From 7d9682e2ef698cd88b2b551306a3a5b7e8523b05 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Mon, 10 Mar 2025 22:26:58 +0100
Subject: [PATCH 1/7] [BSP][MOTOR] Begun implementing orion's motor bsp.
---
.../interfaces-impl/arch_registers_impl.h | 39 +++++
.../interfaces-impl/hwmapping.h | 148 ++++++++++++++++++
2 files changed, 187 insertions(+)
create mode 100644 src/bsps/stm32f767zi_orion_motor/interfaces-impl/arch_registers_impl.h
create mode 100644 src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/arch_registers_impl.h b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/arch_registers_impl.h
new file mode 100644
index 000000000..3224edc9e
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/arch_registers_impl.h
@@ -0,0 +1,39 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#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
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
new file mode 100644
index 000000000..1e8e5a209
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
@@ -0,0 +1,148 @@
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Author: Davide Mor, Fabrizio Monti
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "interfaces/gpio.h"
+
+#define MIOSIX_SENSOR_H3LIS331DL_SPI SPI1
+#define MIOSIX_SENSOR_LPS22DF_SPI SPI1
+#define MIOSIX_SENSOR_LSM6DSRX_SPI SPI3
+#define MIOSIX_SENSOR_LIS2MDL_SPI SPI3
+#define MIOSIX_SENSOR_ADS131M08_SPI SPI4
+
+#define MIOSIX_SERVOS_1_TIM TIM3
+#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
+#define MIOSIX_SERVOS_2_TIM TIM1
+#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_1
+
+namespace miosix
+{
+
+namespace interfaces
+{
+
+// H3LIS, LPS22
+namespace spi1
+{
+using sck = Gpio<GPIOA_BASE, 5>;
+using miso = Gpio<GPIOA_BASE, 6>;
+using mosi = Gpio<GPIOA_BASE, 7>;
+} // namespace spi1
+
+// LSM6, LIS2MDL
+namespace spi3
+{
+using sck = Gpio<GPIOB_BASE, 3>;
+using miso = Gpio<GPIOB_BASE, 4>;
+using mosi = Gpio<GPIOD_BASE, 6>;
+} // namespace spi3
+
+// ADS131
+namespace spi4
+{
+using sck = Gpio<GPIOE_BASE, 2>;
+using miso = Gpio<GPIOE_BASE, 5>;
+using mosi = Gpio<GPIOE_BASE, 6>;
+} // namespace spi4
+
+// Miosix UART
+namespace usart1
+{
+using tx = Gpio<GPIOA_BASE, 9>;
+using rx = Gpio<GPIOA_BASE, 10>;
+} // namespace usart1
+
+// HIL UART
+namespace uart4
+{
+using tx = Gpio<GPIOA_BASE, 0>;
+using rx = Gpio<GPIOA_BASE, 1>;
+} // namespace uart4
+
+namespace can1
+{
+using tx = Gpio<GPIOA_BASE, 12>;
+using rx = Gpio<GPIOA_BASE, 11>;
+} // namespace can1
+
+namespace timers
+{
+using tim1ch1 = Gpio<GPIOA_BASE, 8>;
+using tim4ch1 = Gpio<GPIOD_BASE, 12>;
+using tim3ch1 = Gpio<GPIOC_BASE, 6>;
+using tim8ch2 = Gpio<GPIOC_BASE, 7>;
+using tim9ch1 = Gpio<GPIOA_BASE, 2>;
+using tim11ch1 = Gpio<GPIOB_BASE, 9>;
+using tim12ch2 = Gpio<GPIOB_BASE, 15>;
+} // namespace timers
+
+namespace adcs
+{
+using adc12in9 = Gpio<GPIOB_BASE, 1>;
+using adc12in14 = Gpio<GPIOC_BASE, 4>;
+} // namespace adcs
+
+} // namespace interfaces
+
+namespace sensors
+{
+
+namespace ADS131M08
+{
+using cs = Gpio<GPIOG_BASE, 13>;
+}
+
+namespace LPS22DF
+{
+using cs = Gpio<GPIOG_BASE, 14>;
+}
+
+namespace LIS2MDL
+{
+using cs = Gpio<GPIOD_BASE, 5>;
+}
+
+namespace H3LIS331DL
+{
+using cs = Gpio<GPIOB_BASE, 7>;
+}
+
+namespace LSM6DSRX
+{
+using cs = Gpio<GPIOG_BASE, 12>;
+}
+
+} // namespace sensors
+
+namespace adcs
+{
+using vbat = miosix::interfaces::adcs::adc12in14;
+using servoCur = miosix::interfaces::adcs::adc12in9;
+} // namespace adcs
+
+namespace gpios
+{
+using boardLed = Gpio<GPIOC_BASE, 5>;
+} // namespace gpios
+
+} // namespace miosix
--
GitLab
From ff869bfad7c24d0b91c7acc1d11afeca7dd06497 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Tue, 11 Mar 2025 13:16:04 +0100
Subject: [PATCH 2/7] [BSP][MOTOR] Continued implementation of orion's motor
bsp.
