Stable 1.0

14 files changed, 2638 insertions, 0 deletions

diff --git a/COPYING.txt b/COPYING.txt
new file mode 100644
index 0000000..0e259d4
--- /dev/null
+++ b/COPYING.txt
@@ -0,0 +1,121 @@
+Creative Commons Legal Code
+
+CC0 1.0 Universal
+
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+express Statement of Purpose.
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+ a. No trademark or patent rights held by Affirmer are waived, abandoned,
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diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..e7c03dc
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,235 @@
+#!/usr/bin/make -f
+
+VERSION		= 0
+PATCHLEVEL	= .5
+SUBLEVEL	= 
+EXTRAVERSION	=
+
+export	VERSION
+export	PATCHLEVEL
+export	SUBLEVEL
+
+################################################################################
+# Project template for development board STM32F0Discovery
+# Uses libraries HAL, which are placed in dedicated
+# directory (where is also Makefile for them)
+# Andrej Bendzo  <andrej.sl@azet.sk>
+# 2016.08.11
+#
+# Modified for development board STM32L476xx
+# Colomar Andrés, Alejandro  <1903716@gmail.com>
+# García Pedroche, Francisco Javier  <@.>
+# 2018
+################################################################################
+
+# This Makefile contains:
+# rule "flash", which is intended for writing of program into MCU,
+# rule "erase" for erasing Flash memory of MCU
+# rule "reset" for system resetting of MCU.
+
+################################################################################
+# Beautify output
+# ---------------------------------------------------------------------------
+# Prefix commands with $(Q) - that's useful
+# for commands that shall be hidden in non-verbose mode.
+#
+#	$(Q)some command here
+#
+# If BUILD_VERBOSE equals 0 then the above command will be hidden.
+# If BUILD_VERBOSE equals 1 then the above command is displayed.
+#
+# To put more focus on warnings, be less verbose as default
+# Use 'make V=1' to see the full commands
+
+ifeq ("$(origin V)","command line")
+  BUILD_VERBOSE = $(V)
+endif
+ifndef BUILD_VERBOSE
+  BUILD_VERBOSE = 0
+endif
+
+ifeq ($(BUILD_VERBOSE), 1)
+  Q =
+else
+  Q = @
+endif
+
+# If the user is running make -s (silent mode), suppress echoing of
+# commands
+
+ifneq ($(findstring s,$(filter-out --%,$(MAKEFLAGS))),)
+  Q = @
+endif
+
+export	Q
+export	BUILD_VERBOSE
+
+################################################################################
+# Do not print "Entering directory ...",
+# but we want to display it when entering to the output directory
+# so that IDEs/editors are able to understand relative filenames.
+MAKEFLAGS += --no-print-directory
+
+################################################################################
+PROGRAMVERSION	= $(VERSION)$(if $(PATCHLEVEL),$(PATCHLEVEL)$(if $(SUBLEVEL),$(SUBLEVEL)))$(EXTRAVERSION)
+export	PROGRAMVERSION
+
+################################################################################
+
+
+
+
+#  *****  Basic settings of project  *****
+# ==============================================================================
+
+# all the files will be generated with this name (main.elf, main.bin, main.hex, etc)
+PROJECT_NAME = main
+
+export	PROJECT_NAME
+
+# ==============================================================================
+
+################################################################################
+# directories
+
+MAIN_DIR	= $(CURDIR)
+LIBALX_DIR	= $(MAIN_DIR)/libalx/
+DRIVERS_DIR	= $(MAIN_DIR)/stm32l4-drivers/
+MODULES_DIR	= $(MAIN_DIR)/stm32l4-modules/
+SRC_DIR		= $(MAIN_DIR)/src/
+INC_DIR		= $(MAIN_DIR)/inc/
+DEP_DIR		= $(MAIN_DIR)/dep/
+TMP_DIR		= $(MAIN_DIR)/tmp/
+BIN_DIR		= $(MAIN_DIR)/bin/
+
+export	MAIN_DIR
+export	LIBALX_DIR
+export	DRIVERS_DIR
+export	MODULES_DIR
+
+
+################################################################################
+# Make variables (CC, etc...)
+CC	= arm-none-eabi-gcc
+AS	= arm-none-eabi-as
+AR	= arm-none-eabi-ar
+GDB	= arm-none-eabi-gdb
+OBJCOPY	= arm-none-eabi-objcopy
+OBJDUMP	= arm-none-eabi-objdump
+SIZE	= arm-none-eabi-size
+
+export	CC
+export	AS
+export	AR
+export	GDB
+export	OBJCOPY
+export	OBJDUMP
+export	SIZE
+
+
+################################################################################
+# CFLAGS
+CFLAGS_STD	= -std=c11
+
+CFLAGS_OPT	= -Os
+
+CFLAGS_MCU	= -mlittle-endian
+CFLAGS_MCU     += -march=armv7e-m
+CFLAGS_MCU     += -mcpu=cortex-m4
+CFLAGS_MCU     += -mthumb
+CFLAGS_MCU     += -mfpu=fpv4-sp-d16
+CFLAGS_MCU     += -mfloat-abi=hard
+
+CFLAGS_W	= -Wall
+CFLAGS_W       += -Wextra
+CFLAGS_W       += -Wstrict-prototypes
+CFLAGS_W       += -Werror
+
+CFLAGS_F	= -ffreestanding
+CFLAGS_F       += -flto
+CFLAGS_F       += -fsingle-precision-constant
+CFLAGS_F       += -ffunction-sections
+CFLAGS_F       += -fdata-sections
+
+# defining used MCU (instead of in file stm32f00x.h): -DSTM32F051x8//
+CFLAGS_D	= -D USE_HAL_DRIVER	# to include file stm32l4xx_hal.h
+
+CFLAGS		= $(CFLAGS_STD)
+CFLAGS	       += $(CFLAGS_OPT)
+CFLAGS	       += $(CFLAGS_MCU)
+CFLAGS	       += $(CFLAGS_W)
+CFLAGS	       += $(CFLAGS_F)
+CFLAGS	       += $(CFLAGS_D)
