
+    // Print the reset reason
+    bootlog("Reset reson: ");
+    switch (BackupDomain::instance().lastResetReason())
+    {
+        case ResetReason::RST_LOW_PWR:
+            bootlog("low power\n");
+            break;
+        case ResetReason::RST_WINDOW_WDG:
+            bootlog("window watchdog\n");
+            break;
+        case ResetReason::RST_INDEPENDENT_WDG:
+            bootlog("indeendent watchdog\n");
+            break;
+        case ResetReason::RST_SW:
+            bootlog("software reset\n");
+            break;
+        case ResetReason::RST_POWER_ON:
+            bootlog("power on\n");
+            break;
+        case ResetReason::RST_PIN:
+            bootlog("reset pin\n");
+            break;
+        case ResetReason::RST_UNKNOWN:
+            bootlog("unknown\n");
+            break;
+    }
+}
+
+//
+// Shutdown and reboot
+//
+
+void shutdown()
+{
+    ioctl(STDOUT_FILENO, IOCTL_SYNC, 0);
+
+#ifdef WITH_FILESYSTEM
+    FilesystemManager::instance().umountAll();
+#endif  // WITH_FILESYSTEM
+
+    disableInterrupts();
+    for (;;)
+        ;
+}
+
+void reboot()
+{
+    ioctl(STDOUT_FILENO, IOCTL_SYNC, 0);
+
+#ifdef WITH_FILESYSTEM
+    FilesystemManager::instance().umountAll();
+#endif  // WITH_FILESYSTEM
+
+    disableInterrupts();
+    miosix_private::IRQsystemReboot();
+}
+
+}  // namespace miosix

miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/interfaces-impl/bsp_impl.h

+/***************************************************************************
+ *   Copyright (C) 2018 by Terraneo Federico                               *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+/***************************************************************************
+ * bsp_impl.h Part of the Miosix Embedded OS.
+ * Board support package, this file initializes hardware.
+ ***************************************************************************/
+
+#ifndef BSP_IMPL_H
+#define BSP_IMPL_H
+
+#include "config/miosix_settings.h"
+#include "interfaces/gpio.h"
+
+namespace miosix
+{
+
+/**
+\addtogroup Hardware
+\{
+*/
+
+/**
+ * \internal
+ * Called by stage_1_boot.cpp to enable the SDRAM before initializing .data/.bss
+ * Requires the CPU clock to be already configured (running from the PLL)
+ */
+void configureSdram();
+
+/**
+ * \internal
+ * Board pin definition
+ */
+typedef Gpio<GPIOB_BASE, 7> userLed1;
+typedef Gpio<GPIOE_BASE, 3> userLed2;
+typedef Gpio<GPIOC_BASE, 13> userLed3_1;
+typedef Gpio<GPIOG_BASE, 9> userLed3_2;
+typedef Gpio<GPIOC_BASE, 2> userLed4;
+typedef Gpio<GPIOB_BASE, 2> userSwitch;
+
+inline void ledOn()
+{
+    userLed1::high();
+    userLed2::high();
+    userLed3_1::high();
+    userLed3_2::high();
+    userLed4::high();
+}
+
+inline void ledOff()
+{
+    userLed1::low();
+    userLed2::low();
+    userLed3_1::low();
+    userLed3_2::low();
+    userLed4::low();
+}
+
+inline void led1On() { userLed1::high(); }
+
+inline void led1Off() { userLed1::low(); }
+
+inline void led2On() { userLed2::high(); }
+
+inline void led2Off() { userLed2::low(); }
+
+inline void led3On()
+{
+    userLed3_1::high();
+    userLed3_2::high();
+}
+
+inline void led3Off()
+{
+    userLed3_1::low();
+    userLed3_2::low();
+}
+
+/**
+ * Polls the SD card sense GPIO.
+ *
+ * This board has no SD card whatsoever, but a card can be connected to the
+ * following GPIOs:
+ * TODO: never tested
+ *
+ * \return true. As there's no SD card sense switch, let's pretend that
+ * the card is present.
+ */
+inline bool sdCardSense() { return true; }
+
+/**
+\}
+*/
+
+}  // namespace miosix
+
+#endif  // BSP_IMPL_H

miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/interfaces-impl/hwmapping.h

+/***************************************************************************
+ *   Copyright (C) 2018 by Terraneo Federico                               *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+#pragma once
+
+#include "interfaces/gpio.h"
+
+namespace miosix
+{
+namespace interfaces
+{
+// RADIO 1
+namespace spi1
+{
+using sck  = Gpio<GPIOA_BASE, 5>;
+using miso = Gpio<GPIOA_BASE, 6>;
+using mosi = Gpio<GPIOA_BASE, 7>;
+}  // namespace spi1
+
+// FREE SPI
+namespace spi3
+{
+using sck  = Gpio<GPIOB_BASE, 3>;
+using miso = Gpio<GPIOB_BASE, 4>;
+using mosi = Gpio<GPIOD_BASE, 6>;
+}  // namespace spi3
+
+// ETHERNET
+namespace spi4
+{
+using sck  = Gpio<GPIOE_BASE, 2>;
+using miso = Gpio<GPIOE_BASE, 5>;
+using mosi = Gpio<GPIOE_BASE, 6>;
+}  // namespace spi4
+
+namespace can2
+{
+using rx = Gpio<GPIOB_BASE, 12>;
+using tx = Gpio<GPIOB_BASE, 13>;
+}  // namespace can2
+
+// DBG
+namespace usart1
+{
+using tx = Gpio<GPIOA_BASE, 9>;
+using rx = Gpio<GPIOA_BASE, 10>;
+}  // namespace usart1
+
+// FREE USART
+namespace usart2
+{
+using tx = Gpio<GPIOA_BASE, 2>;
+using rx = Gpio<GPIOA_BASE, 3>;
+}  // namespace usart2
+
+namespace timers
+{
+using tim3ch2 = Gpio<GPIOC_BASE, 7>;   // step 1
+using tim1ch4 = Gpio<GPIOA_BASE, 11>;  // count 1
+using tim4ch1 = Gpio<GPIOD_BASE, 12>;  // step 2
+using tim8ch4 = Gpio<GPIOC_BASE, 9>;   // count 2
+}  // namespace timers
+
+}  // namespace interfaces
+
+namespace radio
+{
+using sck       = interfaces::spi1::sck;
+using miso      = interfaces::spi1::miso;
+using mosi      = interfaces::spi1::mosi;
+using cs        = Gpio<GPIOA_BASE, 4>;
+using dio0      = Gpio<GPIOC_BASE, 6>;
+using dio1      = Gpio<GPIOD_BASE, 4>;
+using dio3      = Gpio<GPIOD_BASE, 5>;
+using rx_enable = Gpio<GPIOB_BASE, 9>;
+using tx_enable = Gpio<GPIOB_BASE, 8>;
+}  // namespace radio
+
+namespace stepper1
+{
+using enable     = Gpio<GPIOA_BASE, 8>;
+using direction  = Gpio<GPIOA_BASE, 12>;
+using pulseTimer = interfaces::timers::tim3ch2;
+using countTimer = interfaces::timers::tim1ch4;
+}  // namespace stepper1
+
+namespace stepper2
+{
+using enable     = Gpio<GPIOB_BASE, 14>;
+using direction  = Gpio<GPIOG_BASE, 7>;
+using pulseTimer = interfaces::timers::tim4ch1;
+using countTimer = interfaces::timers::tim8ch4;
+}  // namespace stepper2
+
+}  // namespace miosix
\ No newline at end of file

miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/stm32_2m+16m_xram.ld

+/*
+ * C++ enabled linker script for stm32f769ni (2M FLASH, 512K RAM, 16MB XRAM)
+ * Developed by TFT: Terraneo Federico Technologies
+ * Optimized for use with the Miosix kernel
+ */
+
+/*
+ * This linker script puts:
+ * - read only data and code (.text, .rodata, .eh_*) in FLASH
+ * - the 512Byte main (IRQ) stack, .data and .bss in the DTCM 128KB RAM
+ * - .data, .bss, stacks and heap in the external 16MB SDRAM.
+ */
+
+/*
+ * The main stack is used for interrupt handling by the kernel.
+ *
+ * *** Readme ***
+ * This linker script places the main stack (used by the kernel for interrupts)
+ * at the bottom of the ram, instead of the top. This is done for two reasons:
+ *
+ * - as an optimization for microcontrollers with little ram memory. In fact
+ *   the implementation of malloc from newlib requests memory to the OS in 4KB
+ *   block (except the first block that can be smaller). This is probably done
+ *   for compatibility with OSes with an MMU and paged memory. To see why this
+ *   is bad, consider a microcontroller with 8KB of ram: when malloc finishes
+ *   up the first 4KB it will call _sbrk_r asking for a 4KB block, but this will
+ *   fail because the top part of the ram is used by the main stack. As a
+ *   result, the top part of the memory will not be used by malloc, even if
+ *   available (and it is nearly *half* the ram on an 8KB mcu). By placing the
+ *   main stack at the bottom of the ram, the upper 4KB block will be entirely
+ *   free and available as heap space.
+ *
+ * - In case of main stack overflow the cpu will fault because access to memory
+ *   before the beginning of the ram faults. Instead with the default stack
+ *   placement the main stack will silently collide with the heap.
+ * Note: if increasing the main stack size also increase the ORIGIN value in
+ * the MEMORY definitions below accordingly.
+ */
+
+_main_stack_size = 512;                             /* main stack = 512Bytes */
+_main_stack_top  = 0x20000000 + _main_stack_size;
+ASSERT(_main_stack_size   % 8 == 0, "MAIN stack size error");
+
+/* Mapping the heap into XRAM */
+_heap_end = 0xd0000000 + 16M;                        /* end of available ram */
+
+/* Identify the Entry Point  */
+ENTRY(_Z13Reset_Handlerv)
+
+/*
+ * Specify the memory areas
+ *
+ * NOTE: starting at 0x20000000 there's 128KB of DTCM (Data Tightly Coupled
+ * Memory). Technically, we could use this as normal RAM as there's a way for
+ * the DMA to access it, but the datasheet is unclear about performance
+ * penalties for doing so. To avoid nonuniform DMA memory access latencies,
+ * we leave this 128KB DTCM unused except for the first 512Bytes which are for
+ * the interrupt stack. This leaves us with 384KB of RAM
+ */
+MEMORY
+{
+    xram(wx)  : ORIGIN = 0xd0000000, LENGTH =  16M
+    sram(wx)  : ORIGIN = 0x20020000, LENGTH = 384K
+    dtcm(wx)  : ORIGIN = 0x20000000, LENGTH = 128K    /* Used for main stack */
+    bram(rw)  : ORIGIN = 0x40024000, LENGTH =   4K    /* Bakup SRAM */
+    flash(rx) : ORIGIN = 0x08000000, LENGTH =   2M
+}
+
+/* now define the output sections  */
+SECTIONS
+{
+    . = 0;
+    
+    /* .text section: code goes to flash */
+    .text :
+    {
+        /* Startup code must go at address 0 */
+        KEEP(*(.isr_vector))
+        
+        *(.text)
+        *(.text.*)
+        *(.gnu.linkonce.t.*)
+        /* these sections for thumb interwork? */
+        *(.glue_7)
+        *(.glue_7t)
+        /* these sections for C++? */
+        *(.gcc_except_table)
+        *(.gcc_except_table.*)
+        *(.ARM.extab*)
+        *(.gnu.linkonce.armextab.*)
+
+        . = ALIGN(4);
+        /* .rodata: constant data */
+        *(.rodata)
+        *(.rodata.*)
+        *(.gnu.linkonce.r.*)
+
+        /* C++ Static constructors/destructors (eabi) */
+        . = ALIGN(4);
+        KEEP(*(.init))
+        
+        . = ALIGN(4);
+        __miosix_init_array_start = .;
+        KEEP (*(SORT(.miosix_init_array.*)))
+        KEEP (*(.miosix_init_array))
+        __miosix_init_array_end = .;
+
+        . = ALIGN(4);
+        __preinit_array_start = .;
+        KEEP (*(.preinit_array))
+        __preinit_array_end = .;
+
+        . = ALIGN(4);
+        __init_array_start = .;
+        KEEP (*(SORT(.init_array.*)))
+        KEEP (*(.init_array))
+        __init_array_end = .;
+
+        . = ALIGN(4);
+        KEEP(*(.fini))
+
+        . = ALIGN(4);
+        __fini_array_start = .;
+        KEEP (*(.fini_array))
+        KEEP (*(SORT(.fini_array.*)))
+        __fini_array_end = .;
+
+        /* C++ Static constructors/destructors (elf)  */
+        . = ALIGN(4);
+        _ctor_start = .;
+        KEEP (*crtbegin.o(.ctors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+        KEEP (*(SORT(.ctors.*)))
+        KEEP (*crtend.o(.ctors))
+       _ctor_end = .;
+
+        . = ALIGN(4);
+        KEEP (*crtbegin.o(.dtors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+        KEEP (*(SORT(.dtors.*)))
+        KEEP (*crtend.o(.dtors))
+    } > flash
+
+    /* .ARM.exidx is sorted, so has to go in its own output section.  */
+    __exidx_start = .;
+    .ARM.exidx :
+    {
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+    } > flash
+    __exidx_end = .;
+
+	/*
+     * .data section: global variables go to xram, but also store a copy to
+     * flash to initialize them
+     */
+    .data : ALIGN(8)
+    {
+        _data = .;
+        *(.data)
+        *(.data.*)
+        *(.gnu.linkonce.d.*)
+        . = ALIGN(8);
+        _edata = .;
+    } > xram AT > flash
+    _etext = LOADADDR(.data);
+
+    /* .bss section: uninitialized global variables go to xram */
+    _bss_start = .;
+    .bss :
+    {
+        *(.bss)
+        *(.bss.*)
+        *(.gnu.linkonce.b.*)
+        . = ALIGN(8);
+    } > xram
+    _bss_end = .;
+
+    _end = .;
+    PROVIDE(end = .);
+    
+    .preserve(NOLOAD) : ALIGN(4)
+    {
+        _preserve_start = .;
+        . = ALIGN(4);
+        *(.preserve);
+        *(.preserve*);
+        . = ALIGN(4);
+        _preserve_end = .;
+    } > bram
+}

