diff --git a/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/core/stage_1_boot.cpp b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/core/stage_1_boot.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..339c5ab07fca72a12b02466901b919467ce988f2
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/core/stage_1_boot.cpp
@@ -0,0 +1,349 @@
+#include <string.h>
+
+#include "core/interrupts.h" //For the unexpected interrupt call
+#include "interfaces/arch_registers.h"
+#include "interfaces/bsp.h"
+#include "kernel/stage_2_boot.h"
+
+/*
+ * startup.cpp
+ * STM32 C++ startup.
+ * NOTE: for stm32f42x 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 M3 core appears to get out of reset with interrupts already
+ // enabled
+ __disable_irq();
+
+ // 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:
+ // First, the CMSIS specifications say that SystemInit() must not access
+ // global variables, so it is actually possible to call it before
+ // 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
+ // 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 stm32f429-disco 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
+
+ /*
+ * Initialize process stack and switch to it.
+ * 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" // Privileged, process stack
+ "msr control, r0 \n\t"
+ "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)) SDIO_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)) HASH_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();
+
+// 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, SDIO_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, HASH_RNG_IRQHandler,
+ FPU_IRQHandler, UART7_IRQHandler, UART8_IRQHandler, SPI4_IRQHandler,
+ SPI5_IRQHandler, SPI6_IRQHandler, SAI1_IRQHandler, LTDC_IRQHandler,
+ LTDC_ER_IRQHandler, DMA2D_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 SDIO_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 HASH_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
diff --git a/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/arch_registers_impl.h b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/arch_registers_impl.h
new file mode 100644
index 0000000000000000000000000000000000000000..dfa0203013e65b9bc414c954d4cb1ddc1867d258
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/arch_registers_impl.h
@@ -0,0 +1,13 @@
+
+#ifndef ARCH_REGISTERS_IMPL_H
+#define ARCH_REGISTERS_IMPL_H
+
+//Always include stm32f4xx.h before core_cm4.h, there's some nasty dependency
+#define STM32F429xx
+#include "CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h"
+#include "CMSIS/Include/core_cm4.h"
+#include "CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h"
+
+#define RCC_SYNC() __DSB() //Workaround for a bug in stm32f42x
+
+#endif //ARCH_REGISTERS_IMPL_H
diff --git a/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/bsp.cpp b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/bsp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8d464b690ed429a437d8ec8c8eebf9fbfeaffe45
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/bsp.cpp
@@ -0,0 +1,331 @@
+/***************************************************************************
+ * Copyright (C) 2014 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.h"
+#include "drivers/serial.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
+ //
+
+ /**
+ * The example code from ST checks for the busy flag after each command.
+ * Interestingly I couldn't find any mention of this in the datsheet.
+ */
+ static void sdramCommandWait()
+ {
+ for (int i = 0; i < 0xffff; i++)
+ if ((FMC_Bank5_6->SDSR & FMC_SDSR_BUSY) == 0)
+ return;
+ }
+
+ void configureSdram()
+ {
+ // Enable all gpios, passing clock
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN |
+ RCC_AHB1ENR_GPIOCEN | RCC_AHB1ENR_GPIODEN |
+ RCC_AHB1ENR_GPIOEEN | RCC_AHB1ENR_GPIOFEN |
+ RCC_AHB1ENR_GPIOGEN | RCC_AHB1ENR_GPIOHEN;
+ RCC_SYNC();
+
+ // First, configure SDRAM GPIOs
+ 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] = 0x00cc00cc;
+ GPIOG->AFR[1] = 0xc000000c;
+
+ GPIOB->MODER = 0x00002800;
+ GPIOC->MODER = 0x00000002;
+ GPIOD->MODER = 0xa02a000a;
+ GPIOE->MODER = 0xaaaa800a;
+ GPIOF->MODER = 0xaa800aaa;
+ GPIOG->MODER = 0x80020a0a;
+
+ GPIOA->OSPEEDR = 0xaaaaaaaa; // Default to 50MHz speed for all GPIOs...