+CFLAGS	       += $(C_INCLUDES)
+
+export	CFLAGS
+
+
+################################################################################
+# LDFLAGS
+# Settings of linker
+LDFLAGS		=  -mcpu=cortex-m4 -mthumb
+LDFLAGS        += -Wl,--gc-sections -Wl,-Map=$(PROJECT_NAME).map,--cref,--no-warn-mismatch
+
+export	LDFLAGS
+
+
+################################################################################
+
+
+.PHONY: all stm32l4-drivers libalx stm32l4-modules objects target flash erase reset clean mrproper
+
+all: stm32l4-drivers libalx stm32l4-modules objects target
+
+stm32l4-drivers:
+	@echo	'	MAKE	drivers'
+	$(Q)$(MAKE) -C $(DRIVERS_DIR)
+
+libalx:
+	@echo	'	MAKE	libalx'
+	$(Q)$(MAKE) base	-C $(LIBALX_DIR)
+
+stm32l4-modules:
+	@echo	'	MAKE	modules'
+	$(Q)$(MAKE) -C $(MODULES_DIR)
+
+objects:
+	@echo	"	MAKE	objects"
+	$(Q)$(MAKE) -C $(TMP_DIR)
+
+target:
+	@echo	"	MAKE	target"
+	$(Q)$(MAKE) -C $(BIN_DIR)
+
+
+flash:
+	openocd -f board/stm32l4nucleo.cfg -c "program $(BIN_DIR)/$(PROJECT_NAME).hex verify reset exit"
+#second approach:	openocd -f board/stm32f0discovery.cfg -c "init" -c "reset halt" -c "flash write_image erase $(BINDIR)/$(PROJECT_NAME).hex" -c "verify_image $(BINDIR)/$(PROJECT_NAME).hex" -c "reset run" -c "exit"
+#third approach:	openocd -f interface/stlink-v2.cfg -f target/stm32f0x_stlink.cfg -c "init" -c "reset halt" -c "flash write_image erase $(BINDIR)/$(PROJECT_NAME).hex" -c "verify_image $(BINDIR)/$(PROJECT_NAME).hex" -c "reset run" -c "exit"
+
+erase:
+	openocd -f board/stm32l4nucleo.cfg -c "init" -c "reset halt" -c "stm32l4x mass_erase 0" -c "reset" -c "shutdown"
+
+reset:
+	openocd -f board/stm32l4nucleo.cfg -c "init" -c "reset" -c "shutdown"
+
+clean:
+	@echo	'	CLEAN	bin'
+	$(Q)$(MAKE) clean -C $(BIN_DIR)
+	@echo	'	CLEAN	tmp'
+	$(Q)$(MAKE) clean -C $(TMP_DIR)
+
+mrproper: clean
+	@echo	'	CLEAN	modules'
+	$(Q)$(MAKE) clean -C $(MODULES_DIR)
+	@echo	'	CLEAN	libalx'
+	$(Q)$(MAKE) clean -C $(LIBALX_DIR)
+	@echo	'	CLEAN	drivers'
+	$(Q)$(MAKE) clean -C $(DRIVERS_DIR)
+
+
+
+
+################################################################################
+######## End of file ###########################################################
+################################################################################
diff --git a/README.txt b/README.txt
new file mode 100644
index 0000000..0a26051
--- /dev/null
+++ b/README.txt
@@ -0,0 +1,2 @@
+# sistemas-embebidos-p6
+sistemas-embebidos-p6
diff --git a/bin/Makefile b/bin/Makefile
new file mode 100644
index 0000000..80a970a
--- /dev/null
+++ b/bin/Makefile
@@ -0,0 +1,84 @@
+#!/usr/bin/make -f
+
+
+################################################################################
+# directories
+
+LIBALX_LIB_DIR	= $(LIBALX_DIR)/lib/
+DRIVERS_LIB_DIR	= $(DRIVERS_DIR)/lib/
+MODULES_LIB_DIR	= $(MODULES_DIR)/lib/
+
+SRC_DIR		= $(MAIN_DIR)/src/
+TMP_DIR		= $(MAIN_DIR)/tmp/
+
+################################################################################
+# dependencies
+ALL	= $(PROJECT_NAME).elf $(PROJECT_NAME).hex $(PROJECT_NAME).lst size
+
+MAIN_OBJ_MODULES	= \
+			system_stm32l4xx.o stm32l4xx_it.o main.o \
+			ctrl.o actuators.o
+MAIN_OBJS		= $(patsubst %,$(TMP_DIR)/%,$(MAIN_OBJ_MODULES))
+
+
+MAIN_LIB_LIBALX		= libalx-base.a
+MAIN_LIB_DRIVERS	= libstm32l4.a
+MAIN_LIB_MODULES	= \
+			libstm32l4-modules-test.a \
+			libstm32l4-modules-dev.a \
+			libstm32l4-modules-base.a
+MAIN_LIBS		= \
+			$(patsubst %,$(LIBALX_LIB_DIR)/%,$(MAIN_LIB_LIBALX)) \
+			$(patsubst %,$(DRIVERS_LIB_DIR)/%,$(MAIN_LIB_DRIVERS)) \
+			$(patsubst %,$(MODULES_LIB_DIR)/%,$(MAIN_LIB_MODULES))
+
+# static libs
+STATIC_LIB_MODULES	= -L $(MODULES_LIB_DIR) \
+				-l stm32l4-modules-test \
+				-l stm32l4-modules-dev \
+				-l stm32l4-modules-base
+STATIC_LIB_DRIVERS	= -L $(DRIVERS_LIB_DIR) -l stm32l4
+STATIC_LIB_LIBALX	= -L $(LIBALX_LIB_DIR) -l alx-base
+
+STATIC_LIBS	= $(STATIC_LIB_MODULES)
+STATIC_LIBS    += $(STATIC_LIB_DRIVERS)
+STATIC_LIBS    += $(STATIC_LIB_LIBALX)
+
+
+# target: dependencies
+#	action
+
+all: $(ALL)
+
+
+$(PROJECT_NAME).elf: $(MAIN_OBJS) $(MAIN_LIBS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(LDFLAGS) $(MAIN_OBJS) -o $@ \
+					$(SRC_DIR)/startup_stm32l476xx.s\
+					$(STATIC_LIBS) $(LIBS) -TSTM32L476RG.ld
+
+$(PROJECT_NAME).hex: $(PROJECT_NAME).elf
+	@echo	"	OBJCOPY	$@"
+	$(Q)$(OBJCOPY) -O ihex $(PROJECT_NAME).elf $@
+
+$(PROJECT_NAME).bin: $(PROJECT_NAME).elf
+	@echo	"	OBJCOPY	$@"
+	$(Q)$(OBJCOPY) -O binary $(PROJECT_NAME).elf $@
+
+$(PROJECT_NAME).lst: $(PROJECT_NAME).elf
+	@echo	"	OBJDUMP	$@"
+	$(Q)$(OBJDUMP) -St $(PROJECT_NAME).elf > $@
+
+size: $(PROJECT_NAME).elf
+	@echo	"	SIZE	$<"
+	$(Q)$(SIZE) -B $(PROJECT_NAME).elf
+
+
+clean:
+	@echo	"	RM	$(ALL)"
+	$(Q)rm -f $(ALL)
+	$(Q)rm -f *.map
+
+################################################################################
+######## End of file ###########################################################
+################################################################################
diff --git a/bin/STM32L476RG.ld b/bin/STM32L476RG.ld
new file mode 100644
index 0000000..4543da3
--- /dev/null
+++ b/bin/STM32L476RG.ld
@@ -0,0 +1,184 @@
+/*