miosix/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/stm32_2m+384k_ram.ld

+/*
+ * C++ enabled linker script for stm32f767zi (2M FLASH, 512K RAM)
+ * Developed by TFT: Terraneo Federico Technologies
+ * Optimized for use with the Miosix kernel
+ */
+
+/*
+ * This linker script puts:
+ * - read only data and code (.text, .rodata, .eh_*) in FLASH
+ * - the 512Byte main (IRQ) stack, .data and .bss in the DTCM 128KB RAM
+ * - .data, .bss, stacks and heap in the internal RAM.
+ */
+
+/*
+ * The main stack is used for interrupt handling by the kernel.
+ *
+ * *** Readme ***
+ * This linker script places the main stack (used by the kernel for interrupts)
+ * at the bottom of the ram, instead of the top. This is done for two reasons:
+ *
+ * - as an optimization for microcontrollers with little ram memory. In fact
+ *   the implementation of malloc from newlib requests memory to the OS in 4KB
+ *   block (except the first block that can be smaller). This is probably done
+ *   for compatibility with OSes with an MMU and paged memory. To see why this
+ *   is bad, consider a microcontroller with 8KB of ram: when malloc finishes
+ *   up the first 4KB it will call _sbrk_r asking for a 4KB block, but this will
+ *   fail because the top part of the ram is used by the main stack. As a
+ *   result, the top part of the memory will not be used by malloc, even if
+ *   available (and it is nearly *half* the ram on an 8KB mcu). By placing the
+ *   main stack at the bottom of the ram, the upper 4KB block will be entirely
+ *   free and available as heap space.
+ *
+ * - In case of main stack overflow the cpu will fault because access to memory
+ *   before the beginning of the ram faults. Instead with the default stack
+ *   placement the main stack will silently collide with the heap.
+ * Note: if increasing the main stack size also increase the ORIGIN value in
+ * the MEMORY definitions below accordingly.
+ */
+
+_main_stack_size = 512;                             /* main stack = 512Bytes */
+_main_stack_top  = 0x20000000 + _main_stack_size;
+ASSERT(_main_stack_size   % 8 == 0, "MAIN stack size error");
+
+/* Mapping the heap to the end of SRAM2 */
+_heap_end = 0x20000000 + 512K;                       /* end of available ram */
+
+/* Identify the Entry Point  */
+ENTRY(_Z13Reset_Handlerv)
+
+/*
+ * Specify the memory areas
+ *
+ * NOTE: starting at 0x20000000 there's 128KB of DTCM (Data Tightly Coupled
+ * Memory). Technically, we could use this as normal RAM as there's a way for
+ * the DMA to access it, but the datasheet is unclear about performance
+ * penalties for doing so. To avoid nonuniform DMA memory access latencies,
+ * we leave this 128KB DTCM unused except for the first 512Bytes which are for
+ * the interrupt stack. This leaves us with 384KB of RAM
+ */
+MEMORY
+{
+    sram(wx)  : ORIGIN = 0x20020000, LENGTH = 384K
+    dtcm(wx)  : ORIGIN = 0x20000000, LENGTH = 128K    /* Used for main stack */
+    bram(rw)  : ORIGIN = 0x40024000, LENGTH =   4K    /* Bakup SRAM */
+    flash(rx) : ORIGIN = 0x08000000, LENGTH =   2M
+}
+
+/* now define the output sections  */
+SECTIONS
+{
+    . = 0;
+    
+    /* .text section: code goes to flash */
+    .text :
+    {
+        /* Startup code must go at address 0 */
+        KEEP(*(.isr_vector))
+        
+        *(.text)
+        *(.text.*)
+        *(.gnu.linkonce.t.*)
+        /* these sections for thumb interwork? */
+        *(.glue_7)
+        *(.glue_7t)
+        /* these sections for C++? */
+        *(.gcc_except_table)
+        *(.gcc_except_table.*)
+        *(.ARM.extab*)
+        *(.gnu.linkonce.armextab.*)
+
+        . = ALIGN(4);
+        /* .rodata: constant data */
+        *(.rodata)
+        *(.rodata.*)
+        *(.gnu.linkonce.r.*)
+
+        /* C++ Static constructors/destructors (eabi) */
+        . = ALIGN(4);
+        KEEP(*(.init))
+        
+        . = ALIGN(4);
+        __miosix_init_array_start = .;
+        KEEP (*(SORT(.miosix_init_array.*)))
+        KEEP (*(.miosix_init_array))
+        __miosix_init_array_end = .;
+
+        . = ALIGN(4);
+        __preinit_array_start = .;
+        KEEP (*(.preinit_array))
+        __preinit_array_end = .;
+
+        . = ALIGN(4);
+        __init_array_start = .;
+        KEEP (*(SORT(.init_array.*)))
+        KEEP (*(.init_array))
+        __init_array_end = .;
+
+        . = ALIGN(4);
+        KEEP(*(.fini))
+
+        . = ALIGN(4);
+        __fini_array_start = .;
+        KEEP (*(.fini_array))
+        KEEP (*(SORT(.fini_array.*)))
+        __fini_array_end = .;
+
+        /* C++ Static constructors/destructors (elf)  */
+        . = ALIGN(4);
+        _ctor_start = .;
+        KEEP (*crtbegin.o(.ctors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+        KEEP (*(SORT(.ctors.*)))
+        KEEP (*crtend.o(.ctors))
+       _ctor_end = .;
+
+        . = ALIGN(4);
+        KEEP (*crtbegin.o(.dtors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+        KEEP (*(SORT(.dtors.*)))
+        KEEP (*crtend.o(.dtors))
+    } > flash
+
+    /* .ARM.exidx is sorted, so has to go in its own output section.  */
+    __exidx_start = .;
+    .ARM.exidx :
+    {
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+    } > flash
+    __exidx_end = .;
+
+	/*
+     * .data section: global variables go to sram, but also store a copy to
+     * flash to initialize them
+     */
+    .data : ALIGN(8)
+    {
+        _data = .;
+        *(.data)
+        *(.data.*)
+        *(.gnu.linkonce.d.*)
+        . = ALIGN(8);
+        _edata = .;
+    } > sram AT > flash
+    _etext = LOADADDR(.data);
+
+    /* .bss section: uninitialized global variables go to sram */
+    _bss_start = .;
+    .bss :
+    {
+        *(.bss)
+        *(.bss.*)
+        *(.gnu.linkonce.b.*)
+        . = ALIGN(8);
+    } > sram
+    _bss_end = .;
+
+    _end = .;
+    PROVIDE(end = .);
+    
+    .preserve(NOLOAD) : ALIGN(4)
+    {
+        _preserve_start = .;
+        . = ALIGN(4);
+        *(.preserve);
+        *(.preserve*);
+        . = ALIGN(4);
+        _preserve_end = .;
+    } > bram
+}

