From 3f86b308d69b60487ea13645dc8823edab57a0b9 Mon Sep 17 00:00:00 2001
From: Kelvin Ly <kelvin.ly1618@gmail.com>
Date: Thu, 11 Feb 2021 08:50:43 -0500
Subject: [PATCH] Start work on ztheta firmware

---
 .gitmodules                                   |   3 +
 controller-board/fw/libopencm3                |   1 +
 controller-board/fw/rules.mk                  | 177 ++++++++++++++++++
 .../fw/ztheta-controller/.gitignore           |   2 +
 .../fw/ztheta-controller/Makefile             |  18 ++
 .../generated.stm32l011f4p6.ld                |  69 +++++++
 controller-board/fw/ztheta-controller/main.c  |   3 +
 .../ztheta-controller/ztheta-controller.elf   | Bin 0 -> 100072 bytes
 8 files changed, 273 insertions(+)
 create mode 100644 .gitmodules
 create mode 160000 controller-board/fw/libopencm3
 create mode 100644 controller-board/fw/rules.mk
 create mode 100644 controller-board/fw/ztheta-controller/.gitignore
 create mode 100644 controller-board/fw/ztheta-controller/Makefile
 create mode 100644 controller-board/fw/ztheta-controller/generated.stm32l011f4p6.ld
 create mode 100644 controller-board/fw/ztheta-controller/main.c
 create mode 100755 controller-board/fw/ztheta-controller/ztheta-controller.elf

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..2dd3ffd
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "controller-board/fw/libopencm3"]
+	path = controller-board/fw/libopencm3
+	url = https://github.com/libopencm3/libopencm3
diff --git a/controller-board/fw/libopencm3 b/controller-board/fw/libopencm3
new file mode 160000
index 0000000..aeb3cee
--- /dev/null
+++ b/controller-board/fw/libopencm3
@@ -0,0 +1 @@
+Subproject commit aeb3cee0235dd3e8784c003ff1af82ce44b7b38c
diff --git a/controller-board/fw/rules.mk b/controller-board/fw/rules.mk
new file mode 100644
index 0000000..e417d2f
--- /dev/null
+++ b/controller-board/fw/rules.mk
@@ -0,0 +1,177 @@
+# This version of rules.mk expects the following to be defined before
+# inclusion..
+### REQUIRED ###
+# OPENCM3_DIR - duh
+# PROJECT - will be the basename of the output elf, eg usb-gadget0-stm32f4disco
+# CFILES - basenames only, eg main.c blah.c
+# CXXFILES - same for C++ files. Must have cxx suffix!
+# DEVICE - the full device name, eg stm32f405ret6
+#  _or_
+# LDSCRIPT - full path, eg ../../examples/stm32/f4/stm32f4-discovery/stm32f4-discovery.ld
+# OPENCM3_LIB - the basename, eg: opencm3_stm32f4
+# OPENCM3_DEFS - the target define eg: -DSTM32F4
+# ARCH_FLAGS - eg, -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+#    (ie, the full set of cpu arch flags, _none_ are defined in this file)
+#
+### OPTIONAL ###
+# INCLUDES - fully formed -I paths, if you want extra, eg -I../shared
+# BUILD_DIR - defaults to bin, should set this if you are building multiarch
+# OPT - full -O flag, defaults to -Os
+# CSTD - defaults -std=c99
+# CXXSTD - no default.
+# OOCD_INTERFACE - eg stlink-v2
+# OOCD_TARGET - eg stm32f4x
+#    both only used if you use the "make flash" target.
+# OOCD_FILE - eg my.openocd.cfg
+#    This overrides interface/target above, and is used as just -f FILE
+### TODO/FIXME/notes ###
+# No support for stylecheck.
+# No support for BMP/texane/random flash methods, no plans either
+# No support for magically finding the library.
+# C++ hasn't been actually tested with this..... sorry bout that. ;)
+# Second expansion/secondary not set, add this if you need them.
+
+BUILD_DIR ?= bin
+OPT ?= -Os
+CSTD ?= -std=c99
+
+# Be silent per default, but 'make V=1' will show all compiler calls.
+# If you're insane, V=99 will print out all sorts of things.
+V?=0
+ifeq ($(V),0)
+Q	:= @
+NULL	:= 2>/dev/null
+endif
+
+# Tool paths.