+ GPIOB->OSPEEDR =
+ 0xaaaaaaaa | 0x00003c00; //...but 100MHz for the SDRAM pins
+ GPIOC->OSPEEDR = 0xaaaaaaaa | 0x00000003;
+ GPIOD->OSPEEDR = 0xaaaaaaaa | 0xf03f000f;
+ GPIOE->OSPEEDR = 0xaaaaaaaa | 0xffffc00f;
+ GPIOF->OSPEEDR = 0xaaaaaaaa | 0xffc00fff;
+ GPIOG->OSPEEDR = 0xaaaaaaaa | 0xc0030f0f;
+ GPIOH->OSPEEDR = 0xaaaaaaaa;
+
+ // Since we'we un-configured PB3/PB4 from the default at boot TDO,NTRST,
+ // finish the job and remove the default pull-up
+ GPIOB->PUPDR = 0;
+
+ // Second, actually start the SDRAM controller
+ RCC->AHB3ENR |= RCC_AHB3ENR_FMCEN;
+ RCC_SYNC();
+
+ // SDRAM is a IS42S16400J -7 speed grade, connected to bank 2 (0xd0000000)
+ // Some bits in SDCR[1] are don't care, and the have to be set in SDCR[0],
+ // they aren't just don't care, the controller will fail if they aren't at 0
+ FMC_Bank5_6->SDCR[0] = FMC_SDCR1_SDCLK_1 // SDRAM runs @ half CPU frequency
+ | FMC_SDCR1_RBURST // Enable read burst
+ | 0; // 0 delay between reads after CAS
+ FMC_Bank5_6->SDCR[1] = 0 // 8 bit column address
+ | FMC_SDCR1_NR_0 // 12 bit row address
+ | FMC_SDCR1_MWID_0 // 16 bit data bus
+ | FMC_SDCR1_NB // 4 banks
+ |
+ FMC_SDCR1_CAS_1; // 2 cycle CAS latency (F<133MHz)
+
+#ifdef SYSCLK_FREQ_180MHz
+ // One SDRAM clock cycle is 11.1ns
+ // Some bits in SDTR[1] are don't care, and the have to be set in SDTR[0],
+ // they aren't just don't care, the controller will fail if they aren't at 0
+ FMC_Bank5_6->SDTR[0] = (6 - 1) << 12 // 6 cycle TRC (66.6ns>63ns)
+ | (2 - 1) << 20; // 2 cycle TRP (22.2ns>15ns)
+ FMC_Bank5_6->SDTR[1] = (2 - 1) << 0 // 2 cycle TMRD
+ | (7 - 1) << 4 // 7 cycle TXSR (77.7ns>70ns)
+ | (4 - 1) << 8 // 4 cycle TRAS (44.4ns>42ns)
+ | (2 - 1) << 16 // 2 cycle TWR
+ | (2 - 1) << 24; // 2 cycle TRCD (22.2ns>15ns)
+#elif defined(SYSCLK_FREQ_168MHz)
+ // One SDRAM clock cycle is 11.9ns
+ // Some bits in SDTR[1] are don't care, and the have to be set in SDTR[0],
+ // they aren't just don't care, the controller will fail if they aren't at 0
+ FMC_Bank5_6->SDTR[0] = (6 - 1) << 12 // 6 cycle TRC (71.4ns>63ns)
+ | (2 - 1) << 20; // 2 cycle TRP (23.8ns>15ns)
+ FMC_Bank5_6->SDTR[1] = (2 - 1) << 0 // 2 cycle TMRD
+ | (6 - 1) << 4 // 6 cycle TXSR (71.4ns>70ns)
+ | (4 - 1) << 8 // 4 cycle TRAS (47.6ns>42ns)
+ | (2 - 1) << 16 // 2 cycle TWR
+ | (2 - 1) << 24; // 2 cycle TRCD (23.8ns>15ns)
+#else
+#error No SDRAM timings for this clock
+#endif
+
+ FMC_Bank5_6->SDCMR = FMC_SDCMR_CTB2 // Enable bank 2
+ | 1; // MODE=001 clock enabled
+ sdramCommandWait();
+
+ // ST and SDRAM datasheet agree a 100us delay is required here.