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/core/stage_1_boot.cpp

+#include <string.h>
+
+#include "core/cache_cortexMx.h"
+#include "core/interrupts.h"  //For the unexpected interrupt call
+#include "core/interrupts_cortexMx.h"
+#include "interfaces/arch_registers.h"
+#include "interfaces/bsp.h"
+#include "kernel/stage_2_boot.h"
+
+/*
+ * startup.cpp
+ * STM32 C++ startup.
+ * NOTE: for stm32f767 devices ONLY.
+ * Supports interrupt handlers in C++ without extern "C"
+ * Developed by Terraneo Federico, based on ST startup code.
+ * Additionally modified to boot Miosix.
+ */
+
+/**
+ * Called by Reset_Handler, performs initialization and calls main.
+ * Never returns.
+ */
+void program_startup() __attribute__((noreturn));
+void program_startup()
+{
+    //Cortex M7 core appears to get out of reset with interrupts already enabled
+    __disable_irq();
+
+    miosix::IRQconfigureCache((const unsigned int*)0xd0000000, 8 * 1024 * 1024);
+
+    // These are defined in the linker script
+    extern unsigned char _etext asm("_etext");
+    extern unsigned char _data asm("_data");
+    extern unsigned char _edata asm("_edata");
+    extern unsigned char _bss_start asm("_bss_start");
+    extern unsigned char _bss_end asm("_bss_end");
+
+    // Initialize .data section, clear .bss section
+    unsigned char *etext=&_etext;
+    unsigned char *data=&_data;
+    unsigned char *edata=&_edata;
+    unsigned char *bss_start=&_bss_start;
+    unsigned char *bss_end=&_bss_end;
+    memcpy(data, etext, edata-data);
+    memset(bss_start, 0, bss_end-bss_start);
+
+    // Move on to stage 2
+    _init();
+
+    // If main returns, reboot
+    NVIC_SystemReset();
+    for(;;) ;
+}
+
+/**
+ * Reset handler, called by hardware immediately after reset
+ */
+void Reset_Handler() __attribute__((__interrupt__, noreturn));
+void Reset_Handler()
+{
+    /**
+     * SystemInit() is called *before* initializing .data and zeroing .bss
+     * Despite all startup files provided by ST do the opposite, there are three
+     * good reasons to do so:
+     * 1. First, the CMSIS specifications say that SystemInit() must not access
+     *    global variables, so it is actually possible to call it before
+     * 2. Second, when running Miosix with the xram linker scripts .data and
+     *    .bss are placed in the external RAM, so we *must* call SystemInit(),
+     *    which enables xram, before touching .data and .bss
+     * 3. Third, this is a performance improvement since the loops that
+     *    initialize .data and zeros .bss now run with the CPU at full speed
+     *    instead of 8MHz
+     */
+    SystemInit();
+
+    /**
+     * ST does not provide code to initialize the SDRAM at boot.
+     * Put after SystemInit() as SDRAM is timing-sensitive and needs the full
+     * clock speed.
+     */
+    #ifdef __ENABLE_XRAM
+    miosix::configureSdram();
+    #endif  //__ENABLE_XRAM
+
+    /*
+     * Load into the program stack pointer the heap end address and switch from
+     * the msp to sps.
+     * This is required for booting Miosix, a small portion of the top of the
+     * heap area will be used as stack until the first thread starts. After,
+     * this stack will be abandoned and the process stack will point to the
+     * current thread's stack.
+     */
+    asm volatile(
+        "ldr r0,  =_heap_end          \n\t"
+        "msr psp, r0                  \n\t"
+        "movw r0, #2                  \n\n"  // Set the control register to use
+        "msr control, r0              \n\t"  // the process stack
+        "isb                          \n\t":::"r0");
+
+    program_startup();
+}
+
+/**
+ * All unused interrupts call this function.
+ */
+extern "C" void Default_Handler() { unexpectedInterrupt(); }
+
+// System handlers
+void /*__attribute__((weak))*/ Reset_Handler();      // These interrupts are not
+void /*__attribute__((weak))*/ NMI_Handler();        // weak because they are
+void /*__attribute__((weak))*/ HardFault_Handler();  // surely defined by Miosix
+void /*__attribute__((weak))*/ MemManage_Handler();
+void /*__attribute__((weak))*/ BusFault_Handler();
+void /*__attribute__((weak))*/ UsageFault_Handler();
+void /*__attribute__((weak))*/ SVC_Handler();
+void /*__attribute__((weak))*/ DebugMon_Handler();
+void /*__attribute__((weak))*/ PendSV_Handler();
+void /*__attribute__((weak))*/ SysTick_Handler();
+
+// Interrupt handlers
+void __attribute__((weak)) WWDG_IRQHandler();
+void __attribute__((weak)) PVD_IRQHandler();
+void __attribute__((weak)) TAMP_STAMP_IRQHandler();
+void __attribute__((weak)) RTC_WKUP_IRQHandler();
+void __attribute__((weak)) FLASH_IRQHandler();
+void __attribute__((weak)) RCC_IRQHandler();
+void __attribute__((weak)) EXTI0_IRQHandler();
+void __attribute__((weak)) EXTI1_IRQHandler();
+void __attribute__((weak)) EXTI2_IRQHandler();
+void __attribute__((weak)) EXTI3_IRQHandler();
+void __attribute__((weak)) EXTI4_IRQHandler();
+void __attribute__((weak)) DMA1_Stream0_IRQHandler();
+void __attribute__((weak)) DMA1_Stream1_IRQHandler();
+void __attribute__((weak)) DMA1_Stream2_IRQHandler();
+void __attribute__((weak)) DMA1_Stream3_IRQHandler();
+void __attribute__((weak)) DMA1_Stream4_IRQHandler();
+void __attribute__((weak)) DMA1_Stream5_IRQHandler();
+void __attribute__((weak)) DMA1_Stream6_IRQHandler();
+void __attribute__((weak)) ADC_IRQHandler();
+void __attribute__((weak)) CAN1_TX_IRQHandler();
+void __attribute__((weak)) CAN1_RX0_IRQHandler();
+void __attribute__((weak)) CAN1_RX1_IRQHandler();
+void __attribute__((weak)) CAN1_SCE_IRQHandler();
+void __attribute__((weak)) EXTI9_5_IRQHandler();
+void __attribute__((weak)) TIM1_BRK_TIM9_IRQHandler();
+void __attribute__((weak)) TIM1_UP_TIM10_IRQHandler();
+void __attribute__((weak)) TIM1_TRG_COM_TIM11_IRQHandler();
+void __attribute__((weak)) TIM1_CC_IRQHandler();
+void __attribute__((weak)) TIM2_IRQHandler();
+void __attribute__((weak)) TIM3_IRQHandler();
+void __attribute__((weak)) TIM4_IRQHandler();
+void __attribute__((weak)) I2C1_EV_IRQHandler();
+void __attribute__((weak)) I2C1_ER_IRQHandler();
+void __attribute__((weak)) I2C2_EV_IRQHandler();
+void __attribute__((weak)) I2C2_ER_IRQHandler();
+void __attribute__((weak)) SPI1_IRQHandler();
+void __attribute__((weak)) SPI2_IRQHandler();
+void __attribute__((weak)) USART1_IRQHandler();
+void __attribute__((weak)) USART2_IRQHandler();
+void __attribute__((weak)) USART3_IRQHandler();
+void __attribute__((weak)) EXTI15_10_IRQHandler();
+void __attribute__((weak)) RTC_Alarm_IRQHandler();
+void __attribute__((weak)) OTG_FS_WKUP_IRQHandler();
+void __attribute__((weak)) TIM8_BRK_TIM12_IRQHandler();
+void __attribute__((weak)) TIM8_UP_TIM13_IRQHandler();
+void __attribute__((weak)) TIM8_TRG_COM_TIM14_IRQHandler();
+void __attribute__((weak)) TIM8_CC_IRQHandler();
+void __attribute__((weak)) DMA1_Stream7_IRQHandler();
+void __attribute__((weak)) FMC_IRQHandler();
+void __attribute__((weak)) SDMMC1_IRQHandler();
+void __attribute__((weak)) TIM5_IRQHandler();
+void __attribute__((weak)) SPI3_IRQHandler();
+void __attribute__((weak)) UART4_IRQHandler();
+void __attribute__((weak)) UART5_IRQHandler();
+void __attribute__((weak)) TIM6_DAC_IRQHandler();
+void __attribute__((weak)) TIM7_IRQHandler();
+void __attribute__((weak)) DMA2_Stream0_IRQHandler();
+void __attribute__((weak)) DMA2_Stream1_IRQHandler();
+void __attribute__((weak)) DMA2_Stream2_IRQHandler();
+void __attribute__((weak)) DMA2_Stream3_IRQHandler();
+void __attribute__((weak)) DMA2_Stream4_IRQHandler();
+void __attribute__((weak)) ETH_IRQHandler();
+void __attribute__((weak)) ETH_WKUP_IRQHandler();
+void __attribute__((weak)) CAN2_TX_IRQHandler();
+void __attribute__((weak)) CAN2_RX0_IRQHandler();
+void __attribute__((weak)) CAN2_RX1_IRQHandler();
+void __attribute__((weak)) CAN2_SCE_IRQHandler();
+void __attribute__((weak)) OTG_FS_IRQHandler();
+void __attribute__((weak)) DMA2_Stream5_IRQHandler();
+void __attribute__((weak)) DMA2_Stream6_IRQHandler();
+void __attribute__((weak)) DMA2_Stream7_IRQHandler();
+void __attribute__((weak)) USART6_IRQHandler();
+void __attribute__((weak)) I2C3_EV_IRQHandler();
+void __attribute__((weak)) I2C3_ER_IRQHandler();
+void __attribute__((weak)) OTG_HS_EP1_OUT_IRQHandler();
+void __attribute__((weak)) OTG_HS_EP1_IN_IRQHandler();
+void __attribute__((weak)) OTG_HS_WKUP_IRQHandler();
+void __attribute__((weak)) OTG_HS_IRQHandler();
+void __attribute__((weak)) DCMI_IRQHandler();
+void __attribute__((weak)) CRYP_IRQHandler();
+void __attribute__((weak)) RNG_IRQHandler();
+void __attribute__((weak)) FPU_IRQHandler();
+void __attribute__((weak)) UART7_IRQHandler();
+void __attribute__((weak)) UART8_IRQHandler();
+void __attribute__((weak)) SPI4_IRQHandler();
+void __attribute__((weak)) SPI5_IRQHandler();
+void __attribute__((weak)) SPI6_IRQHandler();
+void __attribute__((weak)) SAI1_IRQHandler();
+void __attribute__((weak)) LTDC_IRQHandler();
+void __attribute__((weak)) LTDC_ER_IRQHandler();
+void __attribute__((weak)) DMA2D_IRQHandler();
+void __attribute__((weak)) SAI2_IRQHandler();
+void __attribute__((weak)) QUADSPI_IRQHandler();
+void __attribute__((weak)) LPTIM1_IRQHandler();
+void __attribute__((weak)) CEC_IRQHandler();
+void __attribute__((weak)) I2C4_EV_IRQHandler();
+void __attribute__((weak)) I2C4_ER_IRQHandler();
+void __attribute__((weak)) SPDIF_RX_IRQHandler();
+void __attribute__((weak)) DSIHOST_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT0_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT1_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT2_IRQHandler();
+void __attribute__((weak)) DFSDM1_FLT3_IRQHandler();
+void __attribute__((weak)) SDMMC2_IRQHandler();
+void __attribute__((weak)) CAN3_TX_IRQHandler();
+void __attribute__((weak)) CAN3_RX0_IRQHandler();
+void __attribute__((weak)) CAN3_RX1_IRQHandler();
+void __attribute__((weak)) CAN3_SCE_IRQHandler();
+void __attribute__((weak)) JPEG_IRQHandler();
+void __attribute__((weak)) MDIOS_IRQHandler();
+
+// Stack top, defined in the linker script