+PREFIX	?= arm-none-eabi-
+CC	= $(PREFIX)gcc
+CXX	= $(PREFIX)g++
+LD	= $(PREFIX)gcc
+OBJCOPY	= $(PREFIX)objcopy
+OBJDUMP	= $(PREFIX)objdump
+OOCD	?= openocd
+
+OPENCM3_INC = $(OPENCM3_DIR)/include
+
+# Inclusion of library header files
+INCLUDES += $(patsubst %,-I%, . $(OPENCM3_INC) )
+
+OBJS = $(CFILES:%.c=$(BUILD_DIR)/%.o)
+OBJS += $(CXXFILES:%.cxx=$(BUILD_DIR)/%.o)
+OBJS += $(AFILES:%.S=$(BUILD_DIR)/%.o)
+GENERATED_BINS = $(PROJECT).elf $(PROJECT).bin $(PROJECT).map $(PROJECT).list $(PROJECT).lss
+
+TGT_CPPFLAGS += -MD
+TGT_CPPFLAGS += -Wall -Wundef $(INCLUDES)
+TGT_CPPFLAGS += $(INCLUDES) $(OPENCM3_DEFS)
+
+TGT_CFLAGS += $(OPT) $(CSTD) -ggdb3
+TGT_CFLAGS += $(ARCH_FLAGS)
+TGT_CFLAGS += -fno-common
+TGT_CFLAGS += -ffunction-sections -fdata-sections
+TGT_CFLAGS += -Wextra -Wshadow -Wno-unused-variable -Wimplicit-function-declaration
+TGT_CFLAGS += -Wredundant-decls -Wstrict-prototypes -Wmissing-prototypes
+
+TGT_CXXFLAGS += $(OPT) $(CXXSTD) -ggdb3
+TGT_CXXFLAGS += $(ARCH_FLAGS)
+TGT_CXXFLAGS += -fno-common
+TGT_CXXFLAGS += -ffunction-sections -fdata-sections
+TGT_CXXFLAGS += -Wextra -Wshadow -Wredundant-decls  -Weffc++
+
+TGT_ASFLAGS += $(OPT) $(ARCH_FLAGS) -ggdb3
+
+TGT_LDFLAGS += -T$(LDSCRIPT) -L$(OPENCM3_DIR)/lib -nostartfiles
+TGT_LDFLAGS += $(ARCH_FLAGS)
+TGT_LDFLAGS += -specs=nano.specs
+TGT_LDFLAGS += -Wl,--gc-sections
+# OPTIONAL
+#TGT_LDFLAGS += -Wl,-Map=$(PROJECT).map
+ifeq ($(V),99)
+TGT_LDFLAGS += -Wl,--print-gc-sections
+endif
+
+# Linker script generator fills this in for us.
+ifeq (,$(DEVICE))
+LDLIBS += -l$(OPENCM3_LIB)
+endif
+# nosys is only in newer gcc-arm-embedded...
+#LDLIBS += -specs=nosys.specs
+LDLIBS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
+
+# Burn in legacy hell fortran modula pascal yacc idontevenwat
+.SUFFIXES:
+.SUFFIXES: .c .S .h .o .cxx .elf .bin .list .lss
+
+# Bad make, never *ever* try to get a file out of source control by yourself.
+%: %,v
+%: RCS/%,v
+%: RCS/%
+%: s.%
+%: SCCS/s.%
+
+all: $(PROJECT).elf $(PROJECT).bin
+flash: $(PROJECT).flash
+
+# error if not using linker script generator
+ifeq (,$(DEVICE))
+$(LDSCRIPT):
+ifeq (,$(wildcard $(LDSCRIPT)))
+    $(error Unable to find specified linker script: $(LDSCRIPT))
+endif
+else
+# if linker script generator was used, make sure it's cleaned.
+GENERATED_BINS += $(LDSCRIPT)
+endif
+
+# Need a special rule to have a bin dir
+$(BUILD_DIR)/%.o: %.c
+	@printf "  CC\t$<\n"
+	@mkdir -p $(dir $@)
+	$(Q)$(CC) $(TGT_CFLAGS) $(CFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
+
+$(BUILD_DIR)/%.o: %.cxx
+	@printf "  CXX\t$<\n"
+	@mkdir -p $(dir $@)
+	$(Q)$(CXX) $(TGT_CXXFLAGS) $(CXXFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
+
+$(BUILD_DIR)/%.o: %.S
+	@printf "  AS\t$<\n"
+	@mkdir -p $(dir $@)
+	$(Q)$(CC) $(TGT_ASFLAGS) $(ASFLAGS) $(TGT_CPPFLAGS) $(CPPFLAGS) -o $@ -c $<
+
+$(PROJECT).elf: $(OBJS) $(LDSCRIPT) $(LIBDEPS)
+	@printf "  LD\t$@\n"
+	$(Q)$(LD) $(TGT_LDFLAGS) $(LDFLAGS) $(OBJS) $(LDLIBS) -o $@
+
+%.bin: %.elf
+	@printf "  OBJCOPY\t$@\n"
+	$(Q)$(OBJCOPY) -O binary  $< $@
+
+%.lss: %.elf
+	$(OBJDUMP) -h -S $< > $@
+
+%.list: %.elf
+	$(OBJDUMP) -S $< > $@
+
+%.flash: %.elf
+	@printf "  FLASH\t$<\n"
+ifeq (,$(OOCD_FILE))
+	$(Q)(echo "halt; program $(realpath $(*).elf) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
+		$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
+		-f target/$(OOCD_TARGET).cfg \
+		-c "program $(realpath $(*).elf) verify reset exit" \
+		$(NULL)
+else
+	$(Q)(echo "halt; program $(realpath $(*).elf) verify reset" | nc -4 localhost 4444 2>/dev/null) || \
+		$(OOCD) -f $(OOCD_FILE) \
+		-c "program $(realpath $(*).elf) verify reset exit" \
+		$(NULL)
+endif
+
+clean:
+	rm -rf $(BUILD_DIR) $(GENERATED_BINS)
+
+.PHONY: all clean flash
+-include $(OBJS:.o=.d)
+
diff --git a/controller-board/fw/ztheta-controller/.gitignore b/controller-board/fw/ztheta-controller/.gitignore
new file mode 100644
index 0000000..ac4d450
--- /dev/null
+++ b/controller-board/fw/ztheta-controller/.gitignore
@@ -0,0 +1,2 @@
+bin/
+*.bin
diff --git a/controller-board/fw/ztheta-controller/Makefile b/controller-board/fw/ztheta-controller/Makefile
new file mode 100644
index 0000000..5c90a39
--- /dev/null
+++ b/controller-board/fw/ztheta-controller/Makefile
@@ -0,0 +1,18 @@
+PROJECT = ztheta-controller
+BUILD_DIR = bin
+
+#SHARED_DIR = 
+CFILES = main.c
+
+# TODO - you will need to edit these two lines!