---
.../config/board_options.cmake | 107 ++++
.../config/board_settings.h | 65 +++
.../config/miosix_settings.h | 240 +++++++++
.../core/stage_1_boot.cpp | 506 ++++++++++++++++++
.../stm32_2m+32m_xram.ld | 191 +++++++
.../stm32_2m+384k_ram.ld | 190 +++++++
6 files changed, 1299 insertions(+)
create mode 100644 src/bsps/stm32f767zi_orion_motor/config/board_options.cmake
create mode 100644 src/bsps/stm32f767zi_orion_motor/config/board_settings.h
create mode 100644 src/bsps/stm32f767zi_orion_motor/config/miosix_settings.h
create mode 100644 src/bsps/stm32f767zi_orion_motor/core/stage_1_boot.cpp
create mode 100644 src/bsps/stm32f767zi_orion_motor/stm32_2m+32m_xram.ld
create mode 100644 src/bsps/stm32f767zi_orion_motor/stm32_2m+384k_ram.ld
diff --git a/src/bsps/stm32f767zi_orion_motor/config/board_options.cmake b/src/bsps/stm32f767zi_orion_motor/config/board_options.cmake
new file mode 100644
index 000000000..2d25e6bc7
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/config/board_options.cmake
@@ -0,0 +1,107 @@
+# Copyright (C) 2023 by Skyward
+#
+# This program is free software; you can redistribute it and/or
+# it under the terms of the GNU General Public License as published
+# 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
+# Public License. This exception does not invalidate any other
+# 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/>
+
+set(BOARD_NAME stm32f767zi_orion_motor)
+set(ARCH_NAME cortexM7_stm32f7)
+
+# Base directories with header files for this board
+set(ARCH_PATH ${KPATH}/arch/${ARCH_NAME}/common)
+set(BOARD_PATH ${BOARDCORE_PATH}/src/bsps/${BOARD_NAME})
+set(BOARD_CONFIG_PATH ${BOARDCORE_PATH}/src/bsps/${BOARD_NAME}/config)
+
+# Specify where to find the board specific config/miosix_settings.h
+set(BOARD_MIOSIX_SETTINGS_PATH ${BOARD_PATH})
+
+# Specify where to find the board specific config/mxgui_settings.h
+set(BOARD_MXGUI_SETTINGS_PATH ${BOARD_PATH})
+
+# Optimization flags:
+# -O0 do no optimization, the default if no optimization level is specified
+# -O or -O1 optimize minimally
+# -O2 optimize more
+# -O3 optimize even more
+# -Ofast optimize very aggressively to the point of breaking the standard
+# -Og Optimize debugging experience, enables optimizations that do not
+# interfere with debugging
+# -Os Optimize for size with -O2 optimizations that do not increase code size
+set(OPT_OPTIMIZATION -O2)
+
+# Boot file and linker script
+set(BOOT_FILE ${BOARD_PATH}/core/stage_1_boot.cpp)
+# set(LINKER_SCRIPT ${BOARD_PATH}/stm32_2m+384k_ram.ld)
+set(LINKER_SCRIPT ${BOARD_PATH}/stm32_2m+32m_xram.ld)
+
+# Enables the initialization of the external 16MB SDRAM memory
+set(XRAM -D__ENABLE_XRAM)
+
+# Select clock frequency (HSE_VALUE is the xtal on board, fixed)
+set(CLOCK_FREQ -DHSE_VALUE=25000000 -DSYSCLK_FREQ_216MHz=216000000)
+
+# C++ Exception/rtti support disable flags.
+# To save code size if not using C++ exceptions (nor some STL code which
+# implicitly uses it) uncomment this option.
+# -D__NO_EXCEPTIONS is used by Miosix to know if exceptions are used.
+# set(OPT_EXCEPT -fno-exceptions -fno-rtti -D__NO_EXCEPTIONS)
+
+# Specify a custom flash command
+# This is the program that is invoked when the flash flag (-f or --flash) is
+# used with the Miosix Build System. Use $binary or $hex as placeolders, they
+# will be replaced by the build systems with the binary or hex file repectively.
+# If a command is not specified, the build system will use st-flash if found
+# set(PROGRAM_CMDLINE "here your custom flash command")
+
+# Basic flags
+set(FLAGS_BASE -mcpu=cortex-m7 -mthumb -mfloat-abi=hard -mfpu=fpv5-d16)
+
+# Flags for ASM and linker
+set(AFLAGS_BASE ${FLAGS_BASE})
+set(LFLAGS_BASE ${FLAGS_BASE} -Wl,--gc-sections,-Map,main.map -Wl,-T${LINKER_SCRIPT} ${OPT_EXCEPT} ${OPT_OPTIMIZATION} -nostdlib)
+
+# Flags for C/C++
+string(TOUPPER ${BOARD_NAME} BOARD_UPPER)
+set(CFLAGS_BASE
+ -D_BOARD_${BOARD_UPPER} -D_MIOSIX_BOARDNAME=\"${BOARD_NAME}\"
+ -D_DEFAULT_SOURCE=1 -ffunction-sections -Wall -Werror=return-type -g
+ -D_ARCH_CORTEXM7_STM32F7
+ ${CLOCK_FREQ} ${XRAM} ${SRAM_BOOT} ${FLAGS_BASE} ${OPT_OPTIMIZATION} -c
+)
+set(CXXFLAGS_BASE ${CFLAGS_BASE} ${OPT_EXCEPT})
+
+# Select architecture specific files
+set(ARCH_SRC
+ ${ARCH_PATH}/interfaces-impl/delays.cpp
+ ${ARCH_PATH}/interfaces-impl/gpio_impl.cpp
+ ${ARCH_PATH}/interfaces-impl/portability.cpp
+ ${BOARD_PATH}/interfaces-impl/bsp.cpp
+ ${KPATH}/arch/common/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c
+ ${KPATH}/arch/common/core/cache_cortexMx.cpp
+ ${KPATH}/arch/common/core/interrupts_cortexMx.cpp
+ ${KPATH}/arch/common/core/mpu_cortexMx.cpp
+ ${KPATH}/arch/common/core/stm32f2_f4_l4_f7_h7_os_timer.cpp
+ ${KPATH}/arch/common/drivers/sd_stm32f2_f4_f7.cpp
+ ${KPATH}/arch/common/drivers/serial_stm32.cpp
+ ${KPATH}/arch/common/drivers/stm32_hardware_rng.cpp
+ ${KPATH}/arch/common/drivers/stm32_bsram.cpp
+)
diff --git a/src/bsps/stm32f767zi_orion_motor/config/board_settings.h b/src/bsps/stm32f767zi_orion_motor/config/board_settings.h
new file mode 100644
index 000000000..36c176972
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/config/board_settings.h
@@ -0,0 +1,65 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+/**
+ * \internal
+ * Versioning for board_settings.h for out of git tree projects
+ */
+#define BOARD_SETTINGS_VERSION 300
+
+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;
+
+/// 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_SDMMC 1 // Select either SDMMC1 or SDMMC2
+
+// Disable 4bit wire mode and set speed to 2Mhz (48Mhz / (22 + 2))
+#define SD_ONE_BIT_DATABUS
+#define OVERRIDE_SD_CLOCK_DIVIDER_MAX 22
+
+/// Analog supply voltage for ADC, DAC, Reset blocks, RCs and PLL
+#define V_DDA_VOLTAGE 3.3f
+
+/**
+ * \}
+ */
+
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_orion_motor/config/miosix_settings.h b/src/bsps/stm32f767zi_orion_motor/config/miosix_settings.h
new file mode 100644
index 000000000..1d02b1205
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/config/miosix_settings.h
@@ -0,0 +1,240 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+// Before you can compile the kernel you have to configure it by editing this
+// file. After that, comment out this line to disable the reminder error.