+extern char _main_stack_top asm("_main_stack_top");
+
+// Interrupt vectors, must be placed @ address 0x00000000
+// The extern declaration is required otherwise g++ optimizes it out
+extern void (*const __Vectors[])();
+void (*const __Vectors[])() __attribute__((section(".isr_vector"))) =
+{
+    reinterpret_cast<void (*)()>(&_main_stack_top), /* Stack pointer*/
+    Reset_Handler,                                  /* Reset Handler */
+    NMI_Handler,                                    /* NMI Handler */
+    HardFault_Handler,                              /* Hard Fault Handler */
+    MemManage_Handler,                              /* MPU Fault Handler */
+    BusFault_Handler,                               /* Bus Fault Handler */
+    UsageFault_Handler,                             /* Usage Fault Handler */
+    0,                                              /* Reserved */
+    0,                                              /* Reserved */
+    0,                                              /* Reserved */
+    0,                                              /* Reserved */
+    SVC_Handler,                                    /* SVCall Handler */
+    DebugMon_Handler,                               /* Debug Monitor Handler */
+    0,                                              /* Reserved */
+    PendSV_Handler,                                 /* PendSV Handler */
+    SysTick_Handler,                                /* SysTick Handler */
+
+    /* External Interrupts */
+    WWDG_IRQHandler,
+    PVD_IRQHandler,
+    TAMP_STAMP_IRQHandler,
+    RTC_WKUP_IRQHandler,
+    FLASH_IRQHandler,
+    RCC_IRQHandler,
+    EXTI0_IRQHandler,
+    EXTI1_IRQHandler,
+    EXTI2_IRQHandler,
+    EXTI3_IRQHandler,
+    EXTI4_IRQHandler,
+    DMA1_Stream0_IRQHandler,
+    DMA1_Stream1_IRQHandler,
+    DMA1_Stream2_IRQHandler,
+    DMA1_Stream3_IRQHandler,
+    DMA1_Stream4_IRQHandler,
+    DMA1_Stream5_IRQHandler,
+    DMA1_Stream6_IRQHandler,
+    ADC_IRQHandler,
+    CAN1_TX_IRQHandler,
+    CAN1_RX0_IRQHandler,
+    CAN1_RX1_IRQHandler,
+    CAN1_SCE_IRQHandler,
+    EXTI9_5_IRQHandler,
+    TIM1_BRK_TIM9_IRQHandler,
+    TIM1_UP_TIM10_IRQHandler,
+    TIM1_TRG_COM_TIM11_IRQHandler,
+    TIM1_CC_IRQHandler,
+    TIM2_IRQHandler,
+    TIM3_IRQHandler,
+    TIM4_IRQHandler,
+    I2C1_EV_IRQHandler,
+    I2C1_ER_IRQHandler,
+    I2C2_EV_IRQHandler,
+    I2C2_ER_IRQHandler,
+    SPI1_IRQHandler,
+    SPI2_IRQHandler,
+    USART1_IRQHandler,
+    USART2_IRQHandler,
+    USART3_IRQHandler,
+    EXTI15_10_IRQHandler,
+    RTC_Alarm_IRQHandler,
+    OTG_FS_WKUP_IRQHandler,
+    TIM8_BRK_TIM12_IRQHandler,
+    TIM8_UP_TIM13_IRQHandler,
+    TIM8_TRG_COM_TIM14_IRQHandler,
+    TIM8_CC_IRQHandler,
+    DMA1_Stream7_IRQHandler,
+    FMC_IRQHandler,
+    SDMMC1_IRQHandler,
+    TIM5_IRQHandler,
+    SPI3_IRQHandler,
+    UART4_IRQHandler,
+    UART5_IRQHandler,
+    TIM6_DAC_IRQHandler,
+    TIM7_IRQHandler,
+    DMA2_Stream0_IRQHandler,
+    DMA2_Stream1_IRQHandler,
+    DMA2_Stream2_IRQHandler,
+    DMA2_Stream3_IRQHandler,
+    DMA2_Stream4_IRQHandler,
+    ETH_IRQHandler,
+    ETH_WKUP_IRQHandler,
+    CAN2_TX_IRQHandler,
+    CAN2_RX0_IRQHandler,
+    CAN2_RX1_IRQHandler,
+    CAN2_SCE_IRQHandler,
+    OTG_FS_IRQHandler,
+    DMA2_Stream5_IRQHandler,
+    DMA2_Stream6_IRQHandler,
+    DMA2_Stream7_IRQHandler,
+    USART6_IRQHandler,
+    I2C3_EV_IRQHandler,
+    I2C3_ER_IRQHandler,
+    OTG_HS_EP1_OUT_IRQHandler,
+    OTG_HS_EP1_IN_IRQHandler,
+    OTG_HS_WKUP_IRQHandler,
+    OTG_HS_IRQHandler,
+    DCMI_IRQHandler,
+    CRYP_IRQHandler,
+    RNG_IRQHandler,
+    FPU_IRQHandler,
+    UART7_IRQHandler,
+    UART8_IRQHandler,
+    SPI4_IRQHandler,
+    SPI5_IRQHandler,
+    SPI6_IRQHandler,
+    SAI1_IRQHandler,
+    LTDC_IRQHandler,
+    LTDC_ER_IRQHandler,
+    DMA2D_IRQHandler,
+    SAI2_IRQHandler,
+    QUADSPI_IRQHandler,
+    LPTIM1_IRQHandler,
+    CEC_IRQHandler,
+    I2C4_EV_IRQHandler,
+    I2C4_ER_IRQHandler,
+    SPDIF_RX_IRQHandler,
+    DSIHOST_IRQHandler,
+    DFSDM1_FLT0_IRQHandler,
+    DFSDM1_FLT1_IRQHandler,
+    DFSDM1_FLT2_IRQHandler,
+    DFSDM1_FLT3_IRQHandler,
+    SDMMC2_IRQHandler,
+    CAN3_TX_IRQHandler,
+    CAN3_RX0_IRQHandler,
+    CAN3_RX1_IRQHandler,
+    CAN3_SCE_IRQHandler,
+    JPEG_IRQHandler,
+    MDIOS_IRQHandler,
+};
+
+#pragma weak WWDG_IRQHandler = Default_Handler
+#pragma weak PVD_IRQHandler = Default_Handler
+#pragma weak TAMP_STAMP_IRQHandler = Default_Handler
+#pragma weak RTC_WKUP_IRQHandler = Default_Handler
+#pragma weak FLASH_IRQHandler = Default_Handler
+#pragma weak RCC_IRQHandler = Default_Handler
+#pragma weak EXTI0_IRQHandler = Default_Handler
+#pragma weak EXTI1_IRQHandler = Default_Handler
+#pragma weak EXTI2_IRQHandler = Default_Handler
+#pragma weak EXTI3_IRQHandler = Default_Handler
+#pragma weak EXTI4_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream0_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream1_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream2_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream3_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream4_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream5_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream6_IRQHandler = Default_Handler
+#pragma weak ADC_IRQHandler = Default_Handler
+#pragma weak CAN1_TX_IRQHandler = Default_Handler
+#pragma weak CAN1_RX0_IRQHandler = Default_Handler
+#pragma weak CAN1_RX1_IRQHandler = Default_Handler
+#pragma weak CAN1_SCE_IRQHandler = Default_Handler
+#pragma weak EXTI9_5_IRQHandler = Default_Handler
+#pragma weak TIM1_BRK_TIM9_IRQHandler = Default_Handler
+#pragma weak TIM1_UP_TIM10_IRQHandler = Default_Handler
+#pragma weak TIM1_TRG_COM_TIM11_IRQHandler = Default_Handler
+#pragma weak TIM1_CC_IRQHandler = Default_Handler
+#pragma weak TIM2_IRQHandler = Default_Handler
+#pragma weak TIM3_IRQHandler = Default_Handler
+#pragma weak TIM4_IRQHandler = Default_Handler
+#pragma weak I2C1_EV_IRQHandler = Default_Handler
+#pragma weak I2C1_ER_IRQHandler = Default_Handler
+#pragma weak I2C2_EV_IRQHandler = Default_Handler
+#pragma weak I2C2_ER_IRQHandler = Default_Handler
+#pragma weak SPI1_IRQHandler = Default_Handler
+#pragma weak SPI2_IRQHandler = Default_Handler
+// #pragma weak USART1_IRQHandler = Default_Handler
+// #pragma weak USART2_IRQHandler = Default_Handler
+// #pragma weak USART3_IRQHandler = Default_Handler
+#pragma weak EXTI15_10_IRQHandler = Default_Handler
+#pragma weak RTC_Alarm_IRQHandler = Default_Handler
+#pragma weak OTG_FS_WKUP_IRQHandler = Default_Handler
+#pragma weak TIM8_BRK_TIM12_IRQHandler = Default_Handler
+#pragma weak TIM8_UP_TIM13_IRQHandler = Default_Handler
+#pragma weak TIM8_TRG_COM_TIM14_IRQHandler = Default_Handler
+#pragma weak TIM8_CC_IRQHandler = Default_Handler
+#pragma weak DMA1_Stream7_IRQHandler = Default_Handler
+#pragma weak FMC_IRQHandler = Default_Handler
+#pragma weak SDMMC1_IRQHandler = Default_Handler
+#pragma weak TIM5_IRQHandler = Default_Handler
+#pragma weak SPI3_IRQHandler = Default_Handler
+// #pragma weak UART4_IRQHandler = Default_Handler
+// #pragma weak UART5_IRQHandler = Default_Handler
+#pragma weak TIM6_DAC_IRQHandler = Default_Handler
+#pragma weak TIM7_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream0_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream1_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream2_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream3_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream4_IRQHandler = Default_Handler
+#pragma weak ETH_IRQHandler = Default_Handler
+#pragma weak ETH_WKUP_IRQHandler = Default_Handler
+#pragma weak CAN2_TX_IRQHandler = Default_Handler
+#pragma weak CAN2_RX0_IRQHandler = Default_Handler
+#pragma weak CAN2_RX1_IRQHandler = Default_Handler
+#pragma weak CAN2_SCE_IRQHandler = Default_Handler
+#pragma weak OTG_FS_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream5_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream6_IRQHandler = Default_Handler
+#pragma weak DMA2_Stream7_IRQHandler = Default_Handler
+// #pragma weak USART6_IRQHandler = Default_Handler
+#pragma weak I2C3_EV_IRQHandler = Default_Handler
+#pragma weak I2C3_ER_IRQHandler = Default_Handler
+#pragma weak OTG_HS_EP1_OUT_IRQHandler = Default_Handler
+#pragma weak OTG_HS_EP1_IN_IRQHandler = Default_Handler
+#pragma weak OTG_HS_WKUP_IRQHandler = Default_Handler
+#pragma weak OTG_HS_IRQHandler = Default_Handler
+#pragma weak DCMI_IRQHandler = Default_Handler
+#pragma weak CRYP_IRQHandler = Default_Handler
+#pragma weak RNG_IRQHandler = Default_Handler
+#pragma weak FPU_IRQHandler = Default_Handler
+// #pragma weak UART7_IRQHandler = Default_Handler
+// #pragma weak UART8_IRQHandler = Default_Handler
+#pragma weak SPI4_IRQHandler = Default_Handler
+#pragma weak SPI5_IRQHandler = Default_Handler
+#pragma weak SPI6_IRQHandler = Default_Handler
+#pragma weak SAI1_IRQHandler = Default_Handler
+#pragma weak LTDC_IRQHandler = Default_Handler
+#pragma weak LTDC_ER_IRQHandler = Default_Handler
+#pragma weak DMA2D_IRQHandler = Default_Handler
+#pragma weak SAI2_IRQHandler = Default_Handler
+#pragma weak QUADSPI_IRQHandler = Default_Handler
+#pragma weak LPTIM1_IRQHandler = Default_Handler
+#pragma weak CEC_IRQHandler = Default_Handler
+#pragma weak I2C4_EV_IRQHandler = Default_Handler
+#pragma weak I2C4_ER_IRQHandler = Default_Handler
+#pragma weak SPDIF_RX_IRQHandler = Default_Handler
+#pragma weak DSIHOST_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT0_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT1_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT2_IRQHandler = Default_Handler
+#pragma weak DFSDM1_FLT3_IRQHandler = Default_Handler
+#pragma weak SDMMC2_IRQHandler = Default_Handler
+#pragma weak CAN3_TX_IRQHandler = Default_Handler
+#pragma weak CAN3_RX0_IRQHandler = Default_Handler
+#pragma weak CAN3_RX1_IRQHandler = Default_Handler
+#pragma weak CAN3_SCE_IRQHandler = Default_Handler
+#pragma weak JPEG_IRQHandler = Default_Handler
+#pragma weak MDIOS_IRQHandler = Default_Handler