+*****************************************************************************

+**

+

+**  File        : LinkerScript.ld

+**

+**  Abstract    : Linker script for STM32L476RGTx Device with

+**                1024KByte FLASH, 128KByte RAM

+**

+**                Set heap size, stack size and stack location according

+**                to application requirements.

+**

+**                Set memory bank area and size if external memory is used.

+**

+**  Target      : STMicroelectronics STM32

+**

+**

+**  Distribution: The file is distributed as is, without any warranty

+**                of any kind.

+**

+**  (c)Copyright Ac6.

+**  You may use this file as-is or modify it according to the needs of your

+**  project. Distribution of this file (unmodified or modified) is not

+**  permitted. Ac6 permit registered System Workbench for MCU users the

+**  rights to distribute the assembled, compiled & linked contents of this

+**  file as part of an application binary file, provided that it is built

+**  using the System Workbench for MCU toolchain.

+**

+*****************************************************************************

+*/

+

+/* Entry Point */

+ENTRY(Reset_Handler)

+

+/* Highest address of the user mode stack */

+_estack = 0x20018000;    /* end of RAM */

+/* Generate a link error if heap and stack don't fit into RAM */

+_Min_Heap_Size = 0x200;      /* required amount of heap  */

+_Min_Stack_Size = 0x400; /* required amount of stack */

+

+/* Specify the memory areas */

+MEMORY

+{

+RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 96K

+RAM2 (xrw)      : ORIGIN = 0x10000000, LENGTH = 32K

+FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K

+}

+

+/* Define output sections */

+SECTIONS

+{

+  /* The startup code goes first into FLASH */

+  .isr_vector :

+  {

+    . = ALIGN(8);

+    KEEP(*(.isr_vector)) /* Startup code */

+    . = ALIGN(8);

+  } >FLASH

+

+  /* The program code and other data goes into FLASH */

+  .text :

+  {

+    . = ALIGN(8);

+    *(.text)           /* .text sections (code) */

+    *(.text*)          /* .text* sections (code) */

+    *(.glue_7)         /* glue arm to thumb code */

+    *(.glue_7t)        /* glue thumb to arm code */

+    *(.eh_frame)

+

+    KEEP (*(.init))

+    KEEP (*(.fini))

+

+    . = ALIGN(8);

+    _etext = .;        /* define a global symbols at end of code */

+  } >FLASH

+

+  /* Constant data goes into FLASH */

+  .rodata :

+  {

+    . = ALIGN(8);

+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */

+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */

+    . = ALIGN(8);

+  } >FLASH

+

+  .ARM.extab   : 

+  { 

+  . = ALIGN(8);

+  *(.ARM.extab* .gnu.linkonce.armextab.*)

+  . = ALIGN(8);

+  } >FLASH

+  .ARM : {

+	. = ALIGN(8);

+    __exidx_start = .;

+    *(.ARM.exidx*)

+    __exidx_end = .;

+	. = ALIGN(8);

+  } >FLASH

+

+  .preinit_array     :

+  {

+	. = ALIGN(8);

+    PROVIDE_HIDDEN (__preinit_array_start = .);

+    KEEP (*(.preinit_array*))

+    PROVIDE_HIDDEN (__preinit_array_end = .);

+	. = ALIGN(8);

+  } >FLASH

+  

+  .init_array :

+  {

+	. = ALIGN(8);

+    PROVIDE_HIDDEN (__init_array_start = .);

+    KEEP (*(SORT(.init_array.*)))

+    KEEP (*(.init_array*))

+    PROVIDE_HIDDEN (__init_array_end = .);

+	. = ALIGN(8);

+  } >FLASH

+  .fini_array :

+  {

+	. = ALIGN(8);

+    PROVIDE_HIDDEN (__fini_array_start = .);

+    KEEP (*(SORT(.fini_array.*)))

+    KEEP (*(.fini_array*))

+    PROVIDE_HIDDEN (__fini_array_end = .);

+	. = ALIGN(8);

+  } >FLASH

+

+  /* used by the startup to initialize data */

+  _sidata = LOADADDR(.data);

+

+  /* Initialized data sections goes into RAM, load LMA copy after code */

+  .data : 

+  {

+    . = ALIGN(8);

+    _sdata = .;        /* create a global symbol at data start */

+    *(.data)           /* .data sections */

+    *(.data*)          /* .data* sections */

+

+    . = ALIGN(8);

+    _edata = .;        /* define a global symbol at data end */

+  } >RAM AT> FLASH

+

+  

+  /* Uninitialized data section */

+  . = ALIGN(4);

+  .bss :

+  {

+    /* This is used by the startup in order to initialize the .bss secion */

+    _sbss = .;         /* define a global symbol at bss start */

+    __bss_start__ = _sbss;

+    *(.bss)

+    *(.bss*)

+    *(COMMON)

+

+    . = ALIGN(4);

+    _ebss = .;         /* define a global symbol at bss end */

+    __bss_end__ = _ebss;

