Initial import.

Most sources are split off from suzumebachi project revision 2fc77d2 as is with some path changes. New build rules introduced.

32 files changed, 1870 insertions, 0 deletions

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..5761abc
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*.o
diff --git a/SConscript b/SConscript
new file mode 100644
index 0000000..5d706af
--- /dev/null
+++ b/SConscript
@@ -0,0 +1,7 @@
+# Don't call this file explicitly, it is called implicitly by the build rules.
+
+Import('env')
+
+env.Append(
+	LIB_SOURCES = Glob('*.cpp') + Glob('*/*.cpp'),
+)
diff --git a/build_rules b/build_rules
new file mode 100644
index 0000000..0040cd7
--- /dev/null
+++ b/build_rules
@@ -0,0 +1,80 @@
+laks_dir = Dir('.')
+ld_dir = Dir('ld_scripts')
+main_sconscript = File('SConscript')
+
+def select_arm(env, family):
+	env.SetDefault(
+		TOOLCHAIN = 'arm-none-eabi-',
+	)
+	
+	env.Replace(
+		CC = '${TOOLCHAIN}gcc',
+		CXX = '${TOOLCHAIN}g++',
+		AS = '${TOOLCHAIN}gcc',
+		LINK = '${TOOLCHAIN}gcc',
+		AR = '${TOOLCHAIN}ar',
+		RANLIB = '${TOOLCHAIN}ranlib',
+		
+		CCFLAGS = '-O2 -Wall -ggdb -mcpu=${CPU_FAMILY} -mthumb -ffunction-sections',
+		CXXFLAGS = '-fno-exceptions -fno-rtti -Wno-pmf-conversions',
+		ASFLAGS = '-c -x assembler-with-cpp -mcpu=${CPU_FAMILY} -mthumb',
+		LINKFLAGS = '-Wall -mcpu=${CPU_FAMILY} -mthumb -mhard-float -nostartfiles -Wl,-T${LINK_SCRIPT}', # -Wl,--gc-sections
+		
+		CPPPATH = [laks_dir],
+		LIBPATH = [ld_dir],
+		
+		LIB_SOURCES = [],
+		
+		CPU_FAMILY = family,
+	)
+	
+	if family == 'cortex-m4':
+		env.Append(CCFLAGS = ' -mhard-float')
+
+def select_stm32(env, variant):
+	family = variant[5:9]
+	pin_count = variant[9]
+	flash = variant[10]
+	
+	if family == 'f103':
+		select_arm(env, 'cortex-m3')
+		env.Append(CPPDEFINES = ['STM32F1'])
+		
+		env['LINK_SCRIPT'] = {
+			'8': 'stm32_f1_8.ld',
+			'b': 'stm32_f1_b.ld',
+		}[flash]
+	
+	elif family in ('f405', 'f407'):
+		select_arm(env, 'cortex-m4')
+		env.Append(CPPDEFINES = ['STM32F4'])
+		
+		env['LINK_SCRIPT'] = {
+			'e': 'stm32_f4_e.ld',
+			'g': 'stm32_f4_g.ld',
+		}[flash]
+	
+	else:
+		print 'Unknown stm32 family: %s' % mcu
+		Exit(1)
+
+def SelectMCU(env, mcu):
+	mcu = mcu.lower()
+	
+	if mcu.startswith('stm32'):
+		select_stm32(env, mcu)
+	
+	else:
+		print 'Unknown MCU: %s' % mcu
+		Exit(1)
+	
+	SConscript(main_sconscript, exports = 'env')
+
+AddMethod(Environment, SelectMCU)
+
+def Firmware(env, target, sources):
+	firmware = env.Program(target, [sources, env['LIB_SOURCES']])
+	#env.Depends(firmware, env['LINK_SCRIPT']) # TODO
+	return firmware
+
+AddMethod(Environment, Firmware)
diff --git a/gpio/gpio.h b/gpio/gpio.h
new file mode 100644
index 0000000..324950e
--- /dev/null
+++ b/gpio/gpio.h
@@ -0,0 +1,43 @@
+#ifndef GPIO_H