+// The PARSING_FROM_IDE is because Netbeans gets confused by this, it is never
+// defined when compiling the code.
+#ifndef PARSING_FROM_IDE
+// #error This error is a reminder that you have not edited miosix_settings.h
+// yet.
+#endif // PARSING_FROM_IDE
+
+/**
+ * \file miosix_settings.h
+ * NOTE: this file contains ONLY configuration options that are not dependent
+ * on architecture specific details. The other options are in the following
+ * files which are included here:
+ * miosix/arch/architecture name/common/arch_settings.h
+ * miosix/config/arch/architecture name/board name/board_settings.h
+ */
+#include "arch_settings.h"
+#include "board_settings.h"
+#include "util/version.h"
+
+/**
+ * \internal
+ * Versioning for miosix_settings.h for out of git tree projects
+ */
+#define MIOSIX_SETTINGS_VERSION 300
+
+namespace miosix
+{
+
+/**
+ * \addtogroup Settings
+ * \{
+ */
+
+//
+// Scheduler options
+//
+
+/// \def SCHED_TYPE_PRIORITY
+/// If uncommented selects the priority scheduler
+/// \def SCHED_TYPE_CONTROL_BASED
+/// If uncommented selects the control based scheduler
+/// \def SCHED_TYPE_EDF
+/// If uncommented selects the EDF scheduler
+// Uncomment only *one* of those
+
+#define SCHED_TYPE_PRIORITY
+// #define SCHED_TYPE_CONTROL_BASED
+// #define SCHED_TYPE_EDF
+
+/// \def WITH_CPU_TIME_COUNTER
+/// Allows to enable/disable CPUTimeCounter to save code size and remove its
+/// overhead from the scheduling process. By default it is not defined
+/// (CPUTimeCounter is disabled).
+// #define WITH_CPU_TIME_COUNTER
+
+//
+// Filesystem options
+//
+
+/// \def WITH_FILESYSTEM
+/// Allows to enable/disable filesystem support to save code size
+/// By default it is defined (filesystem support is enabled)
+#define WITH_FILESYSTEM
+
+/// \def WITH_DEVFS
+/// Allows to enable/disable DevFs support to save code size
+/// By default it is defined (DevFs is enabled)
+#define WITH_DEVFS
+
+/// \def SYNC_AFTER_WRITE
+/// Increases filesystem write robustness. After each write operation the
+/// filesystem is synced so that a power failure happens data is not lost
+/// (unless power failure happens exactly between the write and the sync)
+/// Unfortunately write latency and throughput becomes twice as worse
+/// By default it is defined (slow but safe)
+#define SYNC_AFTER_WRITE
+
+/// Maximum number of open files. Trying to open more will fail.
+/// Cannot be lower than 3, as the first three are stdin, stdout, stderr
+const unsigned char MAX_OPEN_FILES = 8;
+
+/// \def WITH_PROCESSES
+/// If uncommented enables support for processes as well as threads.
+/// This enables the dynamic loader to load elf programs, the extended system
+/// call service and, if the hardware supports it, the MPU to provide memory
+/// isolation of processes
+// #define WITH_PROCESSES
+
+#if defined(WITH_PROCESSES) && defined(__NO_EXCEPTIONS)
+#error Processes require C++ exception support
+#endif // defined(WITH_PROCESSES) && defined(__NO_EXCEPTIONS)
+
+#if defined(WITH_PROCESSES) && !defined(WITH_FILESYSTEM)
+#error Processes require filesystem support
+#endif // defined(WITH_PROCESSES) && !defined(WITH_FILESYSTEM)
+
+#if defined(WITH_PROCESSES) && !defined(WITH_DEVFS)
+#error Processes require devfs support
+#endif // defined(WITH_PROCESSES) && !defined(WITH_DEVFS)
+
+//
+// C/C++ standard library I/O (stdin, stdout and stderr related)
+//
+
+/// \def WITH_BOOTLOG
+/// Uncomment to print bootlogs on stdout.
+/// By default it is defined (bootlogs are printed)
+#define WITH_BOOTLOG
+
+/// \def WITH_ERRLOG
+/// Uncomment for debug information on stdout.
