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-rw-r--r--.gitmodules3
-rw-r--r--SConstruct31
-rw-r--r--drivers/gps.h10
-rw-r--r--drivers/l3gd20.h4
-rw-r--r--drivers/lsm303dlm.h2
-rw-r--r--drivers/ppmsum.cpp2
-rw-r--r--drivers/ppmsum.h4
-rw-r--r--drivers/xbee.cpp4
-rw-r--r--entry.cpp63
-rw-r--r--hal/fault.cpp41
-rw-r--r--hal/flash.cpp17
-rw-r--r--hal/flash.h30
-rw-r--r--hal/gpio.h43
-rw-r--r--hal/hal.h10
-rw-r--r--hal/i2c.cpp142
-rw-r--r--hal/i2c.h62
-rw-r--r--hal/interrupt.cpp187
-rw-r--r--hal/interrupt.h121
-rw-r--r--hal/pin.h137
-rw-r--r--hal/rcc.cpp51
-rw-r--r--hal/rcc.h217
-rw-r--r--hal/spi.h31
-rw-r--r--hal/stm32.h89
-rw-r--r--hal/timer.h40
-rw-r--r--hal/usart.cpp7
-rw-r--r--hal/usart.h69
-rw-r--r--hal/usb.h93
m---------laks0
-rw-r--r--main.cpp15
-rw-r--r--openocd.cfg23
-rw-r--r--os/mutex.h42
-rw-r--r--os/pool.cpp5
-rw-r--r--os/pool.h146
-rw-r--r--os/thread.cpp4
-rw-r--r--os/thread.h63
-rw-r--r--os/time.cpp3
-rw-r--r--os/time.h23
-rw-r--r--suzumebachi.ld83
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,