+#define GPIO_H
+
+struct GPIO_t {
+	#if defined(STM32F1)
+	volatile uint32_t CRL;
+	volatile uint32_t CRH;
+	volatile uint32_t IDR;
+	volatile uint32_t ODR;
+	volatile uint32_t BSRR;
+	volatile uint32_t BRR;
+	volatile uint32_t LCKR;
+	#elif defined(STM32F4)
+	volatile uint32_t MODER;
+	volatile uint32_t OTYPER;
+	volatile uint32_t OSPEEDER;
+	volatile uint32_t PUPDR;
+	volatile uint32_t IDR;
+	volatile uint32_t ODR;
+	volatile uint32_t BSRR;
+	volatile uint32_t LCKR;
+	volatile uint32_t AFRL;
+	volatile uint32_t AFRH;
+	#endif
+};
+
+#if defined(STM32F1)
+static GPIO_t& GPIOA = *(GPIO_t*)0x40010800;
+static GPIO_t& GPIOB = *(GPIO_t*)0x40010c00;
+static GPIO_t& GPIOC = *(GPIO_t*)0x40011000;
+#elif defined(STM32F4)
+static GPIO_t& GPIOA = *(GPIO_t*)0x40020000;
+static GPIO_t& GPIOB = *(GPIO_t*)0x40020400;
+static GPIO_t& GPIOC = *(GPIO_t*)0x40020800;
+static GPIO_t& GPIOD = *(GPIO_t*)0x40020c00;
+static GPIO_t& GPIOE = *(GPIO_t*)0x40021000;
+static GPIO_t& GPIOF = *(GPIO_t*)0x40021400;
+static GPIO_t& GPIOG = *(GPIO_t*)0x40021800;
+static GPIO_t& GPIOH = *(GPIO_t*)0x40021c00;
+static GPIO_t& GPIOI = *(GPIO_t*)0x40022000;
+#endif
+
+#endif
diff --git a/gpio/pin.h b/gpio/pin.h
new file mode 100644
index 0000000..1ad3ca2
--- /dev/null
+++ b/gpio/pin.h
@@ -0,0 +1,137 @@
+#ifndef PIN_H
+#define PIN_H
+
+#include "gpio.h"
+
+class Pin {
+	private:
+		GPIO_t& g;
+		int n;
+	
+	public:
+		Pin(GPIO_t& gpio, int pin) : g(gpio), n(pin) {}
+		
+		enum Mode {
+			Input,
+			Output,
+			AF,
+			Analog,
+		};
+		
+		enum Type {
+			PushPull,
+			OpenDrain,
+		};
+		
+		enum Pull {
+			PullNone,
+			PullUp,
+			PullDown,
+		};
+		
+		void set_mode(Mode m) {
+			g.MODER = (g.MODER & ~(3 << (n * 2))) | m << (n * 2);
+		}
+		
+		void set_type(Type t) {
+			if(t) {
+				g.OTYPER |= 1 << n;
+			} else {
+				g.OTYPER &= ~(1 << n);
+			}
+		}
+		
+		void set_pull(Pull p) {
+			g.PUPDR = (g.PUPDR & ~(3 << (n * 2))) | p << (n * 2);
+		}
+		
+		void set_af(int af) {
+			if(n < 8) {
+				g.AFRL = (g.AFRL & ~(0xf << (n * 4))) | af << (n * 4);
+			} else {
+				g.AFRH = (g.AFRH & ~(0xf << (n * 4 - 32))) | af << (n * 4 - 32);
+			}
+		}
+		
+		void on() {
+			g.BSRR = 1 << n;
+		}
+		
+		void off() {
+			g.BSRR = 1 << 16 << n;
+		}
+		
+		void set(bool value) {
+			if(value) {
+				on();
+			} else {
+				off();
+			}
+		}
+		
+		bool get() {
+			return g.IDR & (1 << n);
+		}
+		
+		void toggle() {
+			set(!(g.ODR & (1 << n)));
+		}
+};
+
+static Pin PA0(GPIOA, 0);
+static Pin PA1(GPIOA, 1);
+static Pin PA2(GPIOA, 2);
+static Pin PA3(GPIOA, 3);
+static Pin PA4(GPIOA, 4);
+static Pin PA5(GPIOA, 5);
+static Pin PA6(GPIOA, 6);
+static Pin PA7(GPIOA, 7);
+static Pin PA8(GPIOA, 8);
+static Pin PA9(GPIOA, 9);
+static Pin PA10(GPIOA, 10);
+static Pin PA11(GPIOA, 11);
+static Pin PA12(GPIOA, 12);