+ delayUs(100);
+
+ FMC_Bank5_6->SDCMR = FMC_SDCMR_CTB2 // Enable bank 2
+ | 2; // MODE=010 precharge all command
+ sdramCommandWait();
+
+ FMC_Bank5_6->SDCMR = (8 - 1) << 5 // NRFS=8 SDRAM datasheet says
+ // "at least two AUTO REFRESH cycles"
+ | FMC_SDCMR_CTB2 // Enable bank 2
+ | 3; // MODE=011 auto refresh
+ sdramCommandWait();
+
+ FMC_Bank5_6->SDCMR = 0x220 << 9 // MRD=0x220:CAS latency=2 burst len=1
+ | FMC_SDCMR_CTB2 // Enable bank 2
+ | 4; // MODE=100 load mode register
+ sdramCommandWait();
+
+// 64ms/4096=15.625us
+#ifdef SYSCLK_FREQ_180MHz
+ // 15.625us*90MHz=1406-20=1386
+ FMC_Bank5_6->SDRTR = 1386 << 1;
+#elif defined(SYSCLK_FREQ_168MHz)
+ // 15.625us*84MHz=1312-20=1292
+ FMC_Bank5_6->SDRTR = 1292 << 1;
+#else
+#error No refresh timings for this clock
+#endif
+ }
+
+ void IRQbspInit()
+ {
+// If using SDRAM GPIOs are enabled by configureSdram(), else enable them here
+#ifndef __ENABLE_XRAM
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN |
+ RCC_AHB1ENR_GPIOCEN | RCC_AHB1ENR_GPIODEN |
+ RCC_AHB1ENR_GPIOEEN | RCC_AHB1ENR_GPIOFEN |
+ RCC_AHB1ENR_GPIOGEN | RCC_AHB1ENR_GPIOHEN;
+ RCC_SYNC();
+#endif //__ENABLE_XRAM
+
+ RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+ RCC->APB2ENR |= RCC_APB2ENR_SPI4EN;
+ RCC->APB2ENR |= RCC_APB2ENR_SPI5EN;
+ RCC->APB2ENR |= RCC_APB2ENR_SPI6EN;
+
+ RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+
+ RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+ RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+ RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
+ RCC->APB2ENR |= RCC_APB2ENR_TIM8EN;
+ RCC->APB2ENR |= RCC_APB2ENR_TIM9EN;
+ RCC->APB2ENR |= RCC_APB2ENR_TIM10EN;
+ RCC->APB2ENR |= RCC_APB2ENR_TIM11EN;
+
+ RCC_SYNC();
+
+ 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);
+
+ 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);
+
+ spi5::sck::mode(Mode::ALTERNATE);
+ spi5::sck::alternateFunction(5);
+ spi5::miso::mode(Mode::ALTERNATE);
+ spi5::miso::alternateFunction(5);
+ spi5::mosi::mode(Mode::ALTERNATE);
+ spi5::mosi::alternateFunction(5);
+
+ spi6::sck::mode(Mode::ALTERNATE);
+ spi6::sck::alternateFunction(5);
+ spi6::miso::mode(Mode::ALTERNATE);
+ spi6::miso::alternateFunction(5);
+ spi6::mosi::mode(Mode::ALTERNATE);
+ spi6::mosi::alternateFunction(5);
+
+ uart1::rx::mode(Mode::ALTERNATE);
+ uart1::rx::alternateFunction(7);
+ uart1::tx::mode(Mode::ALTERNATE);
+ uart1::tx::alternateFunction(7);
+
+ timers::tim4ch2::mode(Mode::ALTERNATE);
+ timers::tim11ch1::mode(Mode::ALTERNATE);
+ timers::tim3ch1::mode(Mode::ALTERNATE);
+ timers::tim10ch1::mode(Mode::ALTERNATE);
+ timers::tim9ch2::mode(Mode::ALTERNATE);
+
+ timers::tim4ch2::alternateFunction(2);
+ timers::tim11ch1::alternateFunction(3);
+ timers::tim3ch1::alternateFunction(2);
+ timers::tim10ch1::alternateFunction(3);