+DEVICE=stm32l011f4p6
+OOCD_FILE = board/stm32f4discovery.cfg
+
+# You shouldn't have to edit anything below here.
+VPATH += $(SHARED_DIR)
+INCLUDES += $(patsubst %,-I%, . $(SHARED_DIR))
+OPENCM3_DIR=../libopencm3
+
+include $(OPENCM3_DIR)/mk/genlink-config.mk
+include ../rules.mk
+include $(OPENCM3_DIR)/mk/genlink-rules.mk
diff --git a/controller-board/fw/ztheta-controller/generated.stm32l011f4p6.ld b/controller-board/fw/ztheta-controller/generated.stm32l011f4p6.ld
new file mode 100644
index 0000000..de52abf
--- /dev/null
+++ b/controller-board/fw/ztheta-controller/generated.stm32l011f4p6.ld
@@ -0,0 +1,69 @@
+EXTERN(vector_table)
+ENTRY(reset_handler)
+MEMORY
+{
+ ram (rwx) : ORIGIN = 0x20000000, LENGTH = 2K
+ rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
+}
+SECTIONS
+{
+ .text : {
+  *(.vectors)
+  *(.text*)
+  . = ALIGN(4);
+  *(.rodata*)
+  . = ALIGN(4);
+ } >rom
+ .preinit_array : {
+  . = ALIGN(4);
+  __preinit_array_start = .;
+  KEEP (*(.preinit_array))
+  __preinit_array_end = .;
+ } >rom
+ .init_array : {
+  . = ALIGN(4);
+  __init_array_start = .;
+  KEEP (*(SORT(.init_array.*)))
+  KEEP (*(.init_array))
+  __init_array_end = .;
+ } >rom
+ .fini_array : {
+  . = ALIGN(4);
+  __fini_array_start = .;
+  KEEP (*(.fini_array))
+  KEEP (*(SORT(.fini_array.*)))
+  __fini_array_end = .;
+ } >rom
+ .ARM.extab : {
+  *(.ARM.extab*)
+ } >rom
+ .ARM.exidx : {
+  __exidx_start = .;
+  *(.ARM.exidx*)
+  __exidx_end = .;
+ } >rom
+ . = ALIGN(4);
+ _etext = .;
+ .noinit (NOLOAD) : {
+  *(.noinit*)
+ } >ram
+ . = ALIGN(4);
+ .data : {
+  _data = .;
+  *(.data*)
+  *(.ramtext*)
+  . = ALIGN(4);
+  _edata = .;
+ } >ram AT >rom
+ _data_loadaddr = LOADADDR(.data);
+ .bss : {
+  *(.bss*)
+  *(COMMON)
+  . = ALIGN(4);
+  _ebss = .;
+ } >ram
+ /DISCARD/ : { *(.eh_frame) }
+ . = ALIGN(4);
+ end = .;
+}
+PROVIDE(_stack = ORIGIN(ram) + LENGTH(ram));
diff --git a/controller-board/fw/ztheta-controller/main.c b/controller-board/fw/ztheta-controller/main.c
new file mode 100644
index 0000000..d633183
--- /dev/null
+++ b/controller-board/fw/ztheta-controller/main.c
@@ -0,0 +1,3 @@
+int main(void) {
+  // TODO
+}
diff --git a/controller-board/fw/ztheta-controller/ztheta-controller.elf b/controller-board/fw/ztheta-controller/ztheta-controller.elf
new file mode 100755
index 0000000000000000000000000000000000000000..e1b79f60567a4cd263b2b58c11b540f823219b19
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