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/interfaces-impl/arch_registers_impl.h

+#ifndef ARCH_REGISTERS_IMPL_H
+#define ARCH_REGISTERS_IMPL_H
+
+// stm32f7xx.h defines a few macros like __ICACHE_PRESENT, __DCACHE_PRESENT and
+// includes core_cm7.h. Do not include core_cm7.h before.
+#define STM32F767xx
+#include "CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h"
+
+#if (__ICACHE_PRESENT != 1) || (__DCACHE_PRESENT != 1)
+#error "Wrong include order"
+#endif
+
+#include "CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h"
+
+#define RCC_SYNC() __DSB()  // TODO: can this dsb be removed?
+
+#endif  // ARCH_REGISTERS_IMPL_H

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/interfaces-impl/bsp.cpp

+/***************************************************************************
+ *   Copyright (C) 2018 by Terraneo Federico                               *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+/***********************************************************************
+ * bsp.cpp Part of the Miosix Embedded OS.
+ * Board support package, this file initializes hardware.
+ ************************************************************************/
+
+#include "interfaces/bsp.h"
+
+#include <inttypes.h>
+#include <sys/ioctl.h>
+
+#include <cstdlib>
+
+#include "board_settings.h"
+#include "config/miosix_settings.h"
+#include "drivers/sd_stm32f2_f4_f7.h"
+#include "drivers/serial.h"
+#include "drivers/serial_stm32.h"
+#include "drivers/stm32_backup_domain.h"
+#include "filesystem/console/console_device.h"
+#include "filesystem/file_access.h"
+#include "interfaces/arch_registers.h"
+#include "interfaces/delays.h"
+#include "interfaces/portability.h"
+#include "kernel/kernel.h"
+#include "kernel/logging.h"
+#include "kernel/sync.h"
+#include "hwmapping.h"
+
+namespace miosix {
+
+//
+// Initialization
+//
+
+static void sdramCommandWait()
+{
+    for(int i=0;i<0xffff;i++)
+        if((FMC_Bank5_6->SDSR & FMC_SDSR_BUSY)==0)
+            return;
+}
+
+void configureSdram() {
+    // Enable gpios used by the ram
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN |
+                    RCC_AHB1ENR_GPIODEN | RCC_AHB1ENR_GPIOEEN |
+                    RCC_AHB1ENR_GPIOFEN | RCC_AHB1ENR_GPIOGEN;
+    RCC_SYNC();
+
+    // On the compute unit with F767ZI, the SDRAM pins are:
+    // - PG8:  FMC_SDCLK  (sdram clock)
+    // - PB5:  FMC_SDCKE1 (sdram bank 2 clock enable)
+    // - PB6:  FMC_SDNE1  (sdram bank 2 chip enable)
+    // - PF0:  FMC_A0
+    // - PF1:  FMC_A1
+    // - PF2:  FMC_A2
+    // - PF3:  FMC_A3
+    // - PF4:  FMC_A4
+    // - PF5:  FMC_A5
+    // - PF12: FMC_A6
+    // - PF13: FMC_A7
+    // - PF14: FMC_A8
+    // - PF15: FMC_A9
+    // - PG0:  FMC_A10
+    // - PG1:  FMC_A11
+    // - PG2:  FMC_A12    (used only by the 32MB ram, not by the 8MB one)
+    // - PD14: FMC_D0
+    // - PD15: FMC_D1
+    // - PD0:  FMC_D2
+    // - PD1:  FMC_D3
+    // - PE7:  FMC_D4
+    // - PE8:  FMC_D5
+    // - PE9:  FMC_D6
+    // - PE10: FMC_D7
+    // - PE11: FMC_D8
+    // - PE12: FMC_D9
+    // - PE13: FMC_D10
+    // - PE14: FMC_D11
+    // - PE15: FMC_D12
+    // - PD8:  FMC_D13
+    // - PD9:  FMC_D14
+    // - PD10: FMC_D15
+
+    // - PG4:  FMC_BA0
+    // - PG5:  FMC_BA1
+    // - PF11: FMC_SDNRAS
+    // - PG15: FMC_SDNCAS
+    // - PC0:  FMC_SDNWE
+    // - PE0:  FMC_NBL0
+    // - PE1:  FMC_NBL1
+
+    // All SDRAM GPIOs needs to be configured with alternate function 12 and
+    // maximum speed
+
+    // WARNING: The current configuration is for the 8MB ram
+
+    // Alternate functions
+    GPIOB->AFR[0] = 0x0cc00000;
+    GPIOC->AFR[0] = 0x0000000c;
+    GPIOD->AFR[0] = 0x000000cc;
+    GPIOD->AFR[1] = 0xcc000ccc;
+    GPIOE->AFR[0] = 0xc00000cc;
+    GPIOE->AFR[1] = 0xcccccccc;
+    GPIOF->AFR[0] = 0x00cccccc;
+    GPIOF->AFR[1] = 0xccccc000;
+    GPIOG->AFR[0] = 0x00cc0ccc;
+    GPIOG->AFR[1] = 0xc000000c;
+
+    // Mode
+    GPIOB->MODER = 0x00002800;
+    GPIOC->MODER = 0x00000002;
+    GPIOD->MODER = 0xa02a000a;
+    GPIOE->MODER = 0xaaaa800a;
+    GPIOF->MODER = 0xaa800aaa;
+    GPIOG->MODER = 0x80020a2a;
+
+    // Speed (high speed for all, very high speed for SDRAM pins)
+    GPIOB->OSPEEDR = 0x00003c00;
+    GPIOC->OSPEEDR = 0x00000003;
+    GPIOD->OSPEEDR = 0xf03f000f;
+    GPIOE->OSPEEDR = 0xffffc00f;
+    GPIOF->OSPEEDR = 0xffc00fff;
+    GPIOG->OSPEEDR = 0xc0030f3f;
+
+    // Since we'we un-configured PB3 and PB4 (by default they are SWO and NJRST)
+    // finish the job and remove the default pull-up
+    GPIOB->PUPDR = 0;
+
+    // Enable the SDRAM controller clock
+    RCC->AHB3ENR |= RCC_AHB3ENR_FMCEN;
+    RCC_SYNC();
+
+    // The SDRAM is a AS4C4M16SA-6TAN
+    // HCLK = 216MHz -> SDRAM clock = HCLK/2 = 133MHz
+
+    // 1. Memory device features
+    FMC_Bank5_6->SDCR[0] = 0                   // 0 delay after CAS latency
+                         | FMC_SDCR1_RBURST    // Enable read bursts
+                         | FMC_SDCR1_SDCLK_1;  // SDCLK = HCLK / 2
+    FMC_Bank5_6->SDCR[1] = 0                   // Write accesses allowed
+                         | FMC_SDCR2_CAS_1     // 2 cycles CAS latency
+                         | FMC_SDCR2_NB        // 4 internal banks
+                         | FMC_SDCR2_MWID_0    // 16 bit data bus
+                         | FMC_SDCR2_NR_1      // 13 bit row address
+                         | 0;                  // 8 bit column address
+
+    // 2. Memory device timings
+    #ifdef SYSCLK_FREQ_216MHz
+    // SDRAM timings. One clock cycle is 9.26ns
+    FMC_Bank5_6->SDTR[0] = (2 - 1) << FMC_SDTR1_TRP_Pos   // 2 cycles TRP  (18.52ns > 18ns)
+                         | (7 - 1) << FMC_SDTR1_TRC_Pos;  // 7 cycles TRC  (64.82ns > 60ns)
+    FMC_Bank5_6->SDTR[1] = (2 - 1) << FMC_SDTR1_TRCD_Pos  // 2 cycles TRCD (18.52ns > 18ns)
+                         | (2 - 1) << FMC_SDTR1_TWR_Pos   // 2 cycles TWR  (min 2cc > 12ns)
+                         | (5 - 1) << FMC_SDTR1_TRAS_Pos  // 5 cycles TRAS (46.3ns  > 42ns)
+                         | (7 - 1) << FMC_SDTR1_TXSR_Pos  // 7 cycles TXSR (74.08ns > 61.5ns)
+                         | (2 - 1) << FMC_SDTR1_TMRD_Pos; // 2 cycles TMRD (min 2cc > 12ns)
+    #else
+    #error No SDRAM timings for this clock
+    #endif
+
+    // 3. Enable the bank 2 clock
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_0   // Clock Configuration Enable
+                         | FMC_SDCMR_CTB2;  // Bank 2
+    sdramCommandWait();
+
+    // 4. Wait during command execution
+    delayUs(100);
+
+    // 5. Issue a "Precharge All" command
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_1   // Precharge all
+                         | FMC_SDCMR_CTB2;  // Bank 2
+    sdramCommandWait();
+
+    // 6. Issue Auto-Refresh commands
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_1 | FMC_SDCMR_MODE_0  // Auto-Refresh
+                         | FMC_SDCMR_CTB2                     // Bank 2
+                         | (8 - 1) << FMC_SDCMR_NRFS_Pos;     // 2 Auto-Refresh
+    sdramCommandWait();
+
+    // 7. Issue a Load Mode Register command
+    FMC_Bank5_6->SDCMR = FMC_SDCMR_MODE_2               /// Load mode register
+                         | FMC_SDCMR_CTB2               // Bank 2
+                         | 0x220 << FMC_SDCMR_MRD_Pos;  // CAS = 2, burst = 1
+    sdramCommandWait();
+
+// 8. Program the refresh rate (4K / 32ms)
+// 64ms / 8192 = 7.8125us
+#ifdef SYSCLK_FREQ_216MHz
+    // 7.8125us * 133MHz = 1039 - 20 = 1019
+    FMC_Bank5_6->SDRTR = 1019 << FMC_SDRTR_COUNT_Pos;
+#else
+#error No SDRAM refresh timings for this clock
+#endif
+}
+
+void IRQbspInit() {
+    // Enable USART1 pins port
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+
+    userLed1::mode(Mode::OUTPUT);
+    userLed2::mode(Mode::OUTPUT);
+    userLed3_1::mode(Mode::OUTPUT);
+    userLed3_2::mode(Mode::OUTPUT);
+    userLed4::mode(Mode::OUTPUT);
+    userSwitch::mode(Mode::INPUT);
+
+    interfaces::spi1::miso::mode(Mode::ALTERNATE);
+    interfaces::spi1::miso::alternateFunction(5);
+    interfaces::spi1::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi1::mosi::alternateFunction(5);
+    interfaces::spi1::sck::mode(Mode::ALTERNATE);
+    interfaces::spi1::sck::alternateFunction(5);
+
+    interfaces::spi3::miso::mode(Mode::ALTERNATE);
+    interfaces::spi3::miso::alternateFunction(6);
+    interfaces::spi3::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi3::mosi::alternateFunction(5);
+    interfaces::spi3::sck::mode(Mode::ALTERNATE);
+    interfaces::spi3::sck::alternateFunction(6);
+
+    interfaces::spi4::miso::mode(Mode::ALTERNATE);
+    interfaces::spi4::miso::alternateFunction(5);
+    interfaces::spi4::mosi::mode(Mode::ALTERNATE);
+    interfaces::spi4::mosi::alternateFunction(5);
+    interfaces::spi4::sck::mode(Mode::ALTERNATE);
+    interfaces::spi4::sck::alternateFunction(5);
+
+    radio1::cs::mode(Mode::OUTPUT);
+    radio1::cs::high();
+    radio1::nrst::mode(Mode::OUTPUT);
+    radio1::nrst::high();
+    radio1::txen::mode(Mode::OUTPUT);
+    radio1::txen::low();
+    radio1::rxen::mode(Mode::OUTPUT);
+    radio1::rxen::low();
+    radio1::dio0::mode(Mode::INPUT);
+    radio1::dio1::mode(Mode::INPUT);
+    radio1::dio3::mode(Mode::INPUT);
+
+    radio2::cs::mode(Mode::OUTPUT);
+    radio2::cs::high();
+    radio2::nrst::mode(Mode::OUTPUT);
+    radio2::nrst::high();
+    radio2::txen::mode(Mode::OUTPUT);
+    radio2::txen::low();
+    radio2::rxen::mode(Mode::OUTPUT);
+    radio2::rxen::low();
+    radio2::dio0::mode(Mode::INPUT);
+    radio2::dio1::mode(Mode::INPUT);
+    radio2::dio3::mode(Mode::INPUT);
+
+    DefaultConsole::instance().IRQset(intrusive_ref_ptr<Device>(new STM32Serial(
+        defaultSerial, defaultSerialSpeed, STM32Serial::NOFLOWCTRL)));
+}
+
+void bspInit2() {
+    #ifdef WITH_FILESYSTEM
+    // Init devfs with empty device
+    basicFilesystemSetup(intrusive_ref_ptr<Device>());
+    #endif // WITH_FILESYSTEM
+
+    #ifdef WITH_BACKUP_SRAM
+    BackupDomain::instance().enable();
+    BackupDomain::instance().enableBackupSRAM();
+    #endif
+
+    // Print the reset reason
+    bootlog("Reset reson: ");
+    switch(BackupDomain::instance().lastResetReason()) {
+        case ResetReason::RST_LOW_PWR:
+            bootlog("low power\n");
+            break;
+        case ResetReason::RST_WINDOW_WDG:
+            bootlog("window watchdog\n");
+            break;
+        case ResetReason::RST_INDEPENDENT_WDG:
+            bootlog("indeendent watchdog\n");
+            break;
+        case ResetReason::RST_SW:
+            bootlog("software reset\n");
+            break;
+        case ResetReason::RST_POWER_ON:
+            bootlog("power on\n");
+            break;
+        case ResetReason::RST_PIN:
+            bootlog("reset pin\n");
+            break;
+        case ResetReason::RST_UNKNOWN:
+            bootlog("unknown\n");
+            break;
+    }
+}
+
+//
+// Shutdown and reboot
+//
+
+void shutdown()
+{
+    ioctl(STDOUT_FILENO, IOCTL_SYNC, 0);
+
+    #ifdef WITH_FILESYSTEM
+    FilesystemManager::instance().umountAll();
+    #endif  // WITH_FILESYSTEM
+
+    disableInterrupts();
+    for(;;) ;
+}
+
+void reboot()
+{
+    ioctl(STDOUT_FILENO, IOCTL_SYNC, 0);
+
+    #ifdef WITH_FILESYSTEM
+    FilesystemManager::instance().umountAll();
+    #endif  // WITH_FILESYSTEM
+
+    disableInterrupts();
+    miosix_private::IRQsystemReboot();
+}
+
+} // namespace miosix