+ timers::tim9ch2::alternateFunction(3);
+
+ using namespace sensors;
+ ADS131_1::cs::mode(Mode::OUTPUT);
+ ADS131_1::cs::high();
+
+ ADS131_2::cs::mode(Mode::OUTPUT);
+ ADS131_2::cs::high();
+
+ MAX31855::cs::mode(Mode::OUTPUT);
+ MAX31855::cs::high();
+
+ using namespace ui;
+
+ button::mode(Mode::INPUT);
+
+ greenLed::mode(Mode::OUTPUT);
+ greenLed::low();
+ redLed::mode(Mode::OUTPUT);
+ redLed::low();
+
+ DefaultConsole::instance().IRQset(intrusive_ref_ptr<Device>(
+ new STM32Serial(defaultSerial, defaultSerialSpeed,
+ defaultSerialFlowctrl ? STM32Serial::RTSCTS
+ : STM32Serial::NOFLOWCTRL)));
+ }
+
+ void bspInit2()
+ {
+#ifdef WITH_FILESYSTEM
+ basicFilesystemSetup(SDIODriver::instance());
+#endif // WITH_FILESYSTEM
+ }
+
+ //
+ // Shutdown and reboot
+ //
+
+ /**
+ * @brief This function disables filesystem and serial port.
+ */
+ void shutdown()
+ {
+ ioctl(STDOUT_FILENO, IOCTL_SYNC, 0);
+
+#ifdef WITH_FILESYSTEM
+ FilesystemManager::instance().umountAll();
+#endif // WITH_FILESYSTEM
+
+ disableInterrupts();
+
+ while (true)
+ ;
+ }
+
+ 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/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/bsp_impl.h b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/bsp_impl.h
new file mode 100644
index 0000000000000000000000000000000000000000..cfd05f96a4464d99acb1d418c89bbe043e2e5d2c
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/bsp_impl.h
@@ -0,0 +1,53 @@
+/***************************************************************************
+ * Copyright (C) 2014 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 "drivers/stm32_hardware_rng.h"
+#include "hwmapping.h"
+#include "interfaces/gpio.h"
+
+namespace miosix
+{
+
+/**
+ * \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();
+
+} // namespace miosix
+
+#endif // BSP_IMPL_H
diff --git a/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/hwmapping.h b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/hwmapping.h
new file mode 100644
index 0000000000000000000000000000000000000000..b47729c2f02627a6c51a8c05bc26cbd8d93fe4db
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/interfaces-impl/hwmapping.h
@@ -0,0 +1,129 @@
+/***************************************************************************
+ * 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
+ {
+
+ namespace spi1
+ {
+ using sck = Gpio<GPIOA_BASE, 5>;
+ using miso = Gpio<GPIOA_BASE, 6>;
+ using mosi = Gpio<GPIOA_BASE, 7>;
+ } // namespace spi1
+
+ namespace spi4
+ {
+ using sck = Gpio<GPIOE_BASE, 2>;
+ using miso = Gpio<GPIOE_BASE, 5>;
+ using mosi = Gpio<GPIOE_BASE, 6>;
+ } // namespace spi4
+
+ namespace spi5
+ {
+ using sck = Gpio<GPIOF_BASE, 7>;
+ using miso = Gpio<GPIOF_BASE, 8>;
+ using mosi = Gpio<GPIOF_BASE, 9>;
+ } // namespace spi5
+
+ namespace spi6
+ {
+ using sck = Gpio<GPIOG_BASE, 13>;
