Split out reusable parts into the laks project.

38 files changed, 29 insertions, 1888 deletions

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..d59e290
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "laks"]
+	path = laks
+	url = git://git.jvnv.net/laks
diff --git a/SConstruct b/SConstruct
index 9c906e0..d67ac16 100644
--- a/SConstruct
+++ b/SConstruct
@@ -2,33 +2,14 @@ import os
 

 env = Environment(

 	ENV = os.environ,

-	

-	CC = 'arm-none-eabi-gcc',

-	CXX = 'arm-none-eabi-g++',

-	AS = 'arm-none-eabi-gcc',

-	CCFLAGS = '-O2 -Wall -ggdb -mcpu=cortex-m4 -mthumb -mhard-float -ffunction-sections -Wno-pmf-conversions',

-	CXXFLAGS = '-fno-exceptions -fno-rtti',

-	ASFLAGS = '-c -x assembler-with-cpp -mcpu=cortex-m4 -mthumb -mhard-float',

-	

-	CPPDEFINES = ['STM32F4'],

-	

-	LINK = 'arm-none-eabi-gcc',

-	LINKFLAGS = '-Wall -mcpu=cortex-m4 -mthumb -mhard-float -nostartfiles -Wl,-Tsuzumebachi.ld', # -Wl,--gc-sections

-	

-	AR = 'arm-none-eabi-ar',

-	RANLIB = 'arm-none-eabi-ranlib',

-	

-	CPPPATH = ['os', 'hal', 'drivers'],

-	#LIBPATH = [],

-	

-	LIBS = ['m'],

 )

 

-sources = Glob('os/*.cpp') + Glob('hal/*.cpp') + Glob('drivers/*.cpp') + Glob('*.cpp')

+SConscript('laks/build_rules')

 

-firmware = env.Program('suzumebachi.elf', sources)

-env.Depends(firmware, 'suzumebachi.ld')

+env.SelectMCU('stm32f405rg')

 

-env.Command('prog', ['suzumebachi.elf'], 'openocd -f openocd.cfg -c flash_chip')

+env.Append(

+	CPPPATH = ['drivers'],

+)

 

-Default('suzumebachi.elf')

+env.Firmware('suzumebachi.elf', Glob('*.cpp') + Glob('drivers/*.cpp'))

diff --git a/drivers/gps.h b/drivers/gps.h
index 16a971b..2fcbf6d 100644
--- a/drivers/gps.h
+++ b/drivers/gps.h
@@ -1,12 +1,12 @@
 #ifndef GPS_H
 #define GPS_H
 
-#include "rcc.h"
-#include "usart.h"
-#include "interrupt.h"
-#include "thread.h"
+#include <rcc/rcc.h>
+#include <usart/usart.h>
+#include <interrupt/interrupt.h>
+#include <os/thread.h>
 
-#include "pool.h"
+#include <os/pool.h>
 
 struct GPSMsg {
 	unsigned int n;
diff --git a/drivers/l3gd20.h b/drivers/l3gd20.h
index c7e8935..56dff08 100644
--- a/drivers/l3gd20.h
+++ b/drivers/l3gd20.h
@@ -1,8 +1,8 @@
 #ifndef L3GD20_H
 #define L3GD20_H
 
-#include "pin.h"
-#include "spi.h"
+#include <gpio/pin.h>
+#include <spi/spi.h>
 
 class L3GD20 {
 	private:
diff --git a/drivers/lsm303dlm.h b/drivers/lsm303dlm.h
index 1c4956d..8d25b38 100644
--- a/drivers/lsm303dlm.h
+++ b/drivers/lsm303dlm.h
@@ -1,7 +1,7 @@
 #ifndef LSM303DLM_H
 #define LSM303DLM_H
 
-#include "i2c.h"
+#include <i2c/i2c.h>
 
 class LSM303DLM_A {
 	private:
diff --git a/drivers/ppmsum.cpp b/drivers/ppmsum.cpp
index c1bd101..24d62ac 100644
--- a/drivers/ppmsum.cpp
+++ b/drivers/ppmsum.cpp
@@ -1,6 +1,6 @@
 #include "ppmsum.h"
 
-#include "rcc.h"
+#include <rcc/rcc.h>
 
 PPMSum* PPMSum::self = 0;
 
diff --git a/drivers/ppmsum.h b/drivers/ppmsum.h
index a522b57..98c2984 100644
--- a/drivers/ppmsum.h
+++ b/drivers/ppmsum.h
@@ -2,8 +2,8 @@
 #define PPMSUM_H
 
 #include <stdint.h>
-#include "timer.h"
-#include "interrupt.h"
+#include <timer/timer.h>
+#include <interrupt/interrupt.h>
 
 class PPMSum {
 	friend void interrupt<Interrupt::TIM2>();
diff --git a/drivers/xbee.cpp b/drivers/xbee.cpp
index efee619..d23903b 100644
--- a/drivers/xbee.cpp
+++ b/drivers/xbee.cpp
@@ -1,7 +1,7 @@
 #include "xbee.h"
 