+  } >RAM

+

+  /* User_heap_stack section, used to check that there is enough RAM left */

+  ._user_heap_stack :

+  {

+    . = ALIGN(8);

+    PROVIDE ( end = . );

+    PROVIDE ( _end = . );

+    . = . + _Min_Heap_Size;

+    . = . + _Min_Stack_Size;

+    . = ALIGN(8);

+  } >RAM

+

+  

+

+  /* Remove information from the standard libraries */

+  /DISCARD/ :

+  {

+    libc.a ( * )

+    libm.a ( * )

+    libgcc.a ( * )

+  }

+

+  .ARM.attributes 0 : { *(.ARM.attributes) }

+}

+

+

diff --git a/inc/actuators.h b/inc/actuators.h
new file mode 100644
index 0000000..c507330
--- /dev/null
+++ b/inc/actuators.h
@@ -0,0 +1,70 @@
+/******************************************************************************

+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

+ *	SPDX-License-Identifier:	GPL-2.0-only			      *

+ ******************************************************************************/

+

+/**

+ *	@file		actuators.h

+ *	@author		Colomar Andrés, Alejandro

+ *	@author		García Pedroche, Francisco Javier

+ *	@copyright	GPL-2.0-only

+ *	@date		2018/dec/26

+ *	@brief		Actuators

+ */

+

+

+/******************************************************************************

+ ******* include guard ********************************************************

+ ******************************************************************************/

+# ifndef		ACTUATORS_H

+	# define	ACTUATORS_H

+

+

+/******************************************************************************

+ ******* headers **************************************************************

+ ******************************************************************************/

+/* Standard C ----------------------------------------------------------------*/

+/* Drivers -------------------------------------------------------------------*/

+/* libalx --------------------------------------------------------------------*/

+/* STM32L4 modules -----------------------------------------------------------*/

+

+

+/******************************************************************************

+ ******* macros ***************************************************************

+ ******************************************************************************/

+	# define	REFRESH_FREQ	(50u)

+

+

+/******************************************************************************

+ ******* enums ****************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* structs **************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* variables ************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* functions ************************************************************

+ ******************************************************************************/

+int	proc_actuators_init	(void);

+int	proc_actuators_1	(void);

+int	proc_actuators_2	(void);

+

+

+/******************************************************************************

+ ******* include guard ********************************************************

+ ******************************************************************************/

+# endif			/* actuators.h */

+

+

+/******************************************************************************

+ ******* end of file **********************************************************

+ ******************************************************************************/

diff --git a/inc/ctrl.h b/inc/ctrl.h
new file mode 100644
index 0000000..6bbad56
--- /dev/null
+++ b/inc/ctrl.h
@@ -0,0 +1,70 @@
+/******************************************************************************

+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

+ *	SPDX-License-Identifier:	GPL-2.0-only			      *

+ ******************************************************************************/

+

+/**

+ *	@file		ctrl.h

+ *	@author		Colomar Andrés, Alejandro

+ *	@author		García Pedroche, Francisco Javier

+ *	@copyright	GPL-2.0-only

+ *	@date		2018/dec/26

+ *	@brief		Control

+ */

+

+

+/******************************************************************************

+ ******* include guard ********************************************************

+ ******************************************************************************/

+# ifndef		CTRL_H

+	# define	CTRL_H

+

+

+/******************************************************************************

+ ******* headers **************************************************************

+ ******************************************************************************/

+/* Standard C ----------------------------------------------------------------*/

+/* Drivers -------------------------------------------------------------------*/

+/* libalx --------------------------------------------------------------------*/

+/* STM32L4 modules -----------------------------------------------------------*/

+

+

+/******************************************************************************

+ ******* macros ***************************************************************

+ ******************************************************************************/

+	# define	REFRESH_FREQ	(50u)

+

+

+/******************************************************************************

+ ******* enums ****************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* structs **************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* variables ************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* functions ************************************************************

+ ******************************************************************************/

+int	proc_ctrl_init	(void);

+int	proc_ctrl_1	(void);

+int	proc_ctrl_2	(void);

+

+

+/******************************************************************************

+ ******* include guard ********************************************************

+ ******************************************************************************/

+# endif			/* ctrl.h */

+

+

+/******************************************************************************

+ ******* end of file **********************************************************

+ ******************************************************************************/

diff --git a/src/actuators.c b/src/actuators.c
new file mode 100644
index 0000000..c4f2b9c
--- /dev/null
+++ b/src/actuators.c
@@ -0,0 +1,244 @@
+/******************************************************************************

+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

+ *	SPDX-License-Identifier:	GPL-2.0-only			      *

+ ******************************************************************************/

+

+/**

+ *	@file		actuators.c

+ *	@author		Colomar Andrés, Alejandro

+ *	@author		García Pedroche, Francisco Javier

+ *	@copyright	GPL-2.0-only

+ *	@date		2018/dec/26

+ *	@brief		Actuators

+ *		Set the actuators of the plane to the position received by CAN

+ */

+

+

+/******************************************************************************

+ ******* headers **************************************************************

+ ******************************************************************************/

+/* Standard C ----------------------------------------------------------------*/

+	#include <stdbool.h>

+	#include <stddef.h>

+	#include <stdint.h>

+

+/* Drivers -------------------------------------------------------------------*/

+	#include "stm32l4xx_hal.h"

+

+/* libalx --------------------------------------------------------------------*/

+	#include "alx_math.h"

+

+/* STM32L4 modules -----------------------------------------------------------*/

+	#include "can.h"

+	#include "delay.h"

+	#include "errors.h"

+	#include "led.h"

+	#include "servo.h"

+	#include "tim.h"

+

+/* project -------------------------------------------------------------------*/

+	#include "actuators.h"

+

+

+/******************************************************************************

+ ******* macros ***************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* enums ****************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* structs **************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* variables ************************************************************

+ ******************************************************************************/

+/* Volatile ------------------------------------------------------------------*/

+/* Global --------------------------------------------------------------------*/

+/* Static --------------------------------------------------------------------*/

+static	float	pitch;

+static	float	roll;

+static	float	yaw;

+

+

+/******************************************************************************

+ ******* static functions (prototypes) ****************************************

+ ******************************************************************************/