+/// By default it is defined (error information is printed)
+#define WITH_ERRLOG
+
+//
+// Kernel related options (stack sizes, priorities)
+//
+
+/// \def WITH_DEEP_SLEEP
+/// Adds interfaces and required variables to support deep sleep state switch
+/// automatically when peripherals are not required
+// #define WITH_DEEP_SLEEP
+
+/**
+ * \def JTAG_DISABLE_SLEEP
+ * JTAG debuggers lose communication with the device if it enters sleep
+ * mode, so to use debugging it is necessary to disable sleep in the idle
+ * thread. By default it is not defined (idle thread calls sleep).
+ */
+#define JTAG_DISABLE_SLEEP
+
+#if defined(WITH_DEEP_SLEEP) && defined(JTAG_DISABLE_SLEEP)
+#error Deep sleep cannot work together with jtag
+#endif // defined(WITH_PROCESSES) && !defined(WITH_DEVFS)
+
+/// Minimum stack size (MUST be divisible by 4)
+const unsigned int STACK_MIN = 256;
+
+/// \internal Size of idle thread stack.
+/// Should be >=STACK_MIN (MUST be divisible by 4)
+const unsigned int STACK_IDLE = 256;
+
+/// Default stack size for pthread_create.
+/// The chosen value is enough to call C standard library functions
+/// such as printf/fopen which are stack-heavy
+const unsigned int STACK_DEFAULT_FOR_PTHREAD = 2048;
+
+/// Maximum size of the RAM image of a process. If a program requires more
+/// the kernel will not run it (MUST be divisible by 4)
+const unsigned int MAX_PROCESS_IMAGE_SIZE = 64 * 1024;
+
+/// Minimum size of the stack for a process. If a program specifies a lower
+/// size the kernel will not run it (MUST be divisible by 4)
+const unsigned int MIN_PROCESS_STACK_SIZE = STACK_MIN;
+
+/// Every userspace thread has two stacks, one for when it is running in
+/// userspace and one for when it is running in kernelspace (that is, while it
+/// is executing system calls). This is the size of the stack for when the
+/// thread is running in kernelspace (MUST be divisible by 4)
+const unsigned int SYSTEM_MODE_PROCESS_STACK_SIZE = 2 * 1024;
+
+/// Number of priorities (MUST be >1)
+/// PRIORITY_MAX-1 is the highest priority, 0 is the lowest. -1 is reserved as
+/// the priority of the idle thread.
+/// The meaning of a thread's priority depends on the chosen scheduler.
+#ifdef SCHED_TYPE_PRIORITY
+// Can be modified, but a high value makes context switches more expensive
+const short int PRIORITY_MAX = 4;
+#elif defined(SCHED_TYPE_CONTROL_BASED)
+// Don't touch, the limit is due to the fixed point implementation
+// It's not needed for if floating point is selected, but kept for consistency
+const short int PRIORITY_MAX = 64;
+#else // SCHED_TYPE_EDF
+// Doesn't exist for this kind of scheduler
+#endif
+
+/// Priority of main()
+/// The meaning of a thread's priority depends on the chosen scheduler.
+const unsigned char MAIN_PRIORITY = 1;
+
+#ifdef SCHED_TYPE_PRIORITY
+/// Maximum thread time slice in nanoseconds, after which preemption occurs
+const unsigned int MAX_TIME_SLICE = 1000000;
+#endif // SCHED_TYPE_PRIORITY
+
+//
+// Other low level kernel options. There is usually no need to modify these.
+//
+
+/// \internal Length of wartermark (in bytes) to check stack overflow.
+/// MUST be divisible by 4 and can also be zero.
+/// A high value increases context switch time.
+const unsigned int WATERMARK_LEN = 16;
+
+/// \internal Used to fill watermark
+const unsigned int WATERMARK_FILL = 0xaaaaaaaa;
+
+/// \internal Used to fill stack (for checking stack usage)
+const unsigned int STACK_FILL = 0xbbbbbbbb;
+
+// Compiler version checks
+#if !defined(_MIOSIX_GCC_PATCH_MAJOR) || _MIOSIX_GCC_PATCH_MAJOR < 3
+#error \
+ "You are using a too old or unsupported compiler. Get the latest one from https://miosix.org/wiki/index.php?title=Miosix_Toolchain"
+#endif
+#if _MIOSIX_GCC_PATCH_MAJOR > 3
+#warning "You are using a too new compiler, which may not be supported"
+#endif
+
+/**
+ * \}
+ */
+
+} // namespace miosix
diff --git a/src/bsps/stm32f767zi_orion_motor/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_orion_motor/core/stage_1_boot.cpp
new file mode 100644
index 000000000..e9897cdbb
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/core/stage_1_boot.cpp
@@ -0,0 +1,506 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#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);
+
+ miosix::configureBackupSram();
+
+ // 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 SysTick_IRQHandler = Default_Handler
+#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
diff --git a/src/bsps/stm32f767zi_orion_motor/stm32_2m+32m_xram.ld b/src/bsps/stm32f767zi_orion_motor/stm32_2m+32m_xram.ld
new file mode 100644
index 000000000..3c7843ff5
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/stm32_2m+32m_xram.ld
@@ -0,0 +1,191 @@
+/*
+ * C++ enabled linker script for stm32f767zi (2M FLASH, 512K RAM, 32MB 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 32MB 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 + 32M; /* 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 = 32M
+ 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 : ALIGN(4)
+ {
+ _preserve_start = .;
+ . = ALIGN(4);
+ *(.preserve);
+ *(.preserve*);
+ . = ALIGN(4);
+ _preserve_end = .;
+ } > bram AT > flash
+ _preserve_load = LOADADDR(.preserve);
+}
diff --git a/src/bsps/stm32f767zi_orion_motor/stm32_2m+384k_ram.ld b/src/bsps/stm32f767zi_orion_motor/stm32_2m+384k_ram.ld
new file mode 100644
index 000000000..b25d3fe8e
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/stm32_2m+384k_ram.ld
@@ -0,0 +1,190 @@
+/*
+ * 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 : ALIGN(4)
+ {
+ _preserve_start = .;
+ . = ALIGN(4);
+ *(.preserve);
+ *(.preserve*);
+ . = ALIGN(4);
+ _preserve_end = .;
+ } > bram AT > flash
+ _preserve_load = LOADADDR(.preserve);
+}
--
GitLab
From cd0708537f12bb84379e4751b0d8596027ebfcbb Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Tue, 11 Mar 2025 19:45:07 +0100
Subject: [PATCH 3/7] [BSP][MOTOR] Added bsp.cpp and bsp_impl.h.