+static Pin PA13(GPIOA, 13);
+static Pin PA14(GPIOA, 14);
+static Pin PA15(GPIOA, 15);
+
+static Pin PB0(GPIOB, 0);
+static Pin PB1(GPIOB, 1);
+static Pin PB2(GPIOB, 2);
+static Pin PB3(GPIOB, 3);
+static Pin PB4(GPIOB, 4);
+static Pin PB5(GPIOB, 5);
+static Pin PB6(GPIOB, 6);
+static Pin PB7(GPIOB, 7);
+static Pin PB8(GPIOB, 8);
+static Pin PB9(GPIOB, 9);
+static Pin PB10(GPIOB, 10);
+static Pin PB11(GPIOB, 11);
+static Pin PB12(GPIOB, 12);
+static Pin PB13(GPIOB, 13);
+static Pin PB14(GPIOB, 14);
+static Pin PB15(GPIOB, 15);
+
+static Pin PC0(GPIOC, 0);
+static Pin PC1(GPIOC, 1);
+static Pin PC2(GPIOC, 2);
+static Pin PC3(GPIOC, 3);
+static Pin PC4(GPIOC, 4);
+static Pin PC5(GPIOC, 5);
+static Pin PC6(GPIOC, 6);
+static Pin PC7(GPIOC, 7);
+static Pin PC8(GPIOC, 8);
+static Pin PC9(GPIOC, 9);
+static Pin PC10(GPIOC, 10);
+static Pin PC11(GPIOC, 11);
+static Pin PC12(GPIOC, 12);
+static Pin PC13(GPIOC, 13);
+static Pin PC14(GPIOC, 14);
+static Pin PC15(GPIOC, 15);
+
+static Pin PD12(GPIOD, 12);
+static Pin PD13(GPIOD, 13);
+static Pin PD14(GPIOD, 14);
+static Pin PD15(GPIOD, 15);
+
+#endif
diff --git a/i2c/i2c.cpp b/i2c/i2c.cpp
new file mode 100644
index 0000000..a395b13
--- /dev/null
+++ b/i2c/i2c.cpp
@@ -0,0 +1,145 @@
+#include "i2c.h"
+
+#include <rcc/rcc.h>
+#include <os/thread.h>
+
+#if defined(STM32F1)
+I2C_t I2C1(0x40005400, 36000000, Interrupt::I2C1_EV, Interrupt::I2C1_ER);
+I2C_t I2C2(0x40005800, 36000000, Interrupt::I2C2_EV, Interrupt::I2C2_ER);
+#elif defined(STM32F4)
+I2C_t I2C1(0x40005400, 42000000, Interrupt::I2C1_EV, Interrupt::I2C1_ER);
+I2C_t I2C2(0x40005800, 42000000, Interrupt::I2C2_EV, Interrupt::I2C2_ER);
+//I2C_t I2C3(0x40005c00, 42000000, Interrupt::I2C3_EV, Interrupt::I2C3_ER);
+#endif
+
+void I2C_t::irq_ev() {
+	uint32_t sr1 = reg.SR1;
+	reg.SR2;
+	
+	// EV5, SB = 1: Start condition sent.
+	if(sr1 & 0x01) {
+		// Send address.
+		reg.DR = (addr << 1) | (writing ? 0 : 1);
+	}
+	
+	// EV6, ADDR = 1: Address sent.
+	if(sr1 & 0x02) {
+		if(writing) {
+			reg.DR = *write_p++;
+			writing--;
+		} else {
+			if(reading > 1) {
+				reg.CR1 |= 0x400; // Set ACK.
+			} else {
+				reg.CR1 |= 0x200; // Set STOP.
+			}
+		}
+	}
+	
+	// EV7, RxNE = 1: Receive buffer not empty.
+	if(sr1 & 0x40) {
+		*read_p++ = reg.DR;
+		reading--;
+		
+		if(reading == 1) {
+			// Unset ACK, set STOP.
+			reg.CR1 = (reg.CR1 & ~0x400) | 0x200;
+		}
+		
+		if(reading == 0) {
+			busy = 0;
+		}
+	}
+	
+	//reg.CR1 &= ~0x400;
+	
+	// EV8, TxE = 1, BTF = 0: Transmit buffer empty, still writing.
+	if(sr1 & 0x80 && !(sr1 & 0x04)) {
+		if(writing) {
+			// Send data.
+			reg.DR = *write_p++;
+			writing--;
+		} else {
+			// All data sent.
+			
+			if(reading) {
+				// Send repeat start.
+				reg.CR1 |= 0x100;
+			} else {
+				// Send stop.