+static	int	modules_init		(void);

+#if 0

+static	int	proc_init		(void);

+#endif

+static	int	proc_ref_read		(void *data);

+static	int	proc_actuators_set	(void *data);

+

+

+/******************************************************************************

+ ******* global functions *****************************************************

+ ******************************************************************************/

+	/**

+	 * @brief	Initialize actuators process

+	 * @return	Error

+	 * @note	Sets global variable 'prj_error'

+	 */

+int	proc_actuators_init	(void)

+{

+	if (modules_init()) {

+		return	ERROR_NOK;

+	}

+

+#if 0

+	if (proc_init()) {

+		return	ERROR_NOK;

+	}

+#endif

+

+	return	ERROR_OK;

+}

+

+	/**

+	 * @brief	Run actuators process (based on timer interrupts)

+	 * @return	Error

+	 * @note	Sets global variable 'prj_error'

+	 */

+int	proc_actuators_1	(void)

+{

+	while (true) {

+		__WFE();

+		if (tim_tim3_interrupt) {

+			if (tim_callback_exe()) {

+				prj_error_handle();

+				return	ERROR_NOK;

+			}

+			tim_tim3_interrupt	= false;

+		}

+	}

+

+	return	ERROR_OK;

+}

+

+	/**

+	 * @brief	Run actuators process (based on delays)

+	 * @return	Error

+	 * @note	Sets global variable 'prj_error'

+	 */

+int	proc_actuators_2	(void)

+{

+	delay_us(1000u);

+

+	while (true) {

+		delay_us(20000u);

+

+		if (!proc_ref_read(NULL)) {

+			if (proc_actuators_set(NULL)) {

+				return	ERROR_NOK;

+			}

+		}

+	}

+

+	return	ERROR_OK;

+}

+

+

+/******************************************************************************

+ ******* static functions (definitions) ***************************************

+ ******************************************************************************/

+static	int	modules_init		(void)

+{

+#if 0

+	if (tim_tim3_init(REFRESH_FREQ)) {

+		return	ERROR_NOK;

+	}

+#endif

+	if (delay_us_init()) {

+		return	ERROR_NOK;

+	}

+	if (can_init()) {

+		return	ERROR_NOK;

+	}

+	if (servo_init()) {

+		return	ERROR_NOK;

+	}

+

+	return	ERROR_OK;

+}

+

+#if 0

+static	int	proc_init		(void)

+{

+	if (tim_callback_push(&proc_ref_read, NULL)) {

+		return	ERROR_NOK;

+	}

+	if (tim_callback_push(&proc_actuators_set, NULL)) {

+		return	ERROR_NOK;

+	}

+

+	return	ERROR_OK;

+}

+#endif

+

+static	int	proc_ref_read		(void *data)

+{

+	int8_t	plane_pos [CAN_DATA_LEN];

+

+	(void)data;

+

+	if (can_msg_read((uint8_t *)plane_pos)) {

+		return	ERROR_NOK;

+	}

+

+	pitch	= plane_pos[0];

+	roll	= plane_pos[1];

+	yaw	= plane_pos[2];

+

+	return	ERROR_OK;

+}

+

+static	int	proc_actuators_set	(void *data)

+{

+	float	tmp;

+

+	(void)data;

+

+	tmp	= alx_scale_linear_f(pitch, -40, 40, -90, 90);

+	if (servo_position_set(SERVO_S1, tmp)) {

+		return	ERROR_NOK;

+	}

+

+	tmp	= alx_scale_linear_f(roll, -35, 35, -90, -20);

+	if (servo_position_set(SERVO_S2, tmp)) {

+		return	ERROR_NOK;

+	}

+

+	if (yaw > 0) {

+		if (servo_position_set(SERVO_S3, 90)) {

+			return	ERROR_NOK;

+		}

+

+		tmp	= alx_scale_linear_f(yaw, 0, 10, -90, 90);

+		if (servo_position_set(SERVO_S4, tmp)) {

+			return	ERROR_NOK;

+		}

+	} else {

+		tmp	= alx_scale_linear_f(yaw, -10, 0, -90, 90);

+		if (servo_position_set(SERVO_S3, tmp)) {

+			return	ERROR_NOK;

+		}

+

+		if (servo_position_set(SERVO_S4, -90)) {

+			return	ERROR_NOK;

+		}

+	}

+

+	return	ERROR_OK;

+}

+

+

+/******************************************************************************

+ ******* end of file **********************************************************

+ ******************************************************************************/

diff --git a/src/ctrl.c b/src/ctrl.c
new file mode 100644
index 0000000..4ff58b0
--- /dev/null
+++ b/src/ctrl.c
@@ -0,0 +1,273 @@
+/******************************************************************************

+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

+ *	SPDX-License-Identifier:	GPL-2.0-only			      *

+ ******************************************************************************/

+

+/**

+ *	@file		ctrl.c

+ *	@author		Colomar Andrés, Alejandro

+ *	@author		García Pedroche, Francisco Javier

+ *	@copyright	GPL-2.0-only

+ *	@date		2018/dec/26

+ *	@brief		Control

+ *		Read values from the nunchuk, and set from them

+ *			- pitch

+ *			- roll

+ *			- yaw

+ *		Send those 3 values through CAN

+ */

+

+

+/******************************************************************************

+ ******* headers **************************************************************

+ ******************************************************************************/

+/* Standard C ----------------------------------------------------------------*/

+	#include <stdbool.h>

+	#include <stddef.h>

+	#include <stdint.h>

+

+/* Drivers -------------------------------------------------------------------*/

+	#include "stm32l4xx_hal.h"

+

+/* libalx --------------------------------------------------------------------*/

+	#include "alx_math.h"

+

+/* STM32L4 modules -----------------------------------------------------------*/

+	#include "can.h"

+	#include "delay.h"

+	#include "errors.h"

+	#include "led.h"

+	#include "nunchuk.h"

+	#include "tim.h"

+

+/* project -------------------------------------------------------------------*/

+	#include "ctrl.h"

+

+

+/******************************************************************************

+ ******* macros ***************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* enums ****************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* structs **************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* variables ************************************************************

+ ******************************************************************************/

+/* Global --------------------------------------------------------------------*/

+/* Static --------------------------------------------------------------------*/