-#include "usart.h"
-#include "mutex.h"
+#include <usart/usart.h>
+#include <os/mutex.h>
 
 Mutex xbee_mutex;
 
diff --git a/entry.cpp b/entry.cpp
deleted file mode 100644
index ae58404..0000000
--- a/entry.cpp
+++ /dev/null
@@ -1,63 +0,0 @@
-#include <stdint.h>
-#include <hal.h>
-
-int main();
-
-typedef void (*funcp_t)();
-
-// Symbols from linker script.
-extern uint32_t _data_rom;
-extern uint32_t _data_start;
-extern uint32_t _data_end;
-extern uint32_t _bss_start;
-extern uint32_t _bss_end;
-extern funcp_t _init_array_start;
-extern funcp_t _init_array_end;
-extern funcp_t _fini_array_start;
-extern funcp_t _fini_array_end;
-
-void __attribute__((naked)) entry() {
-	// Initialize HAL.
-	hal_init();
-	
-	// Load .data from rom image.
-	uint32_t* rp = &_data_rom;
-	uint32_t* wp = &_data_start;
-	
-	while(wp < &_data_end) {
-		*wp++ = *rp++;
-	}
-	
-	// Clear .bss.
-	wp = &_bss_start;
-	
-	while(wp < &_bss_end) {
-		*wp++ = 0;
-	}
-	
-	// Call constructors.
-	funcp_t* fp = &_init_array_start;
-	
-	while(fp < &_init_array_end) {
-		(*fp++)();
-	}
-	
-	// Call main().
-	main();
-	
-	// Call destructors.
-	fp = &_fini_array_start;
-	
-	while(fp < &_fini_array_end) {
-		(*fp++)();
-	}
-	
-	// Halt.
-	while(1);
-}
-
-extern "C" void __cxa_pure_virtual() {
-	while (1);
-}
-
-void* __dso_handle = 0;
diff --git a/hal/fault.cpp b/hal/fault.cpp
deleted file mode 100644
index a176ae6..0000000
--- a/hal/fault.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#include "interrupt.h"
-#include "thread.h"
-#include "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/hal/flash.cpp b/hal/flash.cpp
deleted file mode 100644
index 2b0fb69..0000000
--- a/hal/flash.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#include "flash.h"
-
-void flash_init() {
-	#if defined(STM32F1)
-	
-	// Set flash latency.
-	FLASH.ACR = 0x12;
-	
-	#elif defined(STM32F4)
-	
-	// Set flash latency.
-	FLASH.ACR = 0x105;
-	
-	while(FLASH.ACR != 0x105);
-	
-	#endif
-}
diff --git a/hal/flash.h b/hal/flash.h
deleted file mode 100644
index 30d30a5..0000000
--- a/hal/flash.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef FLASH_H
-#define FLASH_H
-
-#include <stdint.h>
-
-struct FLASH_t {
-	volatile uint32_t ACR;
-	volatile uint32_t KEYR;
-	volatile uint32_t OPTKEYR;
-	volatile uint32_t SR;
-	volatile uint32_t CR;
-	#if defined(STM32F1)
-	volatile uint32_t AR;
-	volatile uint32_t RESERVED;
-	volatile uint32_t OBR;
-	volatile uint32_t WRPR;
-	#elif defined(STM32F4)
-	volatile uint32_t OPTCR;
-	#endif
-};
-
-#if defined(STM32F1)
-static FLASH_t& FLASH = *(FLASH_t*)0x40022000;
-#elif defined(STM32F4)
-static FLASH_t& FLASH = *(FLASH_t*)0x40023c00;
-#endif
-
-void flash_init();
-
-#endif
diff --git a/hal/gpio.h b/hal/gpio.h
deleted file mode 100644
index 324950e..0000000
--- a/hal/gpio.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#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/hal/hal.h b/hal/hal.h
deleted file mode 100644
index 4076df3..0000000
--- a/hal/hal.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef HAL_H
-#define HAL_H
-
-#include "rcc.h"
-
-void hal_init() {
-	rcc_init();
-}
-
-#endif
diff --git a/hal/i2c.cpp b/hal/i2c.cpp
deleted file mode 100644
index db9c919..0000000
--- a/hal/i2c.cpp
+++ /dev/null
@@ -1,142 +0,0 @@
-#include "i2c.h"
-
-#include "rcc.h"
-#include "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.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/hal/i2c.h b/hal/i2c.h
deleted file mode 100644
index a61950c..0000000
--- a/hal/i2c.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#ifndef I2C_H
-#define I2C_H
-
-#include <stdint.h>
-#include "interrupt.h"
-#include "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/hal/interrupt.cpp b/hal/interrupt.cpp
deleted file mode 100644
index cebfed7..0000000
--- a/hal/interrupt.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-#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/hal/interrupt.h b/hal/interrupt.h
deleted file mode 100644
index 34651f2..0000000
--- a/hal/interrupt.h
+++ /dev/null
@@ -1,121 +0,0 @@
-#ifndef INTERRUPT_H
-#define INTERRUPT_H
-
-#include "stm32.h"
-
-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,