+				reg.CR1 |= 0x200;
+				busy = 0;
+			}
+		}
+	}
+}
+
+void I2C_t::irq_er() {
+	handle_error();
+}
+
+void I2C_t::handle_error() {
+	reg.SR1;
+	reg.SR2;
+	
+	//while(1);
+	
+	reg.SR1 = 0;
+	
+	reg.CR1 |= 0x200;
+	busy = 0;
+}
+
+void I2C_t::enable(Pin& scl, Pin& sda) {
+	RCC.enable(RCC.I2C1);
+	asm volatile("nop");
+	
+	scl.set_af(4);
+	sda.set_af(4);
+	scl.set_type(Pin::OpenDrain);
+	sda.set_type(Pin::OpenDrain);
+	scl.set_mode(Pin::AF);
+	sda.set_mode(Pin::AF);
+	
+	reg.CR1 = 0x8000;
+	reg.CR1 = 0;
+	
+	reg.CR2 = 0x700 | (clk / 1000000);
+	reg.TRISE = clk / 1000000 + 1;
+	reg.CCR = clk / 2 / 100000;
+	
+	Interrupt::enable(irq_ev_n, &I2C_t::irq_ev, this);
+	Interrupt::enable(irq_er_n, &I2C_t::irq_er, this);
+	
+	reg.CR1 = 1;
+}
+
+void I2C_t::write_reg(uint8_t addr_, uint8_t reg_, uint8_t data) {
+	addr = addr_;
+	writing = 2;
+	reading = 0;
+	volatile uint8_t buf[] = {reg_, data};
+	write_p = buf;
+	busy = 1;
+	
+	reg.CR1 |= 0x100;
+	
+	while(busy) {
+		Thread::yield();
+	}
+}
+
+void I2C_t::read_reg(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf) {
+	addr = addr_;
+	writing = 1;
+	reading = len;
+	write_p = &reg_;
+	read_p = buf;
+	busy = 1;
+	
+	reg.CR1 |= 0x100;
+	
+	while(busy) {
+		Thread::yield();
+	}
+}
diff --git a/i2c/i2c.h b/i2c/i2c.h
new file mode 100644
index 0000000..f4d6949
--- /dev/null
+++ b/i2c/i2c.h
@@ -0,0 +1,62 @@
+#ifndef I2C_H
+#define I2C_H
+
+#include <stdint.h>
+#include <interrupt/interrupt.h>
+#include <gpio/pin.h>
+
+struct I2C_reg_t {
+	volatile uint32_t CR1;
+	volatile uint32_t CR2;
+	volatile uint32_t OAR1;
+	volatile uint32_t OAR2;
+	volatile uint32_t DR;
+	volatile uint32_t SR1;
+	volatile uint32_t SR2;
+	volatile uint32_t CCR;
+	volatile uint32_t TRISE;
+};
+
+class I2C_t {
+	private:
+		volatile uint8_t addr;
+		volatile uint8_t writing;
+		volatile uint8_t reading;
+		volatile uint8_t* write_p;
+		volatile uint8_t* read_p;
+		
+		volatile bool busy;
+	
+	public:
+		I2C_reg_t& reg;
+		const uint32_t clk;
+		Interrupt::IRQ irq_ev_n;
+		Interrupt::IRQ irq_er_n;
+		
+		I2C_t(uint32_t reg_addr, uint32_t bus_clk, Interrupt::IRQ ev_n, Interrupt::IRQ er_n) : reg(*(I2C_reg_t*)reg_addr), clk(bus_clk), irq_ev_n(ev_n), irq_er_n(er_n) {
+			reading = writing = 0;
+		}
+		
+		void irq_ev();
+		void irq_er();
+		
+		void handle_error();
+		
+		void enable(Pin& scl, Pin& sda);
+		
+		void write_reg(uint8_t addr_, uint8_t reg_, uint8_t data);
+		void read_reg(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf);
+};
+
+#if defined(STM32F1)
+extern I2C_t I2C1;
+extern I2C_t I2C2;
+#elif defined(STM32F4)
+extern I2C_t I2C1;
+extern I2C_t I2C2;
+extern I2C_t I2C3;
+#endif
+
+typedef I2C_t I2C;
+
+#endif
diff --git a/interrupt/fault.cpp b/interrupt/fault.cpp
new file mode 100644
index 0000000..016b74b
--- /dev/null
+++ b/interrupt/fault.cpp
@@ -0,0 +1,41 @@
+#include "interrupt.h"
+#include <os/thread.h>
+#include <os/time.h>
+
+inline void __attribute__((naked)) switch_context() {
+	asm volatile ("cpsid i");
+	
+	// Save unsaved registers.