---
.../interfaces-impl/bsp.cpp | 393 ++++++++++++++++++
.../interfaces-impl/bsp_impl.h | 124 ++++++
.../interfaces-impl/hwmapping.h | 2 +-
3 files changed, 518 insertions(+), 1 deletion(-)
create mode 100644 src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp.cpp
create mode 100644 src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp_impl.h
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp.cpp
new file mode 100644
index 000000000..d189aa253
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp.cpp
@@ -0,0 +1,393 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/***********************************************************************
+ * 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_bsram.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 AS4C16M16SA-6TIN
+ // 16Mx16bit = 256Mb = 32MB
+ // HCLK = 216MHz -> SDRAM clock = HCLK/2 = 108MHz
+
+ // 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
+ | FMC_SDCR2_NC_0; // 9 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 =
+ 0b001 << FMC_SDCMR_MODE_Pos // 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 = 0b010 << FMC_SDCMR_MODE_Pos // Precharge all
+ | FMC_SDCMR_CTB2; // Bank 2
+ sdramCommandWait();
+
+ // 6. Issue Auto-Refresh commands
+ FMC_Bank5_6->SDCMR = 0b011 << FMC_SDCMR_MODE_Pos // Auto-Refresh
+ | FMC_SDCMR_CTB2 // Bank 2
+ | (8 - 1) << FMC_SDCMR_NRFS_Pos; // 8 Auto-Refresh
+ sdramCommandWait();
+
+ // 7. Issue a Load Mode Register command
+ FMC_Bank5_6->SDCMR =
+ 0b100 << FMC_SDCMR_MODE_Pos // Load mode register
+ | FMC_SDCMR_CTB2 // Bank 2
+ | 0 << FMC_SDCMR_MRD_Pos // Burst length = 1
+ | (0b010 << 4) << FMC_SDCMR_MRD_Pos // CAS = 2 clocks,
+ | (1 << 9) << FMC_SDCMR_MRD_Pos; // Single bit write burst mode
+ 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 configureBackupSram()
+{
+ // Initialize the backup SRAM device
+ BSRAM::init();
+
+ // Defined in the linker script
+ extern unsigned char _preserve_start asm("_preserve_start");
+ extern unsigned char _preserve_end asm("_preserve_end");
+ extern unsigned char _preserve_load asm("_preserve_load");
+
+ unsigned char* preserve_start = &_preserve_start;
+ unsigned char* preserve_end = &_preserve_end;
+ unsigned char* preserve_load = &_preserve_load;
+
+ // Load the .preserve section from flash if not a software reset
+ if (miosix::lastResetReason() != miosix::ResetReason::SOFTWARE)
+ {
+ BSRAM::EnableWriteLock l;
+ memcpy(preserve_start, preserve_load, preserve_end - preserve_start);
+ }
+}
+
+void IRQbspInit()
+{
+ // Enable USART1 pins port
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+
+ userLed1::mode(Mode::OUTPUT);
+ userLed2::mode(Mode::OUTPUT);
+ userLed3::mode(Mode::OUTPUT);
+ userLed4::mode(Mode::OUTPUT);
+
+ interfaces::spi1::sck::alternateFunction(5);
+ interfaces::spi1::sck::mode(Mode::ALTERNATE);
+ interfaces::spi1::miso::alternateFunction(5);
+ interfaces::spi1::miso::mode(Mode::ALTERNATE);
+ interfaces::spi1::mosi::alternateFunction(5);
+ interfaces::spi1::mosi::mode(Mode::ALTERNATE);
+
+ interfaces::spi3::sck::alternateFunction(6);
+ interfaces::spi3::sck::mode(Mode::ALTERNATE);
+ interfaces::spi3::miso::alternateFunction(6);
+ interfaces::spi3::miso::mode(Mode::ALTERNATE);
+ interfaces::spi3::mosi::alternateFunction(5);
+ interfaces::spi3::mosi::mode(Mode::ALTERNATE);
+
+ interfaces::spi4::sck::alternateFunction(5);
+ interfaces::spi4::sck::mode(Mode::ALTERNATE);
+ interfaces::spi4::miso::alternateFunction(5);
+ interfaces::spi4::miso::mode(Mode::ALTERNATE);
+ interfaces::spi4::mosi::alternateFunction(5);
+ interfaces::spi4::mosi::mode(Mode::ALTERNATE);
+
+ // We do not need to setup the miosix usart
+
+ interfaces::uart4::tx::alternateFunction(8);
+ interfaces::uart4::tx::mode(Mode::ALTERNATE);
+ interfaces::uart4::rx::alternateFunction(8);
+ interfaces::uart4::rx::mode(Mode::ALTERNATE);
+
+ interfaces::can1::tx::alternateFunction(9);
+ interfaces::can1::tx::mode(Mode::ALTERNATE);
+ interfaces::can1::rx::alternateFunction(9);
+ interfaces::can1::rx::mode(Mode::ALTERNATE);
+
+ interfaces::timers::tim1ch1::alternateFunction(1);