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/interfaces-impl/bsp_impl.h

+/***************************************************************************
+ *   Copyright (C) 2018 by Terraneo Federico                               *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+/***************************************************************************
+ * bsp_impl.h Part of the Miosix Embedded OS.
+ * Board support package, this file initializes hardware.
+ ***************************************************************************/
+
+#ifndef BSP_IMPL_H
+#define BSP_IMPL_H
+
+#include "config/miosix_settings.h"
+#include "interfaces/gpio.h"
+
+namespace miosix
+{
+
+/**
+\addtogroup Hardware
+\{
+*/
+
+/**
+ * \internal
+ * Called by stage_1_boot.cpp to enable the SDRAM before initializing .data/.bss
+ * Requires the CPU clock to be already configured (running from the PLL)
+ */
+void configureSdram();
+
+/**
+ * \internal
+ * Board pin definition
+ */
+typedef Gpio<GPIOB_BASE, 7> userLed1;
+typedef Gpio<GPIOE_BASE, 3> userLed2;
+typedef Gpio<GPIOC_BASE, 13> userLed3_1;
+typedef Gpio<GPIOG_BASE, 9> userLed3_2;
+typedef Gpio<GPIOC_BASE, 2> userLed4;
+typedef Gpio<GPIOB_BASE, 2> userSwitch;
+
+inline void ledOn()
+{
+    userLed1::high();
+    userLed2::high();
+    userLed3_1::high();
+    userLed3_2::high();
+    userLed4::high();
+}
+
+inline void ledOff()
+{
+    userLed1::low();
+    userLed2::low();
+    userLed3_1::low();
+    userLed3_2::low();
+    userLed4::low();
+}
+
+inline void led1On() { userLed1::high(); }
+
+inline void led1Off() { userLed1::low(); }
+
+inline void led2On() { userLed2::high(); }
+
+inline void led2Off() { userLed2::low(); }
+
+inline void led3On()
+{
+    userLed3_1::high();
+    userLed3_2::high();
+}
+
+inline void led3Off()
+{
+    userLed3_1::low();
+    userLed3_2::low();
+}
+
+/**
+ * Polls the SD card sense GPIO.
+ *
+ * This board has no SD card whatsoever, but a card can be connected to the
+ * following GPIOs:
+ * TODO: never tested
+ *
+ * \return true. As there's no SD card sense switch, let's pretend that
+ * the card is present.
+ */
+inline bool sdCardSense() { return true; }
+
+/**
+\}
+*/
+
+}  // namespace miosix
+
+#endif  // BSP_IMPL_H

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/interfaces-impl/hwmapping.h

+/***************************************************************************
+ *   Copyright (C) 2023 by Skyward                                         *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+#ifndef HWMAPPING_H
+#define HWMAPPING_H
+
+#include "interfaces/gpio.h"
+
+#define MIOSIX_RADIO1_DIO0_IRQ EXTI8_IRQHandlerImpl
+#define MIOSIX_RADIO1_DIO1_IRQ EXTI10_IRQHandlerImpl
+#define MIOSIX_RADIO1_DIO2_IRQ EXTI11_IRQHandlerImpl
+#define MIOSIX_RADIO1_DIO3_IRQ EXTI12_IRQHandlerImpl
+#define MIOSIX_RADIO1_SPI SPI3
+
+#define MIOSIX_RADIO2_DIO0_IRQ EXTI6_IRQHandlerImpl
+#define MIOSIX_RADIO2_DIO1_IRQ EXTI4_IRQHandlerImpl
+#define MIOSIX_RADIO2_DIO2_IRQ EXTI7_IRQHandlerImpl
+#define MIOSIX_RADIO2_DIO3_IRQ EXTI5_IRQHandlerImpl
+#define MIOSIX_RADIO2_DIO4_IRQ EXTI2_IRQHandlerImpl
+#define MIOSIX_RADIO2_DIO5_IRQ EXTI3_IRQHandlerImpl
+#define MIOSIX_RADIO2_SPI SPI1
+
+#define MIOSIX_ETHERNET_IRQ EXTI1_IRQHandlerImpl
+#define MIOSIX_ETHERNET_SPI SPI4
+
+// Remember to modify pins of leds
+namespace miosix
+{
+
+namespace interfaces
+{
+
+// Radio 1
+namespace spi3
+{
+using sck  = Gpio<GPIOB_BASE, 3>;
+using miso = Gpio<GPIOB_BASE, 4>;
+using mosi = Gpio<GPIOD_BASE, 6>;
+} // namespace spi3s
+
+// Radio 2
+namespace spi1
+{
+using sck  = Gpio<GPIOA_BASE, 5>;
+using miso = Gpio<GPIOA_BASE, 6>;
+using mosi = Gpio<GPIOA_BASE, 7>;
+} // namespace spi1
+
+// Ethernet module
+namespace spi4
+{
+using sck  = Gpio<GPIOE_BASE, 2>;
+using miso = Gpio<GPIOE_BASE, 5>;
+using mosi = Gpio<GPIOE_BASE, 6>;
+} // namespace spi4
+
+}  // namespace interfaces
+
+namespace radio1
+{
+namespace spi {
+using namespace miosix::interfaces::spi3;
+} // namespace spi
+
+using cs   = Gpio<GPIOA_BASE, 15>;
+using dio0 = Gpio<GPIOC_BASE, 8>;
+using dio1 = Gpio<GPIOC_BASE, 10>;
+using dio3 = Gpio<GPIOC_BASE, 12>;
+using txen = Gpio<GPIOG_BASE, 12>;
+using rxen = Gpio<GPIOG_BASE, 14>;
+using nrst = Gpio<GPIOA_BASE, 1>;
+} // namespace radio1
+
+namespace radio2
+{
+namespace spi {
+using namespace miosix::interfaces::spi1;
+} // namespace spi
+
+using cs   = Gpio<GPIOA_BASE, 4>;
+using dio0 = Gpio<GPIOC_BASE, 6>;
+using dio1 = Gpio<GPIOD_BASE, 4>;
+using dio3 = Gpio<GPIOD_BASE, 5>;
+using txen = Gpio<GPIOB_BASE, 8>;
+using rxen = Gpio<GPIOB_BASE, 9>;
+using nrst = Gpio<GPIOA_BASE, 0>;
+} // namespace radio2
+
+namespace ethernet
+{
+namespace spi {
+using namespace miosix::interfaces::spi4;
+} // namespace spi
+
+using cs   = Gpio<GPIOE_BASE, 4>;
+using intr = Gpio<GPIOC_BASE, 1>;
+using nrst = Gpio<GPIOB_BASE, 1>;
+} // namespace ethernet
+
+}  // namespace miosix
+
+#endif  // HWMAPPING_H