+	asm volatile ("push {r4, r5, r6, r7, r8, r9, r10, r11, lr}" ::: "memory");
+	
+	// Store stack pointer for old thread.
+	asm volatile ("str sp, [%0]" :: "r" (&Thread::active_thread->sp));
+	
+	// Update running thread.
+	Thread::active_thread = Thread::active_thread->next;
+	
+	// Fetch stack pointer for new thread.
+	asm volatile ("ldr sp, [%0]" :: "r" (&Thread::active_thread->sp));
+	
+	asm volatile ("cpsie i");
+	
+	// Load registers and return.
+	asm volatile ("pop {r4, r5, r6, r7, r8, r9, r10, r11, pc}" ::: "memory");
+}
+
+template<>
+void interrupt<Interrupt::SVCall>() {
+	switch_context();
+}
+
+template<>
+void interrupt<Interrupt::SysTick>() {
+	Time::tick();
+}
+
+template<> void interrupt<Interrupt::NMI>()         { while(1); }
+template<> void interrupt<Interrupt::HardFault>()   { while(1); }
+template<> void interrupt<Interrupt::MemManage>()   { while(1); }
+template<> void interrupt<Interrupt::BusFault>()    { while(1); }
+template<> void interrupt<Interrupt::UsageFault>()  { while(1); }
+template<> void interrupt<Interrupt::PendSV>()      { while(1); }
diff --git a/interrupt/interrupt.cpp b/interrupt/interrupt.cpp
new file mode 100644
index 0000000..cebfed7
--- /dev/null
+++ b/interrupt/interrupt.cpp
@@ -0,0 +1,187 @@
+#include "interrupt.h"
+
+namespace Interrupt {
+	MFP mf_vectors[16 + NUM_IRQs];
+};
+
+void entry();
+
+void member_function_interrupt_gate() {
+	uint32_t interrupt_num;
+	asm ("mrs %0, ipsr" : "=r" (interrupt_num));
+	
+	Interrupt::mf_vectors[interrupt_num].func_p(Interrupt::mf_vectors[interrupt_num].instance_p);
+}
+
+extern "C" void unused_interrupt() {
+	member_function_interrupt_gate();
+	//while(1);
+}
+
+template<> void interrupt<Interrupt::NMI>()             __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::HardFault>()       __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::MemManage>()       __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::BusFault>()        __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::UsageFault>()      __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::SVCall>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::PendSV>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::SysTick>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::WWDG>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::PVD>()             __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TAMPER>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::RTC>()             __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::FLASH>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::RCC>()             __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI0>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI1>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI2>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI3>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI4>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel1>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel2>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel3>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel4>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel5>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel6>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA1_Channel7>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::ADC1_2>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::USB_HP_CAN_TX>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::USB_LP_CAN_RX0>()  __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::CAN_RX1>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::CAN_SCE>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI9_5>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM1_BRK>()        __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM1_UP>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM1_TRG_COM>()    __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM1_CC>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM2>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM3>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM4>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::I2C1_EV>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::I2C1_ER>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::I2C2_EV>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::I2C2_ER>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::SPI1>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::SPI2>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::USART1>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::USART2>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::USART3>()          __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::EXTI15_10>()       __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::RTCAlarm>()        __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::USBWakeup>()       __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM8_BRK>()        __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM8_UP>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM8_TRG_COM>()    __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM8_CC>()         __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::ADC3>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::FSMC>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::SDIO>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM5>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::SPI3>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::UART4>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::UART5>()           __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM6>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::TIM7>()            __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA2_Channel1>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA2_Channel2>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA2_Channel3>()   __attribute__ ((weak, alias ("unused_interrupt")));
+template<> void interrupt<Interrupt::DMA2_Channel4_5>() __attribute__ ((weak, alias ("unused_interrupt")));
+
+typedef void (*vector_t)();
+
+vector_t vectors[] __attribute__((section(".vectors"))) = {
+	(vector_t)0x20004ffc,
+	entry,
+	interrupt<Interrupt::NMI>,
+	interrupt<Interrupt::HardFault>,
+	interrupt<Interrupt::MemManage>,
+	interrupt<Interrupt::BusFault>,
+	interrupt<Interrupt::UsageFault>,
+	0,
+	0,
+	0,
+	0,
+	interrupt<Interrupt::SVCall>,
+	0,
+	0,
+	interrupt<Interrupt::PendSV>,
+	interrupt<Interrupt::SysTick>,
+	interrupt<Interrupt::WWDG>,
+	interrupt<Interrupt::PVD>,
+	interrupt<Interrupt::TAMPER>,
+	interrupt<Interrupt::RTC>,
+	interrupt<Interrupt::FLASH>,
+	interrupt<Interrupt::RCC>,
+	interrupt<Interrupt::EXTI0>,
+	interrupt<Interrupt::EXTI1>,
+	interrupt<Interrupt::EXTI2>,
+	interrupt<Interrupt::EXTI3>,
+	interrupt<Interrupt::EXTI4>,
+	interrupt<Interrupt::DMA1_Channel1>,
+	interrupt<Interrupt::DMA1_Channel2>,
+	interrupt<Interrupt::DMA1_Channel3>,
+	interrupt<Interrupt::DMA1_Channel4>,
+	interrupt<Interrupt::DMA1_Channel5>,
+	interrupt<Interrupt::DMA1_Channel6>,
+	interrupt<Interrupt::DMA1_Channel7>,
+	interrupt<Interrupt::ADC1_2>,
+	interrupt<Interrupt::USB_HP_CAN_TX>,
+	interrupt<Interrupt::USB_LP_CAN_RX0>,
+	interrupt<Interrupt::CAN_RX1>,
+	interrupt<Interrupt::CAN_SCE>,
+	interrupt<Interrupt::EXTI9_5>,
+	interrupt<Interrupt::TIM1_BRK>,
+	interrupt<Interrupt::TIM1_UP>,
+	interrupt<Interrupt::TIM1_TRG_COM>,
+	interrupt<Interrupt::TIM1_CC>,
+	interrupt<Interrupt::TIM2>,
+	interrupt<Interrupt::TIM3>,
+	interrupt<Interrupt::TIM4>,
+	interrupt<Interrupt::I2C1_EV>,
+	interrupt<Interrupt::I2C1_ER>,
+	interrupt<Interrupt::I2C2_EV>,
+	interrupt<Interrupt::I2C2_ER>,
+	interrupt<Interrupt::SPI1>,