+ interfaces::timers::tim1ch1::mode(Mode::ALTERNATE);
+ interfaces::timers::tim3ch1::alternateFunction(2);
+ interfaces::timers::tim3ch1::mode(Mode::ALTERNATE);
+ interfaces::timers::tim4ch1::alternateFunction(2);
+ interfaces::timers::tim4ch1::mode(Mode::ALTERNATE);
+ interfaces::timers::tim8ch2::alternateFunction(3);
+ interfaces::timers::tim8ch2::mode(Mode::ALTERNATE);
+ interfaces::timers::tim9ch1::alternateFunction(3);
+ interfaces::timers::tim9ch1::mode(Mode::ALTERNATE);
+ interfaces::timers::tim11ch1::alternateFunction(3);
+ interfaces::timers::tim11ch1::mode(Mode::ALTERNATE);
+ interfaces::timers::tim12ch2::alternateFunction(9);
+ interfaces::timers::tim12ch2::mode(Mode::ALTERNATE);
+
+ interfaces::adcs::adc12in9::mode(Mode::INPUT_ANALOG);
+ interfaces::adcs::adc12in14::mode(Mode::INPUT_ANALOG);
+
+ sensors::ADS131M08::cs::mode(Mode::OUTPUT);
+ sensors::ADS131M08::cs::high();
+ sensors::LPS22DF::cs::mode(Mode::OUTPUT);
+ sensors::LPS22DF::cs::high();
+ sensors::LIS2MDL::cs::mode(Mode::OUTPUT);
+ sensors::LIS2MDL::cs::high();
+ sensors::H3LIS331DL::cs::mode(Mode::OUTPUT);
+ sensors::H3LIS331DL::cs::high();
+ sensors::LSM6DSRX::cs::mode(Mode::OUTPUT);
+ sensors::LSM6DSRX::cs::high();
+ // TODO: are there other sensors?
+
+ gpios::boardLed::mode(Mode::OUTPUT);
+ gpios::boardLed::low();
+
+ 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
+ // Print the reset reason
+ bootlog("Reset reson: ");
+ switch (SGM::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;
+ }
+#endif // WITH_BACKUP_SRAM
+}
+
+//
+// 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
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp_impl.h b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp_impl.h
new file mode 100644
index 000000000..6cbcdde74
--- /dev/null
+++ b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp_impl.h
@@ -0,0 +1,124 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/***************************************************************************
+ * 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"
+
+/**
+ * Macro to place a variable in the backup SRAM. Variables are allowed to have a
+ * default value. The kernel initializes the variable to the provided value if
+ * the reset reason is not a software reset.
+ *
+ * Example usage: `PRESERVE int myVar = 0;`
+ */
+#define PRESERVE __attribute__((section(".preserve")))
+
+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
+ * Called by stage_1_boot.cpp to configure the backup SRAM and .preserve region
+ * Requires the CPU clock to be already configured (running from the PLL)
+ */
+void configureBackupSram();
+
+/**
+ * \internal
+ * Board pin definition
+ */
+typedef Gpio<GPIOC_BASE, 15> userLed1;
+typedef Gpio<GPIOC_BASE, 2> userLed2;
+typedef Gpio<GPIOC_BASE, 13> userLed3;
+typedef Gpio<GPIOC_BASE, 14> userLed4;
+
+inline void led1On() { userLed1::high(); }
+
+inline void led1Off() { userLed1::low(); }
+
+inline void led2On() { userLed2::high(); }
+
+inline void led2Off() { userLed2::low(); }
+
+inline void led3On() { userLed3::high(); }
+
+inline void led3Off() { userLed3::low(); }
+
+inline void led4On() { userLed4::high(); }
+
+inline void led4Off() { userLed4::low(); }
+
+inline void ledOn()
+{
+ led1On();
+ led2On();
+ led3On();
+ led4On();
+}
+
+inline void ledOff()
+{
+ led1Off();
+ led2Off();
+ led3Off();
+ led4Off();
+}
+
+/**
+ * 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
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
index 1e8e5a209..0a4b7bb93 100644
--- a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
@@ -88,8 +88,8 @@ using rx = Gpio<GPIOA_BASE, 11>;
namespace timers
{
using tim1ch1 = Gpio<GPIOA_BASE, 8>;
-using tim4ch1 = Gpio<GPIOD_BASE, 12>;
using tim3ch1 = Gpio<GPIOC_BASE, 6>;
+using tim4ch1 = Gpio<GPIOD_BASE, 12>;
using tim8ch2 = Gpio<GPIOC_BASE, 7>;
using tim9ch1 = Gpio<GPIOA_BASE, 2>;
using tim11ch1 = Gpio<GPIOB_BASE, 9>;
--
GitLab
From 1a07317749c234994e66374a2f9a90874184e416 Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 12 Mar 2025 13:47:31 +0100
Subject: [PATCH 4/7] [BSP][MOTOR] Modified cmake and vscode c_cpp_properties.