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/stm32_2m+16m_xram.ld

+/*
+ * C++ enabled linker script for stm32f769ni (2M FLASH, 512K RAM, 16MB XRAM)
+ * Developed by TFT: Terraneo Federico Technologies
+ * Optimized for use with the Miosix kernel
+ */
+
+/*
+ * This linker script puts:
+ * - read only data and code (.text, .rodata, .eh_*) in FLASH
+ * - the 512Byte main (IRQ) stack, .data and .bss in the DTCM 128KB RAM
+ * - .data, .bss, stacks and heap in the external 16MB SDRAM.
+ */
+
+/*
+ * The main stack is used for interrupt handling by the kernel.
+ *
+ * *** Readme ***
+ * This linker script places the main stack (used by the kernel for interrupts)
+ * at the bottom of the ram, instead of the top. This is done for two reasons:
+ *
+ * - as an optimization for microcontrollers with little ram memory. In fact
+ *   the implementation of malloc from newlib requests memory to the OS in 4KB
+ *   block (except the first block that can be smaller). This is probably done
+ *   for compatibility with OSes with an MMU and paged memory. To see why this
+ *   is bad, consider a microcontroller with 8KB of ram: when malloc finishes
+ *   up the first 4KB it will call _sbrk_r asking for a 4KB block, but this will
+ *   fail because the top part of the ram is used by the main stack. As a
+ *   result, the top part of the memory will not be used by malloc, even if
+ *   available (and it is nearly *half* the ram on an 8KB mcu). By placing the
+ *   main stack at the bottom of the ram, the upper 4KB block will be entirely
+ *   free and available as heap space.
+ *
+ * - In case of main stack overflow the cpu will fault because access to memory
+ *   before the beginning of the ram faults. Instead with the default stack
+ *   placement the main stack will silently collide with the heap.
+ * Note: if increasing the main stack size also increase the ORIGIN value in
+ * the MEMORY definitions below accordingly.
+ */
+
+_main_stack_size = 512;                             /* main stack = 512Bytes */
+_main_stack_top  = 0x20000000 + _main_stack_size;
+ASSERT(_main_stack_size   % 8 == 0, "MAIN stack size error");
+
+/* Mapping the heap into XRAM */
+_heap_end = 0xd0000000 + 16M;                        /* end of available ram */
+
+/* Identify the Entry Point  */
+ENTRY(_Z13Reset_Handlerv)
+
+/*
+ * Specify the memory areas
+ *
+ * NOTE: starting at 0x20000000 there's 128KB of DTCM (Data Tightly Coupled
+ * Memory). Technically, we could use this as normal RAM as there's a way for
+ * the DMA to access it, but the datasheet is unclear about performance
+ * penalties for doing so. To avoid nonuniform DMA memory access latencies,
+ * we leave this 128KB DTCM unused except for the first 512Bytes which are for
+ * the interrupt stack. This leaves us with 384KB of RAM
+ */
+MEMORY
+{
+    xram(wx)  : ORIGIN = 0xd0000000, LENGTH =  16M
+    sram(wx)  : ORIGIN = 0x20020000, LENGTH = 384K
+    dtcm(wx)  : ORIGIN = 0x20000000, LENGTH = 128K    /* Used for main stack */
+    bram(rw)  : ORIGIN = 0x40024000, LENGTH =   4K    /* Bakup SRAM */
+    flash(rx) : ORIGIN = 0x08000000, LENGTH =   2M
+}
+
+/* now define the output sections  */
+SECTIONS
+{
+    . = 0;
+    
+    /* .text section: code goes to flash */
+    .text :
+    {
+        /* Startup code must go at address 0 */
+        KEEP(*(.isr_vector))
+        
+        *(.text)
+        *(.text.*)
+        *(.gnu.linkonce.t.*)
+        /* these sections for thumb interwork? */
+        *(.glue_7)
+        *(.glue_7t)
+        /* these sections for C++? */
+        *(.gcc_except_table)
+        *(.gcc_except_table.*)
+        *(.ARM.extab*)
+        *(.gnu.linkonce.armextab.*)
+
+        . = ALIGN(4);
+        /* .rodata: constant data */
+        *(.rodata)
+        *(.rodata.*)
+        *(.gnu.linkonce.r.*)
+
+        /* C++ Static constructors/destructors (eabi) */
+        . = ALIGN(4);
+        KEEP(*(.init))
+        
+        . = ALIGN(4);
+        __miosix_init_array_start = .;
+        KEEP (*(SORT(.miosix_init_array.*)))
+        KEEP (*(.miosix_init_array))
+        __miosix_init_array_end = .;
+
+        . = ALIGN(4);
+        __preinit_array_start = .;
+        KEEP (*(.preinit_array))
+        __preinit_array_end = .;
+
+        . = ALIGN(4);
+        __init_array_start = .;
+        KEEP (*(SORT(.init_array.*)))
+        KEEP (*(.init_array))
+        __init_array_end = .;
+
+        . = ALIGN(4);
+        KEEP(*(.fini))
+
+        . = ALIGN(4);
+        __fini_array_start = .;
+        KEEP (*(.fini_array))
+        KEEP (*(SORT(.fini_array.*)))
+        __fini_array_end = .;
+
+        /* C++ Static constructors/destructors (elf)  */
+        . = ALIGN(4);
+        _ctor_start = .;
+        KEEP (*crtbegin.o(.ctors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+        KEEP (*(SORT(.ctors.*)))
+        KEEP (*crtend.o(.ctors))
+       _ctor_end = .;
+
+        . = ALIGN(4);
+        KEEP (*crtbegin.o(.dtors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+        KEEP (*(SORT(.dtors.*)))
+        KEEP (*crtend.o(.dtors))
+    } > flash
+
+    /* .ARM.exidx is sorted, so has to go in its own output section.  */
+    __exidx_start = .;
+    .ARM.exidx :
+    {
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+    } > flash
+    __exidx_end = .;
+
+	/*
+     * .data section: global variables go to xram, but also store a copy to
+     * flash to initialize them
+     */
+    .data : ALIGN(8)
+    {
+        _data = .;
+        *(.data)
+        *(.data.*)
+        *(.gnu.linkonce.d.*)
+        . = ALIGN(8);
+        _edata = .;
+    } > xram AT > flash
+    _etext = LOADADDR(.data);
+
+    /* .bss section: uninitialized global variables go to xram */
+    _bss_start = .;
+    .bss :
+    {
+        *(.bss)
+        *(.bss.*)
+        *(.gnu.linkonce.b.*)
+        . = ALIGN(8);
+    } > xram
+    _bss_end = .;
+
+    _end = .;
+    PROVIDE(end = .);
+    
+    .preserve(NOLOAD) : ALIGN(4)
+    {
+        _preserve_start = .;
+        . = ALIGN(4);
+        *(.preserve);
+        *(.preserve*);
+        . = ALIGN(4);
+        _preserve_end = .;
+    } > bram
+}

miosix/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/stm32_2m+384k_ram.ld

+/*
+ * C++ enabled linker script for stm32f767zi (2M FLASH, 512K RAM)
+ * Developed by TFT: Terraneo Federico Technologies
+ * Optimized for use with the Miosix kernel
+ */
+
+/*
+ * This linker script puts:
+ * - read only data and code (.text, .rodata, .eh_*) in FLASH
+ * - the 512Byte main (IRQ) stack, .data and .bss in the DTCM 128KB RAM
+ * - .data, .bss, stacks and heap in the internal RAM.
+ */
+
+/*
+ * The main stack is used for interrupt handling by the kernel.
+ *
+ * *** Readme ***
+ * This linker script places the main stack (used by the kernel for interrupts)
+ * at the bottom of the ram, instead of the top. This is done for two reasons:
+ *
+ * - as an optimization for microcontrollers with little ram memory. In fact
+ *   the implementation of malloc from newlib requests memory to the OS in 4KB
+ *   block (except the first block that can be smaller). This is probably done
+ *   for compatibility with OSes with an MMU and paged memory. To see why this
+ *   is bad, consider a microcontroller with 8KB of ram: when malloc finishes
+ *   up the first 4KB it will call _sbrk_r asking for a 4KB block, but this will
+ *   fail because the top part of the ram is used by the main stack. As a
+ *   result, the top part of the memory will not be used by malloc, even if
+ *   available (and it is nearly *half* the ram on an 8KB mcu). By placing the
+ *   main stack at the bottom of the ram, the upper 4KB block will be entirely
+ *   free and available as heap space.
+ *
+ * - In case of main stack overflow the cpu will fault because access to memory
+ *   before the beginning of the ram faults. Instead with the default stack
+ *   placement the main stack will silently collide with the heap.
+ * Note: if increasing the main stack size also increase the ORIGIN value in
+ * the MEMORY definitions below accordingly.
+ */
+
+_main_stack_size = 512;                             /* main stack = 512Bytes */
+_main_stack_top  = 0x20000000 + _main_stack_size;
+ASSERT(_main_stack_size   % 8 == 0, "MAIN stack size error");
+
+/* Mapping the heap to the end of SRAM2 */
+_heap_end = 0x20000000 + 512K;                       /* end of available ram */
+
+/* Identify the Entry Point  */
+ENTRY(_Z13Reset_Handlerv)
+
+/*
+ * Specify the memory areas
+ *
+ * NOTE: starting at 0x20000000 there's 128KB of DTCM (Data Tightly Coupled
+ * Memory). Technically, we could use this as normal RAM as there's a way for
+ * the DMA to access it, but the datasheet is unclear about performance
+ * penalties for doing so. To avoid nonuniform DMA memory access latencies,
+ * we leave this 128KB DTCM unused except for the first 512Bytes which are for
+ * the interrupt stack. This leaves us with 384KB of RAM
+ */
+MEMORY
+{
+    sram(wx)  : ORIGIN = 0x20020000, LENGTH = 384K
+    dtcm(wx)  : ORIGIN = 0x20000000, LENGTH = 128K    /* Used for main stack */
+    bram(rw)  : ORIGIN = 0x40024000, LENGTH =   4K    /* Bakup SRAM */
+    flash(rx) : ORIGIN = 0x08000000, LENGTH =   2M
+}
+
+/* now define the output sections  */
+SECTIONS
+{
+    . = 0;
+    
+    /* .text section: code goes to flash */
+    .text :
+    {
+        /* Startup code must go at address 0 */
+        KEEP(*(.isr_vector))
+        
+        *(.text)
+        *(.text.*)
+        *(.gnu.linkonce.t.*)
+        /* these sections for thumb interwork? */
+        *(.glue_7)
+        *(.glue_7t)
+        /* these sections for C++? */
+        *(.gcc_except_table)
+        *(.gcc_except_table.*)
+        *(.ARM.extab*)
+        *(.gnu.linkonce.armextab.*)
+
+        . = ALIGN(4);
+        /* .rodata: constant data */
+        *(.rodata)
+        *(.rodata.*)
+        *(.gnu.linkonce.r.*)
+
+        /* C++ Static constructors/destructors (eabi) */
+        . = ALIGN(4);
+        KEEP(*(.init))
+        
+        . = ALIGN(4);
+        __miosix_init_array_start = .;
+        KEEP (*(SORT(.miosix_init_array.*)))
+        KEEP (*(.miosix_init_array))
+        __miosix_init_array_end = .;
+
+        . = ALIGN(4);
+        __preinit_array_start = .;
+        KEEP (*(.preinit_array))
+        __preinit_array_end = .;
+
+        . = ALIGN(4);
+        __init_array_start = .;
+        KEEP (*(SORT(.init_array.*)))
+        KEEP (*(.init_array))
+        __init_array_end = .;
+
+        . = ALIGN(4);
+        KEEP(*(.fini))
+
+        . = ALIGN(4);
+        __fini_array_start = .;
+        KEEP (*(.fini_array))
+        KEEP (*(SORT(.fini_array.*)))
+        __fini_array_end = .;
+
+        /* C++ Static constructors/destructors (elf)  */
+        . = ALIGN(4);
+        _ctor_start = .;
+        KEEP (*crtbegin.o(.ctors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+        KEEP (*(SORT(.ctors.*)))
+        KEEP (*crtend.o(.ctors))
+       _ctor_end = .;
+
+        . = ALIGN(4);
+        KEEP (*crtbegin.o(.dtors))
+        KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+        KEEP (*(SORT(.dtors.*)))
+        KEEP (*crtend.o(.dtors))
+    } > flash
+
+    /* .ARM.exidx is sorted, so has to go in its own output section.  */
+    __exidx_start = .;
+    .ARM.exidx :
+    {
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+    } > flash
+    __exidx_end = .;
+
+	/*
+     * .data section: global variables go to sram, but also store a copy to
+     * flash to initialize them
+     */
+    .data : ALIGN(8)
+    {
+        _data = .;
+        *(.data)
+        *(.data.*)
+        *(.gnu.linkonce.d.*)
+        . = ALIGN(8);
+        _edata = .;
+    } > sram AT > flash
+    _etext = LOADADDR(.data);
+
+    /* .bss section: uninitialized global variables go to sram */
+    _bss_start = .;
+    .bss :
+    {
+        *(.bss)
+        *(.bss.*)
+        *(.gnu.linkonce.b.*)
+        . = ALIGN(8);
+    } > sram
+    _bss_end = .;
+
+    _end = .;
+    PROVIDE(end = .);
+    
+    .preserve(NOLOAD) : ALIGN(4)
+    {
+        _preserve_start = .;
+        . = ALIGN(4);
+        *(.preserve);
+        *(.preserve*);
+        . = ALIGN(4);
+        _preserve_end = .;
+    } > bram
+}

miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4/interfaces-impl/bsp.cpp

@@ -312,7 +312,6 @@ void IRQbspInit()
 
     H3LIS331DL::cs::mode(Mode::OUTPUT);
     H3LIS331DL::cs::getPin().high();
-    H3LIS331DL::interrupt::mode(Mode::INPUT);
 
     LIS2MDL::cs::mode(Mode::OUTPUT);
     LIS2MDL::cs::getPin().high();

miosix/arch/cortexM7_stm32f7/stm32f767zi_skyward_death_stack_v4/interfaces-impl/hwmapping.h