+	interrupt<Interrupt::SPI2>,
+	interrupt<Interrupt::USART1>,
+	interrupt<Interrupt::USART2>,
+	interrupt<Interrupt::USART3>,
+	interrupt<Interrupt::EXTI15_10>,
+	interrupt<Interrupt::RTCAlarm>,
+	interrupt<Interrupt::USBWakeup>,
+	interrupt<Interrupt::TIM8_BRK>,
+	interrupt<Interrupt::TIM8_UP>,
+	interrupt<Interrupt::TIM8_TRG_COM>,
+	interrupt<Interrupt::TIM8_CC>,
+	interrupt<Interrupt::ADC3>,
+	interrupt<Interrupt::FSMC>,
+	interrupt<Interrupt::SDIO>,
+	interrupt<Interrupt::TIM5>,
+	interrupt<Interrupt::SPI3>,
+	interrupt<Interrupt::UART4>,
+	interrupt<Interrupt::UART5>,
+	interrupt<Interrupt::TIM6>,
+	interrupt<Interrupt::TIM7>,
+	interrupt<Interrupt::DMA2_Channel1>,
+	interrupt<Interrupt::DMA2_Channel2>,
+	interrupt<Interrupt::DMA2_Channel3>,
+	interrupt<Interrupt::DMA2_Channel4_5>,
+	0, // 60
+	0, // 61
+	0, // 62
+	0, // 63
+	0, // 64
+	0, // 65
+	0, // 66
+	0, // 67
+	0, // 68
+	0, // 69
+	0, // 70
+	0, // 71
+	0, // 72
+	0, // 73
+	0, // 74
+	0, // 75
+	0, // 76
+	interrupt<(Interrupt::IRQ)77>, // 77
+};
diff --git a/interrupt/interrupt.h b/interrupt/interrupt.h
new file mode 100644
index 0000000..80ccb76
--- /dev/null
+++ b/interrupt/interrupt.h
@@ -0,0 +1,151 @@
+#ifndef INTERRUPT_H
+#define INTERRUPT_H
+
+#include <stdint.h>
+
+struct NVIC_t {
+	volatile uint32_t ISER[32];
+	volatile uint32_t ICER[32];
+	volatile uint32_t ISPR[32];
+	volatile uint32_t ICPR[32];
+	volatile uint32_t IABR[64];
+	volatile uint8_t IPR[2816];
+	volatile uint32_t STIR;
+};
+
+static NVIC_t& NVIC = *(NVIC_t*)0xe000e100;
+
+struct SCB_t {
+	volatile uint32_t CPUID;
+	volatile uint32_t ICSR;
+	volatile uint32_t VTOR;
+	volatile uint32_t AIRCR;
+	volatile uint32_t SCR;
+	volatile uint32_t CCR;
+	volatile uint8_t SHPR[12];
+	volatile uint32_t SHCSR;
+	volatile uint32_t CFSR;
+	volatile uint32_t HFSR;
+	volatile uint32_t DFSR;
+	volatile uint32_t MMAR;
+	volatile uint32_t BFAR;
+};
+
+static SCB_t& SCB = *(SCB_t*)0xe000ed00;
+
+namespace Interrupt {
+	enum Exception {
+		NMI        = 2,
+		HardFault  = 3,
+		MemManage  = 4,
+		BusFault   = 5,
+		UsageFault = 6,
+		SVCall     = 11,
+		PendSV     = 14,
+		SysTick    = 15
+	};
+	
+	enum IRQ {
+		WWDG,
+		PVD,
+		TAMPER,
+		RTC,
+		FLASH,
+		RCC,
+		EXTI0,
+		EXTI1,
+		EXTI2,
+		EXTI3,
+		EXTI4,
+		DMA1_Channel1,
+		DMA1_Channel2,
+		DMA1_Channel3,
+		DMA1_Channel4,
+		DMA1_Channel5,
+		DMA1_Channel6,
+		DMA1_Channel7,
+		ADC1_2,
+		USB_HP_CAN_TX,
+		USB_LP_CAN_RX0,
+		CAN_RX1,
+		CAN_SCE,
+		EXTI9_5,
+		TIM1_BRK,
+		TIM1_UP,
+		TIM1_TRG_COM,
+		TIM1_CC,
+		TIM2,
+		TIM3,
+		TIM4,
+		I2C1_EV,
+		I2C1_ER,
+		I2C2_EV,
+		I2C2_ER,
+		SPI1,
+		SPI2,
+		USART1,
+		USART2,
+		USART3,
+		EXTI15_10,
+		RTCAlarm,
+		USBWakeup,
+		TIM8_BRK,
+		TIM8_UP,
+		TIM8_TRG_COM,
+		TIM8_CC,
+		ADC3,
+		FSMC,
+		SDIO,
+		TIM5,
+		SPI3,
+		UART4,
+		UART5,
+		TIM6,
+		TIM7,
+		DMA2_Channel1,
+		DMA2_Channel2,
+		DMA2_Channel3,
+		DMA2_Channel4_5,
+		NUM_IRQs
+	};
+	
+	inline void enable(IRQ n) {
+		NVIC.ISER[n >> 5] = 1 << (n & 0x1f);
+	}
+	
+	inline void set_priority(Exception n, uint8_t priority) {
+		SCB.SHPR[n - 4] = priority;
+	}
+	
+	inline void set_priority(IRQ n, uint8_t priority) {
+		NVIC.IPR[n] = priority;
+	}
+	
+	struct MFP {
+		void (*func_p)(void*);
+		void* instance_p;
+	};
+	
+	extern MFP mf_vectors[];
+	
+	template<class T>
+	inline void set_handler(IRQ n, void (T::*f)(), T* i) {
+		MFP& mfp = mf_vectors[16 + n];
+		mfp.func_p = reinterpret_cast<void (*)(void*)>(f);
+		mfp.instance_p = i;
+	}
+	
+	template<class T>
+	inline void enable(IRQ n, void (T::*f)(), T* i) {
+		set_handler(n, f, i);
+		enable(n);
+	}
+};
+
+template<Interrupt::Exception>
+void interrupt();
+
+template<Interrupt::IRQ>
+void interrupt();
+
+#endif
diff --git a/ld_scripts/arm_flash_ram.ld b/ld_scripts/arm_flash_ram.ld
new file mode 100644
index 0000000..4839b16
--- /dev/null
+++ b/ld_scripts/arm_flash_ram.ld</