---
.vscode/c_cpp_properties.json | 23 +++++++++++++++++++++++
cmake/boards.cmake | 1 +
2 files changed, 24 insertions(+)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index b796554ec..661c165b1 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -502,6 +502,29 @@
"${workspaceFolder}/src/bsps/stm32f767zi_lyra_gs"
]
},
+ {
+ "name": "stm32f767zi_orion_motor",
+ "cStandard": "c11",
+ "cppStandard": "c++14",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "${defaultDefines}",
+ "_MIOSIX_BOARDNAME=stm32f767zi_orion_motor",
+ "_BOARD_STM32F767ZI_ORION_MOTOR",
+ "_ARCH_CORTEXM7_STM32F7",
+ "STM32F767xx",
+ "HSE_VALUE=25000000",
+ "SYSCLK_FREQ_216MHz=216000000",
+ "__ENABLE_XRAM",
+ "V_DDA_VOLTAGE=3.3f"
+ ],
+ "includePath": [
+ "${defaultIncludePaths}",
+ "${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
+ "${workspaceFolder}/src/bsps/stm32f767zi_orion_motor/config",
+ "${workspaceFolder}/src/bsps/stm32f767zi_orion_motor"
+ ]
+ },
// Miosix boards
{
"name": "stm32f407vg_stm32f4discovery",
diff --git a/cmake/boards.cmake b/cmake/boards.cmake
index a45ffdc72..cf7e81b77 100644
--- a/cmake/boards.cmake
+++ b/cmake/boards.cmake
@@ -43,4 +43,5 @@ set(BOARDCORE_BOARDS_OPTIONS_FILES
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_motor/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_gs/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_lyra_cubesat/config/board_options.cmake
+ ${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_motor/config/board_options.cmake
)
--
GitLab
From 635afdd640468f196336fce92898525bc018e58f Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Fri, 14 Mar 2025 16:41:38 +0100
Subject: [PATCH 5/7] [BSP][ENGINE] Changed folder name from motor to engine.
---
.../config/board_options.cmake | 0
.../config/board_settings.h | 0
.../config/miosix_settings.h | 0
.../core/stage_1_boot.cpp | 0
.../interfaces-impl/arch_registers_impl.h | 0
.../interfaces-impl/bsp.cpp | 0
.../interfaces-impl/bsp_impl.h | 0
.../interfaces-impl/hwmapping.h | 0
.../stm32_2m+32m_xram.ld | 0
.../stm32_2m+384k_ram.ld | 0
10 files changed, 0 insertions(+), 0 deletions(-)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/config/board_options.cmake (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/config/board_settings.h (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/config/miosix_settings.h (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/core/stage_1_boot.cpp (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/interfaces-impl/arch_registers_impl.h (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/interfaces-impl/bsp.cpp (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/interfaces-impl/bsp_impl.h (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/interfaces-impl/hwmapping.h (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/stm32_2m+32m_xram.ld (100%)
rename src/bsps/{stm32f767zi_orion_motor => stm32f767zi_orion_engine}/stm32_2m+384k_ram.ld (100%)
diff --git a/src/bsps/stm32f767zi_orion_motor/config/board_options.cmake b/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/config/board_options.cmake
rename to src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
diff --git a/src/bsps/stm32f767zi_orion_motor/config/board_settings.h b/src/bsps/stm32f767zi_orion_engine/config/board_settings.h
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/config/board_settings.h
rename to src/bsps/stm32f767zi_orion_engine/config/board_settings.h
diff --git a/src/bsps/stm32f767zi_orion_motor/config/miosix_settings.h b/src/bsps/stm32f767zi_orion_engine/config/miosix_settings.h
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/config/miosix_settings.h
rename to src/bsps/stm32f767zi_orion_engine/config/miosix_settings.h
diff --git a/src/bsps/stm32f767zi_orion_motor/core/stage_1_boot.cpp b/src/bsps/stm32f767zi_orion_engine/core/stage_1_boot.cpp
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/core/stage_1_boot.cpp
rename to src/bsps/stm32f767zi_orion_engine/core/stage_1_boot.cpp
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/arch_registers_impl.h b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/arch_registers_impl.h
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/interfaces-impl/arch_registers_impl.h
rename to src/bsps/stm32f767zi_orion_engine/interfaces-impl/arch_registers_impl.h
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp.cpp
rename to src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp_impl.h b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp_impl.h
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/interfaces-impl/bsp_impl.h
rename to src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp_impl.h
diff --git a/src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/interfaces-impl/hwmapping.h
rename to src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
diff --git a/src/bsps/stm32f767zi_orion_motor/stm32_2m+32m_xram.ld b/src/bsps/stm32f767zi_orion_engine/stm32_2m+32m_xram.ld
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/stm32_2m+32m_xram.ld
rename to src/bsps/stm32f767zi_orion_engine/stm32_2m+32m_xram.ld
diff --git a/src/bsps/stm32f767zi_orion_motor/stm32_2m+384k_ram.ld b/src/bsps/stm32f767zi_orion_engine/stm32_2m+384k_ram.ld
similarity index 100%
rename from src/bsps/stm32f767zi_orion_motor/stm32_2m+384k_ram.ld
rename to src/bsps/stm32f767zi_orion_engine/stm32_2m+384k_ram.ld
--
GitLab
From 6ed5ddcc313eb5767dd528694f8f82cc9357704c Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Fri, 14 Mar 2025 16:53:04 +0100
Subject: [PATCH 6/7] [BSP][ENGINE] Changed nomenclature from motor to engine.