@@ -125,7 +125,6 @@ using sck       = interfaces::spi3::sck;
 using miso = interfaces::spi3::miso;
 using mosi = interfaces::spi3::mosi;
 using cs   = Gpio<GPIOD_BASE, 3>;
-using interrupt = Gpio<GPIOC_BASE, 3>;
 }  // namespace H3LIS331DL
 
 namespace LIS2MDL
@@ -195,7 +194,7 @@ using sck  = interfaces::spi6::sck;
 using miso      = interfaces::spi6::miso;
 using mosi      = interfaces::spi6::mosi;
 using cs        = Gpio<GPIOG_BASE, 11>;
-using dio0 = Gpio<GPIOA_BASE, 13>;
+using dio0      = Gpio<GPIOC_BASE, 3>;
 using dio1      = Gpio<GPIOD_BASE, 4>;
 using dio3      = Gpio<GPIOC_BASE, 5>;
 using rx_enable = Gpio<GPIOB_BASE, 0>;

miosix/config/arch/cortexM7_stm32f7/stm32f767zi_automated_antennas/board_settings.h

+/***************************************************************************
+ *   Copyright (C) 2018 by Terraneo Federico                               *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+#pragma once
+
+/**
+ * \internal
+ * Versioning for board_settings.h for out of git tree projects
+ */
+#define BOARD_SETTINGS_VERSION 100
+
+namespace miosix {
+
+/**
+ * \addtogroup Settings
+ * \{
+ */
+
+/// Size of stack for main().
+/// The C standard library is stack-heavy (iprintf requires 1KB)
+const unsigned int MAIN_STACK_SIZE=16*1024;
+
+/// Frequency of tick (in Hz). For the priority scheduler this is also the
+/// context switch frequency
+const unsigned int TICK_FREQ=1000;
+
+///\internal Aux timer run @ 100KHz
+/// Note that since the timer is only 16 bits this imposes a limit on the
+/// burst measurement of 655ms. If due to a pause_kernel() or
+/// disable_interrupts() section a thread runs for more than that time, a wrong
+/// burst value will be measured
+const unsigned int AUX_TIMER_CLOCK=100000;
+const unsigned int AUX_TIMER_MAX=0xffff;  ///<\internal Aux timer is 16 bits
+
+/// Serial port
+const unsigned int defaultSerial=1;
+const unsigned int defaultSerialSpeed=115200;
+#define SERIAL_1_DMA
+// #define SERIAL_2_DMA
+// #define SERIAL_3_DMA
+
+// SD card driver
+static const unsigned char sdVoltage=33; //Board powered @ 3.3V
+#define SD_ONE_BIT_DATABUS
+#define SD_SDMMC 1 //Select either SDMMC1 or SDMMC2
+
+/// Analog supply voltage for ADC, DAC, Reset blocks, RCs and PLL
+#define V_DDA_VOLTAGE 3.3f
+
+/**
+ * \}
+ */
+
+}  // namespace miosix

miosix/config/arch/cortexM7_stm32f7/stm32f767zi_gemini_gs/board_settings.h

+/***************************************************************************
+ *   Copyright (C) 2023 by Skyward                                         *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   As a special exception, if other files instantiate templates or use   *
+ *   macros or inline functions from this file, or you compile this file   *
+ *   and link it with other works to produce a work based on this file,    *
+ *   this file does not by itself cause the resulting work to be covered   *
+ *   by the GNU General Public License. However the source code for this   *
+ *   file must still be made available in accordance with the GNU General  *
+ *   Public License. This exception does not invalidate any other reasons  *
+ *   why a work based on this file might be covered by the GNU General     *
+ *   Public License.                                                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, see <http://www.gnu.org/licenses/>   *
+ ***************************************************************************/
+
+#pragma once
+
+/**
+ * \internal
+ * Versioning for board_settings.h for out of git tree projects
+ */
+#define BOARD_SETTINGS_VERSION 100
+
+namespace miosix {
+
+/**
+ * \addtogroup Settings
+ * \{
+ */
+
+/// Size of stack for main().
+/// The C standard library is stack-heavy (iprintf requires 1KB)
+const unsigned int MAIN_STACK_SIZE=16*1024;
+
+/// Frequency of tick (in Hz). For the priority scheduler this is also the
+/// context switch frequency
+const unsigned int TICK_FREQ=1000;
+
+///\internal Aux timer run @ 100KHz
+/// Note that since the timer is only 16 bits this imposes a limit on the
+/// burst measurement of 655ms. If due to a pause_kernel() or
+/// disable_interrupts() section a thread runs for more than that time, a wrong
+/// burst value will be measured
+const unsigned int AUX_TIMER_CLOCK=100000;
+const unsigned int AUX_TIMER_MAX=0xffff;  ///<\internal Aux timer is 16 bits
+
+/// Serial port
+const unsigned int defaultSerial=1;
+const unsigned int defaultSerialSpeed=115200;
+#define SERIAL_1_DMA
+// #define SERIAL_2_DMA
+// #define SERIAL_3_DMA
+
+// SD card driver
+static const unsigned char sdVoltage=33; //Board powered @ 3.3V
+// #define SD_ONE_BIT_DATABUS
+#define SD_SDMMC 1 //Select either SDMMC1 or SDMMC2
+
+/// Analog supply voltage for ADC, DAC, Reset blocks, RCs and PLL
+#define V_DDA_VOLTAGE 3.3f
+
+/**
+ * \}
+ */
+
+}  // namespace miosix

miosix/config/boards.cmake

@@ -77,8 +77,10 @@ set(BOARDS
     stm32f429zi_skyward_parafoil
     stm32f429zi_skyward_rig
     stm32f756zg_nucleo
+    stm32f767zi_automated_antennas
     stm32f767zi_compute_unit
     stm32f767zi_gemini_motor
+    stm32f767zi_gemini_gs
     stm32f767zi_nucleo
     stm32f767zi_skyward_death_stack_v4
     stm32f769ni_discovery

miosix/config/options.cmake

@@ -1183,6 +1183,10 @@ elseif(${OPT_BOARD} STREQUAL stm32f767zi_compute_unit)
     set(ARCH cortexM7_stm32f7)
 elseif(${OPT_BOARD} STREQUAL stm32f767zi_gemini_motor)
     set(ARCH cortexM7_stm32f7)
+elseif(${OPT_BOARD} STREQUAL stm32f767zi_gemini_gs)
+    set(ARCH cortexM7_stm32f7)
+elseif(${OPT_BOARD} STREQUAL stm32f767zi_automated_antennas)
+    set(ARCH cortexM7_stm32f7)
 elseif(${OPT_BOARD} STREQUAL stm32f767zi_nucleo)
     set(ARCH cortexM7_stm32f7)
 elseif(${OPT_BOARD} STREQUAL stm32f767zi_skyward_death_stack_v4)
@@ -3246,6 +3250,90 @@ elseif(${ARCH} STREQUAL cortexM7_stm32f7)
         ## board.
         set(PROGRAM_CMDLINE st-flash --reset write "main.bin" 0x8000000)      
     
+    ## BOARD: stm32f767zi_gemini_gs
+    ##
+    elseif(${OPT_BOARD} STREQUAL stm32f767zi_gemini_gs)
+        ## Select appropriate compiler flags for both ASM/C/C++/linker
+        ## Not all stm32f7 have the double precision FPU. Those that only
+        ## support single precision are built as cortex m4
+        set(ARCHOPTS -mcpu=cortex-m7 -mthumb -mfloat-abi=hard -mfpu=fpv5-d16)
+
+        ## Base directory with header files for this board
+        set(BOARD_INC arch/cortexM7_stm32f7/stm32f767zi_gemini_gs)
+
+        ## Select linker script and boot file
+        ## Their path must be relative to the miosix directory.
+        set(BOOT_FILE ${KPATH}/${BOARD_INC}/core/stage_1_boot.cpp)
+        # set(LINKER_SCRIPT ${KPATH}/${BOARD_INC}/stm32_2m+384k_ram.ld)
+        set(LINKER_SCRIPT ${KPATH}/${BOARD_INC}/stm32_2m+16m_xram.ld)
+
+        ## Enables the initialization of the external SDRAM memory
+        set(XRAM -D__ENABLE_XRAM)
+
+        ## Select architecture specific files
+        ## These are the files in arch/<arch name>/<board name>
+        set(ARCH_SRC
+            ${KPATH}/${BOARD_INC}/interfaces-impl/bsp.cpp
+            ${KPATH}/arch/common/drivers/stm32_backup_domain.cpp
+        )
+
+        ## Add a #define to allow querying board name
+        list(APPEND CFLAGS_BASE -D_BOARD_STM32F767ZI_GEMINI_GS)
+        list(APPEND CXXFLAGS_BASE -D_BOARD_STM32F767ZI_GEMINI_GS)
+
+        ## Select clock frequency (HSE_VALUE is the xtal on board, fixed)
+        set(CLOCK_FREQ -DHSE_VALUE=25000000 -DSYSCLK_FREQ_216MHz=216000000)
+
+        ## Select programmer command line
+        ## This is the program that is invoked when the user types
+        ## 'make program'
+        ## The command must provide a way to program the board, or print an
+        ## error message saying that 'make program' is not supported for that
+        ## board.
+        set(PROGRAM_CMDLINE st-flash --reset write "main.bin" 0x8000000)
+    ##-------------------------------------------------------------------------
+    ## BOARD: stm32f767zi_automated_antennas
+    ##
+    elseif(${OPT_BOARD} STREQUAL stm32f767zi_automated_antennas)
+        ## Select appropriate compiler flags for both ASM/C/C++/linker
+        ## Not all stm32f7 have the double precision FPU. Those that only
+        ## support single precision are built as cortex m4
+        set(ARCHOPTS -mcpu=cortex-m7 -mthumb -mfloat-abi=hard -mfpu=fpv5-d16)
+
+        ## Base directory with header files for this board
+        set(BOARD_INC arch/cortexM7_stm32f7/stm32f767zi_automated_antennas)
+
+        ## Select linker script and boot file
+        ## Their path must be relative to the miosix directory.
+        set(BOOT_FILE ${KPATH}/${BOARD_INC}/core/stage_1_boot.cpp)
+        # set(LINKER_SCRIPT ${KPATH}/${BOARD_INC}/stm32_2m+384k_ram.ld)
+        set(LINKER_SCRIPT ${KPATH}/${BOARD_INC}/stm32_2m+16m_xram.ld)
+
+        ## Enables the initialization of the external SDRAM memory
+        set(XRAM -D__ENABLE_XRAM)
+
+        ## Select architecture specific files
+        ## These are the files in arch/<arch name>/<board name>
+        set(ARCH_SRC
+            ${KPATH}/${BOARD_INC}/interfaces-impl/bsp.cpp
+            ${KPATH}/arch/common/drivers/stm32_backup_domain.cpp
+        )
+
+        ## Add a #define to allow querying board name
+        list(APPEND CFLAGS_BASE -D_BOARD_STM32F767ZI_AUTOMATED_ANTENNAS)
+        list(APPEND CXXFLAGS_BASE -D_BOARD_STM32F767ZI_AUTOMATED_ANTENNAS)
+
+        ## Select clock frequency (HSE_VALUE is the xtal on board, fixed)
+        set(CLOCK_FREQ -DHSE_VALUE=25000000 -DSYSCLK_FREQ_216MHz=216000000)
+
+        ## Select programmer command line
+        ## This is the program that is invoked when the user types
+        ## 'make program'
+        ## The command must provide a way to program the board, or print an
+        ## error message saying that 'make program' is not supported for that
+        ## board.
+        set(PROGRAM_CMDLINE st-flash --reset write "main.bin" 0x8000000)
+
     ##-------------------------------------------------------------------------
     ## BOARD: stm32f767zi_nucleo
     ##