+static	float	pitch;

+static	float	roll;

+static	float	yaw;

+static	bool	level;

+

+

+/******************************************************************************

+ ******* static functions (prototypes) ****************************************

+ ******************************************************************************/

+static	int	modules_init		(void);

+#if 0

+static	int	proc_init		(void);

+#endif

+static	int	proc_ctrl_read		(void *data);

+static	int	proc_ctrl_report	(void *data);

+

+

+/******************************************************************************

+ ******* global functions *****************************************************

+ ******************************************************************************/

+	/**

+	 * @brief	Initialize controller process

+	 * @return	Error

+	 * @note	Sets global variable 'prj_error'

+	 */

+int	proc_ctrl_init	(void)

+{

+	if (modules_init()) {

+		return	ERROR_NOK;

+	}

+

+#if 0

+	if (proc_init()) {

+		return	ERROR_NOK;

+	}

+#endif

+

+	level	= true;

+

+	return	ERROR_OK;

+}

+

+	/**

+	 * @brief	Run controller process (based on timer interrupts)

+	 * @return	Error

+	 * @note	Sets global variable 'prj_error'

+	 */

+int	proc_ctrl_1		(void)

+{

+	while (true) {

+		__WFE();

+		if (tim_tim3_interrupt) {

+			if (tim_callback_exe()) {

+				prj_error_handle();

+				return	ERROR_NOK;

+			}

+			tim_tim3_interrupt	= false;

+		}

+	}

+

+	return	ERROR_OK;

+}

+

+	/**

+	 * @brief	Run controller process (based on delays)

+	 * @return	Error

+	 * @note	Sets global variable 'prj_error'

+	 */

+int	proc_ctrl_2		(void)

+{

+	delay_us(1000u);

+

+	while (true) {

+		delay_us(20000u);

+

+		if (proc_ctrl_read(NULL)) {

+			prj_error_handle();

+			return	ERROR_NOK;

+		}

+

+		if (proc_ctrl_report(NULL)) {

+			prj_error_handle();

+			return	ERROR_NOK;

+		}

+	}

+

+	return	ERROR_OK;

+}

+

+

+/******************************************************************************

+ ******* static functions (definitions) ***************************************

+ ******************************************************************************/

+static	int	modules_init		(void)

+{

+#if 0

+	if (tim_tim3_init(REFRESH_FREQ)) {

+		return	ERROR_NOK;

+	}

+#endif

+	led_init();

+	if (delay_us_init()) {

+		return	ERROR_NOK;

+	}

+	if (can_init()) {

+		return	ERROR_NOK;

+	}

+

+	if (nunchuk_init()) {

+		return	ERROR_NOK;

+	}

+

+	return	ERROR_OK;

+}

+

+#if 0

+static	int	proc_init		(void)

+{

+	if (tim_callback_push(&proc_ctrl_read, NULL)) {

+		return	ERROR_NOK;

+	}

+	if (tim_callback_push(&proc_ctrl_report, NULL)) {

+		return	ERROR_NOK;

+	}

+

+	return	ERROR_OK;

+}

+#endif

+

+static	int	proc_ctrl_read		(void *data)

+{

+	Nunchuk_Data_s	nunchuk;

+	float		tmp;

+

+	(void)data;

+

+	if (nunchuk_read(&nunchuk)) {

+		return	ERROR_NOK;

+	}

+

+	tmp	= nunchuk.jst.y;

+	pitch	= -alx_scale_linear_f(tmp, 0, UINT8_MAX, -40, 40);

+

+	tmp	= nunchuk.jst.x;

+	roll	= alx_scale_linear_f(tmp, 0, UINT8_MAX, -35, 35);

+

+	tmp	= nunchuk.acc.x8;

+	yaw	= alx_scale_linear_f(tmp, 30, 150, -10, 10);

+

+	level	= nunchuk.btn_c;

+

+	return	ERROR_OK;

+}

+

+static	int	proc_ctrl_report	(void *data)

+{

+	int8_t	plane_pos [CAN_DATA_LEN];

+	int	i;

+

+	(void)data;

+

+	for (i = 3; i < CAN_DATA_LEN; i++) {

+		plane_pos[i]	= 0;

+	}

+

+	if (level) {

+		plane_pos[0]	= 0;

+		plane_pos[1]	= 0;

+		plane_pos[2]	= 0;

+	} else {

+		if (pitch > INT8_MAX) {

+			plane_pos[0]	= INT8_MAX;

+		} else if (pitch < INT8_MIN) {

+			plane_pos[0]	= INT8_MIN;

+		} else {

+			plane_pos[0]	= (int8_t)pitch;

+		}

+

+		if (roll > INT8_MAX) {

+			plane_pos[1]	= INT8_MAX;

+		} else if (roll < INT8_MIN) {

+			plane_pos[1]	= INT8_MIN;

+		} else {

+			plane_pos[1]	= (int8_t)roll;

+		}

+

+		if (yaw > INT8_MAX) {

+			plane_pos[2]	= INT8_MAX;

+		} else if (yaw < INT8_MIN) {

+			plane_pos[2]	= INT8_MIN;

+		} else {

+			plane_pos[2]	= (int8_t)yaw;

+		}

+	}

+

+	if (can_msg_write((uint8_t *)plane_pos)) {

+		return	ERROR_NOK;

+	}

+

+	return	ERROR_OK;

+}

+

+

+/******************************************************************************

+ ******* end of file **********************************************************

+ ******************************************************************************/

diff --git a/src/main.c b/src/main.c
new file mode 100644
index 0000000..6b0bc8a
--- /dev/null
+++ b/src/main.c
@@ -0,0 +1,184 @@
+/******************************************************************************

+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

+ *	Copyright (C) 2018	Junquera Carrero, Santiago		      *

+ *	SPDX-License-Identifier:	GPL-2.0-only			      *

+ ******************************************************************************/

+

+/**

+ *	@file		main.c

+ *	@author		Colomar Andrés, Alejandro

+ *	@author		García Pedroche, Francisco Javier

+ *	@author		Junquera Carrero, Santiago

+ *	@copyright	GPL-2.0-only

+ *	@date		2018/dec/15

+ *	@brief		Main

+ */

+

+

+/******************************************************************************

+ ******* headers **************************************************************

+ ******************************************************************************/