---
.vscode/c_cpp_properties.json | 10 +++++-----
cmake/boards.cmake | 2 +-
.../config/board_options.cmake | 2 +-
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 661c165b1..8c5686fce 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -503,14 +503,14 @@
]
},
{
- "name": "stm32f767zi_orion_motor",
+ "name": "stm32f767zi_orion_engine",
"cStandard": "c11",
"cppStandard": "c++14",
"compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
"defines": [
"${defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f767zi_orion_motor",
- "_BOARD_STM32F767ZI_ORION_MOTOR",
+ "_MIOSIX_BOARDNAME=stm32f767zi_orion_engine",
+ "_BOARD_STM32F767ZI_ORION_ENGINE",
"_ARCH_CORTEXM7_STM32F7",
"STM32F767xx",
"HSE_VALUE=25000000",
@@ -521,8 +521,8 @@
"includePath": [
"${defaultIncludePaths}",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
- "${workspaceFolder}/src/bsps/stm32f767zi_orion_motor/config",
- "${workspaceFolder}/src/bsps/stm32f767zi_orion_motor"
+ "${workspaceFolder}/src/bsps/stm32f767zi_orion_engine/config",
+ "${workspaceFolder}/src/bsps/stm32f767zi_orion_engine"
]
},
// Miosix boards
diff --git a/cmake/boards.cmake b/cmake/boards.cmake
index cf7e81b77..ce0db6399 100644
--- a/cmake/boards.cmake
+++ b/cmake/boards.cmake
@@ -43,5 +43,5 @@ set(BOARDCORE_BOARDS_OPTIONS_FILES
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_motor/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f767zi_lyra_gs/config/board_options.cmake
${BOARDCORE_PATH}/src/bsps/stm32f429zi_lyra_cubesat/config/board_options.cmake
- ${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_motor/config/board_options.cmake
+ ${BOARDCORE_PATH}/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
)
diff --git a/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake b/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
index 2d25e6bc7..c022f8a27 100644
--- a/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
+++ b/src/bsps/stm32f767zi_orion_engine/config/board_options.cmake
@@ -23,7 +23,7 @@
# You should have received a copy of the GNU General Public License
# along with this program; if not, see <http://www.gnu.org/licenses/>
-set(BOARD_NAME stm32f767zi_orion_motor)
+set(BOARD_NAME stm32f767zi_orion_engine)
set(ARCH_NAME cortexM7_stm32f7)
# Base directories with header files for this board
--
GitLab
From bca4f9639e6d2902ed0dd81dc877181fd5e7c19e Mon Sep 17 00:00:00 2001
From: Fabrizio Monti <fabrizio.monti@skywarder.eu>
Date: Wed, 2 Apr 2025 09:37:10 +0200
Subject: [PATCH 7/7] [BSP][ENGINE] Added new sensors.
---
.../interfaces-impl/bsp.cpp | 13 +++---
.../interfaces-impl/hwmapping.h | 44 ++++++++++++++++---
2 files changed, 46 insertions(+), 11 deletions(-)
diff --git a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
index d189aa253..74de72857 100644
--- a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Alberto Nidasio, Davide Mor
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Davide Mor, Fabrizio Monti
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -314,9 +314,12 @@ void IRQbspInit()
sensors::LIS2MDL::cs::high();
sensors::H3LIS331DL::cs::mode(Mode::OUTPUT);
sensors::H3LIS331DL::cs::high();
- sensors::LSM6DSRX::cs::mode(Mode::OUTPUT);
- sensors::LSM6DSRX::cs::high();
- // TODO: are there other sensors?
+ sensors::LSM6DSRX0::cs::mode(Mode::OUTPUT);
+ sensors::LSM6DSRX0::cs::high();
+ sensors::LSM6DSRX1::cs::mode(Mode::OUTPUT);
+ sensors::LSM6DSRX1::cs::high();
+ sensors::thermocouple::cs::mode(Mode::OUTPUT);
+ sensors::thermocouple::cs::high();
gpios::boardLed::mode(Mode::OUTPUT);
gpios::boardLed::low();
diff --git a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
index 0a4b7bb93..086228108 100644
--- a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
@@ -30,11 +30,6 @@
#define MIOSIX_SENSOR_LIS2MDL_SPI SPI3
#define MIOSIX_SENSOR_ADS131M08_SPI SPI4
-#define MIOSIX_SERVOS_1_TIM TIM3
-#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
-#define MIOSIX_SERVOS_2_TIM TIM1
-#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_1
-
namespace miosix
{
@@ -127,11 +122,21 @@ namespace H3LIS331DL
using cs = Gpio<GPIOB_BASE, 7>;
}
-namespace LSM6DSRX
+namespace LSM6DSRX0
{
using cs = Gpio<GPIOG_BASE, 12>;
}
+namespace LSM6DSRX1
+{
+using cs = Gpio<GPIOG_BASE, 11>;
+}
+
+namespace thermocouple
+{
+using cs = Gpio<GPIOD_BASE, 11>;
+}
+
} // namespace sensors
namespace adcs
@@ -140,6 +145,33 @@ using vbat = miosix::interfaces::adcs::adc12in14;
using servoCur = miosix::interfaces::adcs::adc12in9;
} // namespace adcs
+namespace servos
+{
+#define MIOSIX_SERVOS_0_TIM TIM3
+#define MIOSIX_SERVOS_0_CHANNEL CHANNEL_1
+using servo0 = miosix::interfaces::timers::tim3ch1;
+
+#define MIOSIX_SERVOS_1_TIM TIM1
+#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
+using servo1 = miosix::interfaces::timers::tim1ch1;
+
+#define MIOSIX_SERVOS_2_TIM TIM8
+#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_2
+using servo2 = miosix::interfaces::timers::tim8ch2;
+
+#define MIOSIX_SERVOS_3_TIM TIM9
+#define MIOSIX_SERVOS_3_CHANNEL CHANNEL_1
+using servo3 = miosix::interfaces::timers::tim9ch1;
+
+#define MIOSIX_SERVOS_4_TIM TIM11
+#define MIOSIX_SERVOS_4_CHANNEL CHANNEL_1
+using servo4 = miosix::interfaces::timers::tim11ch1;
+
+#define MIOSIX_SERVOS_5_TIM TIM4
+#define MIOSIX_SERVOS_5_CHANNEL CHANNEL_1
+using servo5 = miosix::interfaces::timers::tim4ch1;
+} // namespace servos
+
namespace gpios
{
using boardLed = Gpio<GPIOC_BASE, 5>;
--
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