+ using miso = Gpio<GPIOG_BASE, 12>;
+ using mosi = Gpio<GPIOG_BASE, 14>;
+ } // namespace spi6
+
+ // USB UART
+ namespace uart1
+ {
+ using tx = Gpio<GPIOA_BASE, 9>;
+ using rx = Gpio<GPIOA_BASE, 10>;
+ } // namespace uart1
+
+ namespace timers
+ {
+ using tim4ch2 = Gpio<GPIOB_BASE, 7>; // Servo 1
+ using tim11ch1 = Gpio<GPIOB_BASE, 9>; // Servo 2
+ using tim3ch1 = Gpio<GPIOB_BASE, 4>; // Servo 3
+ using tim10ch1 = Gpio<GPIOB_BASE, 8>; // Servo 4
+ using tim9ch2 = Gpio<GPIOE_BASE, 6>; // Servo 5
+ } // namespace timers
+
+ } // namespace interfaces
+
+ namespace sensors
+ {
+
+ namespace ADS131_1
+ {
+ using cs = Gpio<GPIOB_BASE, 1>;
+ using sck = interfaces::spi1::sck;
+ using miso = interfaces::spi1::miso;
+ using mosi = interfaces::spi1::mosi;
+ }
+
+ namespace ADS131_2
+ {
+ using cs = Gpio<GPIOA_BASE, 4>;
+ using sck = interfaces::spi1::sck;
+ using miso = interfaces::spi1::miso;
+ using mosi = interfaces::spi1::mosi;
+ }
+
+ namespace MAX31855
+ {
+ using cs = Gpio<GPIOF_BASE, 9>;
+ using sck = interfaces::spi1::sck;
+ using miso = interfaces::spi1::miso;
+ using mosi = interfaces::spi1::mosi;
+ }
+
+ } // namespace sensors
+
+ namespace servos
+ {
+ using servo1 = interfaces::timers::tim4ch2;
+ using servo2 = interfaces::timers::tim11ch1;
+ using servo3 = interfaces::timers::tim3ch1;
+ using servo4 = interfaces::timers::tim10ch1;
+ using servo5 = interfaces::timers::tim9ch2;
+ } // namespace servos
+
+ namespace ui
+ {
+ using button = Gpio<GPIOA_BASE, 0>; // User button
+ using greenLed = Gpio<GPIOG_BASE, 13>; // Green LED
+ using redLed = Gpio<GPIOG_BASE, 14>; // Red LED
+ } // namespace ui
+
+} // namespace miosix
diff --git a/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/stm32_2m+256k_rom.ld b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/stm32_2m+256k_rom.ld
new file mode 100644
index 0000000000000000000000000000000000000000..cfcc2ce53bd9e1b821cbfe90aeedd73fcdce1522
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/stm32_2m+256k_rom.ld
@@ -0,0 +1,181 @@
+/*
+ * C++ enabled linker script for stm32 (2M FLASH, 256K RAM)
+ * Developed by TFT: Terraneo Federico Technologies
+ * Optimized for use with the Miosix kernel
+ */
+
+/*
+ * This chip has an unusual quirk that the RAM is divided in two block mapped
+ * at two non contiguous memory addresses. I don't know why they've done that,
+ * probably doing the obvious thing would have made writing code too easy...
+ * Anyway, since hardware can't be changed, we've got to live with that and
+ * try to make use of both RAMs.
+ *
+ * Given the constraints above, this linker script puts:
+ * - read only data and code (.text, .rodata, .eh_*) in FLASH
+ * - the 512Byte main (IRQ) stack, .data and .bss in the "small" 64KB RAM
+ * - stacks and heap in the "large" 192KB RAM.