+/* Standard C ----------------------------------------------------------------*/

+	#include <stdbool.h>

+	#include <stdnoreturn.h>

+

+/* Drivers -------------------------------------------------------------------*/

+	#include "stm32l4xx_hal.h"

+

+/* libalx --------------------------------------------------------------------*/

+/* STM32L4 modules -----------------------------------------------------------*/

+	#include "can.h"

+	#include "clk.h"

+	#include "delay.h"

+	#include "display.h"

+	#include "errors.h"

+	#include "led.h"

+	#include "nunchuk.h"

+	#include "servo.h"

+	#include "tim.h"

+

+	#include "can_test.h"

+	#include "display_test.h"

+	#include "led_test.h"

+	#include "nunchuk_test.h"

+	#include "servo_test.h"

+	#include "tim_test.h"

+

+/* project -------------------------------------------------------------------*/

+	#include "ctrl.h"

+	#include "actuators.h"

+

+

+/******************************************************************************

+ ******* macros ***************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* enums ****************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* structs **************************************************************

+ ******************************************************************************/

+

+

+/******************************************************************************

+ ******* variables ************************************************************

+ ******************************************************************************/

+/* Global --------------------------------------------------------------------*/

+/* Static --------------------------------------------------------------------*/

+

+

+/******************************************************************************

+ ******* static functions (prototypes) ****************************************

+ ******************************************************************************/

+static	int		test		(void);

+static	noreturn void	stuck_forever	(bool led);

+

+

+/******************************************************************************

+ ******* main *****************************************************************

+ ******************************************************************************/

+noreturn int	main	(void)

+{

+	HAL_Init();

+	sysclk_config();

+	prj_error	= 0;

+

+#if 0

+	if (test()) {

+		stuck_forever(true);

+	}

+#else

+	(void)&test;

+

+ #if 1

+	if (proc_actuators_init()) {

+		stuck_forever(true);

+	}

+ #elif 1

+	if (proc_ctrl_init()) {

+		stuck_forever(true);

+	}

+ #endif

+

+ #if 1

+	if (proc_actuators_2()) {

+		stuck_forever(true);

+	}

+ #elif 1

+	if (proc_ctrl_2()) {

+		stuck_forever(true);

+	}

+ #endif

+

+#endif

+

+	stuck_forever(true);

+}

+

+

+/******************************************************************************

+ ******* static functions (definitions) ***************************************

+ ******************************************************************************/

+static	noreturn void	stuck_forever	(bool led)

+{

+	if (led) {

+		led_set();

+	} else {

+		led_reset();

+	}

+

+	while (true) {

+		__WFI();

+		__NOP();

+	}

+}

+

+static	int		test		(void)

+{

+#if 0

+	if (led_test()) {

+		return	ERROR_NOK;

+	}

+#endif

+#if 0

+	can_r_test();

+#endif

+#if 0

+	can_w_test();

+#endif

+#if 0

+	if (servo_test_2()) {

+		return	ERROR_NOK;

+	}

+#endif

+#if 0

+	if (display_test()) {

+		return	ERROR_NOK;

+	}

+#endif

+#if 0

+	if (nunchuk_test_2()) {

+		return	ERROR_NOK;

+	}

+#endif

+#if 0

+	if (tim_test()) {

+		return	ERROR_NOK;

+	}

+#endif

+#if 0

+	prj_error_handle();

+#endif

+

+	return	ERROR_OK;

+}

+

+

+/******************************************************************************

+ ******* end of file **********************************************************

+ ******************************************************************************/

diff --git a/src/startup_stm32l476xx.s b/src/startup_stm32l476xx.s
new file mode 100644
index 0000000..b93d40a
--- /dev/null
+++ b/src/startup_stm32l476xx.s
@@ -0,0 +1,524 @@
+/**

+  ******************************************************************************

+  * @file      startup_stm32l476xx.s

+  * @author    MCD Application Team

+  * @brief     STM32L476xx devices vector table GCC toolchain.

+  *            This module performs:

+  *                - Set the initial SP

+  *                - Set the initial PC == Reset_Handler,

+  *                - Set the vector table entries with the exceptions ISR address,

+  *                - Configure the clock system  

+  *                - Branches to main in the C library (which eventually

+  *                  calls main()).

+  *            After Reset the Cortex-M4 processor is in Thread mode,

+  *            priority is Privileged, and the Stack is set to Main.

+  ******************************************************************************

+  * @attention

+  *

+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>

+  *

+  * Redistribution and use in source and binary forms, with or without modification,

+  * are permitted provided that the following conditions are met:

+  *   1. Redistributions of source code must retain the above copyright notice,

+  *      this list of conditions and the following disclaimer.

+  *   2. Redistributions in binary form must reproduce the above copyright notice,

+  *      this list of conditions and the following disclaimer in the documentation

+  *      and/or other materials provided with the distribution.

+  *   3. Neither the name of STMicroelectronics nor the names of its contributors

+  *      may be used to endorse or promote products derived from this software

+  *      without specific prior written permission.

+  *

+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+  *

+  ******************************************************************************

+  */

+

+  .syntax unified

+	.cpu cortex-m4

+	.fpu softvfp

+	.thumb

+

+.global	g_pfnVectors

+.global	Default_Handler

+

+/* start address for the initialization values of the .data section.

+defined in linker script */

+.word	_sidata

+/* start address for the .data section. defined in linker script */

+.word	_sdata

+/* end address for the .data section. defined in linker script */

+.word	_edata

+/* start address for the .bss section. defined in linker script */

+.word	_sbss

+/* end address for the .bss section. defined in linker script */

+.word	_ebss

+

+.equ  BootRAM,        0xF1E0F85F

+/**

+ * @brief  This is the code that gets called when the processor first

+ *          starts execution following a reset event. Only the absolutely

+ *          necessary set is performed, after which the application

+ *          supplied main() routine is called.