+ *
+ * Unfortunately thread stacks can't be put in the small RAM as Miosix
+ * allocates them inside the heap.
+ */
+
+/*
+ * 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 = 0x00000200; /* main stack = 512Bytes */
+_main_stack_top = 0x10000000 + _main_stack_size;
+ASSERT(_main_stack_size % 8 == 0, "MAIN stack size error");
+
+/* Mapping the heap into the large 192KB RAM */
+_end = 0x20000000;
+_heap_end = 0x20030000; /* end of available ram */
+
+/* identify the Entry Point */
+ENTRY(_Z13Reset_Handlerv)
+
+/* specify the memory areas */
+MEMORY
+{
+ flash(rx) : ORIGIN = 0x08000000, LENGTH = 2M
+ /*
+ * Note, the small ram starts at 0x10000000 but it is necessary to add the
+ * size of the main stack, so it is 0x10000200.
+ */
+ smallram(wx) : ORIGIN = 0x10000200, LENGTH = 64K-0x200
+ largeram(wx) : ORIGIN = 0x20000000, LENGTH = 192K
+ backupram(rw): ORIGIN = 0x40024000, LENGTH = 4K
+}
+
+/* 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 ram, but also store a copy to
+ flash to initialize them */
+ .data : ALIGN(8)
+ {
+ _data = .;
+ *(.data)
+ *(.data.*)
+ *(.gnu.linkonce.d.*)
+ . = ALIGN(8);
+ _edata = .;
+ } > smallram AT > flash
+ _etext = LOADADDR(.data);
+
+ /* .bss section: uninitialized global variables go to ram */
+ _bss_start = .;
+ .bss :
+ {
+ *(.bss)
+ *(.bss.*)
+ *(.gnu.linkonce.b.*)
+ . = ALIGN(8);
+ } > smallram
+ _bss_end = .;
+
+ /*_end = .;*/
+ /*PROVIDE(end = .);*/
+}
diff --git a/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/stm32_2m+8m_xram.ld b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/stm32_2m+8m_xram.ld
new file mode 100644
index 0000000000000000000000000000000000000000..b6a0d26683cbff52ac66b7f275f9269d61dfbf41
--- /dev/null
+++ b/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/stm32_2m+8m_xram.ld
@@ -0,0 +1,178 @@
+/*
+ * C++ enabled linker script for stm32 (2M FLASH, 256K RAM, 8M XRAM)
+ * Developed by TFT: Terraneo Federico Technologies
+ * Optimized for use with the Miosix kernel
+ */
+
+/*
+ * This chip has an unusual quirk that the RAM is divided in two block mapped
+ * at two non contiguous memory addresses. I don't know why they've done that,
+ * probably doing the obvious thing would have made writing code too easy...
+ * Anyway, since hardware can't be changed, we've got to live with that and
+ * try to make use of both RAMs.
+ *
+ * Given the constraints above, this linker script puts:
+ * - read only data and code (.text, .rodata, .eh_*) in FLASH
+ * - the 512Byte main (IRQ) stack, .data and .bss in the "small" 64KB RAM
+ * - .data, .bss, stacks and heap in the external 8MB 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 = 0x00000200; /* main stack = 512Bytes */
+_main_stack_top = 0x10000000 + _main_stack_size;
+ASSERT(_main_stack_size % 8 == 0, "MAIN stack size error");
+
+/* Mapping the heap into XRAM */
+_heap_end = 0xd0800000; /* end of available ram */
+
+/* identify the Entry Point */
+ENTRY(_Z13Reset_Handlerv)
+
+/* specify the memory areas */
+MEMORY
+{
+ flash(rx) : ORIGIN = 0x08000000, LENGTH = 2M
+ /*
+ * Note, the small ram starts at 0x10000000 but it is necessary to add the
+ * size of the main stack, so it is 0x10000200.
+ */
+ smallram(wx) : ORIGIN = 0x10000200, LENGTH = 64K-0x200
+ largeram(wx) : ORIGIN = 0x20000000, LENGTH = 192K
+ backupram(rw): ORIGIN = 0x40024000, LENGTH = 4K
+ xram(wx) : ORIGIN = 0xd0000000, LENGTH = 8M
+}
+
+/* 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 ram, 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 ram */
+ _bss_start = .;
+ .bss :
+ {
+ *(.bss)
+ *(.bss.*)
+ *(.gnu.linkonce.b.*)
+ . = ALIGN(8);
+ } > xram
+ _bss_end = .;
+
+ _end = .;
+ PROVIDE(end = .);
+}
diff --git a/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/board_settings.h b/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/board_settings.h
new file mode 100644
index 0000000000000000000000000000000000000000..8b64c231a245b32668a5ef3476d9832644faab4a
--- /dev/null
+++ b/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/board_settings.h
@@ -0,0 +1,75 @@
+/***************************************************************************
+ * Copyright (C) 2014 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/> *
+ ***************************************************************************/
+
+#ifndef BOARD_SETTINGS_H
+#define BOARD_SETTINGS_H
+
+#include "util/version.h"
+
+/**
+ * \internal
+ * Versioning for board_settings.h for out of git tree projects
+ */
+#define BOARD_SETTINGS_VERSION 100
+
+namespace miosix
+{
+
+/// Size of stack for main().
+/// The C standard library is stack-heavy (iprintf requires 1KB) but the
+/// STM32F407VG only has 192KB of RAM so there is room for a big 4K stack.
+const unsigned int MAIN_STACK_SIZE = 4 * 1024;
+
+/// Frequency of tick (in Hz). The frequency of the STM32F100RB timer in the
+/// stm32vldiscovery board can be divided by 1000. This allows to use a 1KHz
+/// tick and the minimun Thread::sleep value is 1ms
+/// 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;
+const bool defaultSerialFlowctrl = false;
+#define SERIAL_1_DMA
+//#define SERIAL_2_DMA
+//#define SERIAL_3_DMA
+
+// SD card driver
+static const unsigned char sdVoltage = 30; // Board powered @ 3.0V
+#define SD_ONE_BIT_DATABUS // Can't use 4 bit databus due to pin conflicts
+
+} // namespace miosix
+
+#endif /* BOARD_SETTINGS_H */
diff --git a/miosix/config/boards.cmake b/miosix/config/boards.cmake
index 859e8f80303e1fff64b07d6ab21d1a292eb47b28..34fdac464009a73620841edf2ad53b8506404994 100644
--- a/miosix/config/boards.cmake
+++ b/miosix/config/boards.cmake
@@ -75,6 +75,7 @@ set(BOARDS
stm32f429zi_skyward_groundstation_parafoil
stm32f429zi_skyward_pyxis_auxiliary
stm32f429zi_skyward_parafoil
+ stm32f429zi_skyward_rig
stm32f767zi_nucleo
stm32f769ni_discovery
)
diff --git a/miosix/config/options.cmake b/miosix/config/options.cmake
index 5ac5f8db36e993f37983c0d978230e64e3052c7e..bd5efa3b3e7b7e9af28411ff8f5765338c24349e 100644
--- a/miosix/config/options.cmake
+++ b/miosix/config/options.cmake
@@ -876,6 +876,38 @@ if(${OPT_BOARD} STREQUAL stm32f429zi_skyward_groundstation_parafoil)
endif()
+##---------------------------------------------------------------------------
+## stm32f429zi_skyward_rig
+##
+if(${OPT_BOARD} STREQUAL stm32f429zi_skyward_rig)
+
+ ## Linker script type, there are three options
+ ## 1) Code in FLASH, stack + heap in internal RAM (file *_rom.ld)
+ ## the most common choice, available for all microcontrollers
+ ## 2) Code in FLASH, stack + heap in external RAM (file *8m_xram.ld)
+ ## You must uncomment -D__ENABLE_XRAM below in this case.
+ set(LINKER_SCRIPT_PATH ${KPATH}/arch/cortexM4_stm32f4/stm32f429zi_skyward_rig/)
+ #set(LINKER_SCRIPT ${LINKER_SCRIPT_PATH}stm32_2m+256k_rom.ld)
+ set(LINKER_SCRIPT ${LINKER_SCRIPT_PATH}stm32_2m+8m_xram.ld)
+
+ ## Uncommenting __ENABLE_XRAM enables the initialization of the external
+ ## 8MB SDRAM memory. Do not uncomment this even if you don't use a linker
+ ## script that requires it, as it is used for the LCD framebuffer.
+ set(XRAM -D__ENABLE_XRAM)
+
+ ## Select clock frequency.
+ ## Warning: the default clock frequency for
+ ## this board is 168MHz and not 180MHz because, due to a limitation in
+ ## the PLL, it is not possible to generate a precise 48MHz output when
+ ## running the core at 180MHz. If 180MHz is chosen the USB peripheral will
+ ## NOT WORK and the SDIO and RNG will run ~6% slower (45MHz insteand of 48)
+ ## Define USE_INTERNAL_CLOCK to bypass the external oscillator
+ #set(CLOCK_FREQ -DHSE_VALUE=8000000 -DSYSCLK_FREQ_180MHz=180000000)
+ set(CLOCK_FREQ -DHSE_VALUE=8000000 -DSYSCLK_FREQ_168MHz=168000000)
+ #set(CLOCK_FREQ -DHSE_VALUE=8000000 -DSYSCLK_FREQ_100MHz=100000000)
+
+endif()
+
##---------------------------------------------------------------------------
## stm32f429zi_skyward_pyxis_auxiliary
##
@@ -1151,6 +1183,8 @@ elseif(${OPT_BOARD} STREQUAL stm32f767zi_nucleo)
set(ARCH cortexM7_stm32f7)
elseif(${OPT_BOARD} STREQUAL stm32f769ni_discovery)
set(ARCH cortexM7_stm32f7)
+elseif(${OPT_BOARD} STREQUAL stm32f429zi_skyward_rig)
+ set(ARCH cortexM4_stm32f4)
else()
message(FATAL_ERROR "no board specified in miosix/config/options.cmake")
endif()
@@ -2568,6 +2602,31 @@ elseif(${ARCH} STREQUAL cortexM4_stm32f4)
## Add a #define to allow querying board name
list(APPEND CFLAGS_BASE -D_BOARD_STM32F429ZI_SKYWARD_PARAFOIL)
list(APPEND CXXFLAGS_BASE -D_BOARD_STM32F429ZI_SKYWARD_PARAFOIL)
+
+ ##-------------------------------------------------------------------------
+ ## BOARD: stm32f429zi_skyward_rig
+ ##
+ elseif(${OPT_BOARD} STREQUAL stm32f429zi_skyward_rig)
+
+ ## Base directory with header files for this board
+ set(BOARD_INC arch/cortexM4_stm32f4/stm32f429zi_skyward_rig)
+
+ ## 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 already selected in board options)
+
+ ## Select architecture specific files
+ ## These are the files in arch/<arch name>/<board name>
+ set(ARCH_SRC
+ ${KPATH}/arch/common/drivers/stm32f2_f4_i2c.cpp
+ ${KPATH}/arch/common/drivers/stm32_hardware_rng.cpp
+ ${KPATH}/${BOARD_INC}/interfaces-impl/bsp.cpp
+ )
+
+ ## Add a #define to allow querying board name
+ list(APPEND CFLAGS_BASE -D_BOARD_STM32F429ZI_SKYWARD_RIG)
+ list(APPEND CXXFLAGS_BASE -D_BOARD_STM32F429ZI_SKYWARD_RIG)
##-------------------------------------------------------------------------
## End of board list