+ * @param  None

+ * @retval : None

+*/

+

+    .section	.text.Reset_Handler

+	.weak	Reset_Handler

+	.type	Reset_Handler, %function

+Reset_Handler:

+  ldr   sp, =_estack    /* Atollic update: set stack pointer */

+

+/* Copy the data segment initializers from flash to SRAM */

+  movs	r1, #0

+  b	LoopCopyDataInit

+

+CopyDataInit:

+	ldr	r3, =_sidata

+	ldr	r3, [r3, r1]

+	str	r3, [r0, r1]

+	adds	r1, r1, #4

+

+LoopCopyDataInit:

+	ldr	r0, =_sdata

+	ldr	r3, =_edata

+	adds	r2, r0, r1

+	cmp	r2, r3

+	bcc	CopyDataInit

+	ldr	r2, =_sbss

+	b	LoopFillZerobss

+/* Zero fill the bss segment. */

+FillZerobss:

+	movs	r3, #0

+	str	r3, [r2], #4

+

+LoopFillZerobss:

+	ldr	r3, = _ebss

+	cmp	r2, r3

+	bcc	FillZerobss

+

+/* Call the clock system intitialization function.*/

+    bl  SystemInit

+/* Call static constructors */

+    bl __libc_init_array

+/* Call the application's entry point.*/

+	bl	main

+

+LoopForever:

+    b LoopForever

+    

+.size	Reset_Handler, .-Reset_Handler

+

+/**

+ * @brief  This is the code that gets called when the processor receives an

+ *         unexpected interrupt.  This simply enters an infinite loop, preserving

+ *         the system state for examination by a debugger.

+ *

+ * @param  None

+ * @retval : None

+*/

+    .section	.text.Default_Handler,"ax",%progbits

+Default_Handler:

+Infinite_Loop:

+	b	Infinite_Loop

+	.size	Default_Handler, .-Default_Handler

+/******************************************************************************

+*

+* The minimal vector table for a Cortex-M4.  Note that the proper constructs

+* must be placed on this to ensure that it ends up at physical address

+* 0x0000.0000.

+*

+******************************************************************************/

+ 	.section	.isr_vector,"a",%progbits

+	.type	g_pfnVectors, %object

+	.size	g_pfnVectors, .-g_pfnVectors

+

+

+g_pfnVectors:

+	.word	_estack

+	.word	Reset_Handler

+	.word	NMI_Handler

+	.word	HardFault_Handler

+	.word	MemManage_Handler

+	.word	BusFault_Handler

+	.word	UsageFault_Handler

+	.word	0

+	.word	0

+	.word	0

+	.word	0

+	.word	SVC_Handler

+	.word	DebugMon_Handler

+	.word	0

+	.word	PendSV_Handler

+	.word	SysTick_Handler

+	.word	WWDG_IRQHandler

+	.word	PVD_PVM_IRQHandler

+	.word	TAMP_STAMP_IRQHandler

+	.word	RTC_WKUP_IRQHandler

+	.word	FLASH_IRQHandler

+	.word	RCC_IRQHandler

+	.word	EXTI0_IRQHandler

+	.word	EXTI1_IRQHandler

+	.word	EXTI2_IRQHandler

+	.word	EXTI3_IRQHandler

+	.word	EXTI4_IRQHandler

+	.word	DMA1_Channel1_IRQHandler

+	.word	DMA1_Channel2_IRQHandler

+	.word	DMA1_Channel3_IRQHandler

+	.word	DMA1_Channel4_IRQHandler

+	.word	DMA1_Channel5_IRQHandler

+	.word	DMA1_Channel6_IRQHandler

+	.word	DMA1_Channel7_IRQHandler

+	.word	ADC1_2_IRQHandler

+	.word	CAN1_TX_IRQHandler

+	.word	CAN1_RX0_IRQHandler

+	.word	CAN1_RX1_IRQHandler

+	.word	CAN1_SCE_IRQHandler

+	.word	EXTI9_5_IRQHandler

+	.word	TIM1_BRK_TIM15_IRQHandler

+	.word	TIM1_UP_TIM16_IRQHandler

+	.word	TIM1_TRG_COM_TIM17_IRQHandler

+	.word	TIM1_CC_IRQHandler

+	.word	TIM2_IRQHandler

+	.word	TIM3_IRQHandler

+	.word	TIM4_IRQHandler

+	.word	I2C1_EV_IRQHandler

+	.word	I2C1_ER_IRQHandler

+	.word	I2C2_EV_IRQHandler

+	.word	I2C2_ER_IRQHandler

+	.word	SPI1_IRQHandler

+	.word	SPI2_IRQHandler

+	.word	USART1_IRQHandler

+	.word	USART2_IRQHandler

+	.word	USART3_IRQHandler

+	.word	EXTI15_10_IRQHandler

+	.word	RTC_Alarm_IRQHandler

+	.word	DFSDM1_FLT3_IRQHandler

+	.word	TIM8_BRK_IRQHandler

+	.word	TIM8_UP_IRQHandler

+	.word	TIM8_TRG_COM_IRQHandler

+	.word	TIM8_CC_IRQHandler

+	.word	ADC3_IRQHandler

+	.word	FMC_IRQHandler

+	.word	SDMMC1_IRQHandler

+	.word	TIM5_IRQHandler

+	.word	SPI3_IRQHandler

+	.word	UART4_IRQHandler

+	.word	UART5_IRQHandler

+	.word	TIM6_DAC_IRQHandler

+	.word	TIM7_IRQHandler

+	.word	DMA2_Channel1_IRQHandler

+	.word	DMA2_Channel2_IRQHandler

+	.word	DMA2_Channel3_IRQHandler

+	.word	DMA2_Channel4_IRQHandler

+	.word	DMA2_Channel5_IRQHandler

+	.word	DFSDM1_FLT0_IRQHandler

+	.word	DFSDM1_FLT1_IRQHandler

+	.word	DFSDM1_FLT2_IRQHandler

+	.word	COMP_IRQHandler

+	.word	LPTIM1_IRQHandler

+	.word	LPTIM2_IRQHandler

+	.word	OTG_FS_IRQHandler

+	.word	DMA2_Channel6_IRQHandler

+	.word	DMA2_Channel7_IRQHandler

+	.word	LPUART1_IRQHandler

+	.word	QUADSPI_IRQHandler

+	.word	I2C3_EV_IRQHandler

+	.word	I2C3_ER_IRQHandler

+	.word	SAI1_IRQHandler

+	.word	SAI2_IRQHandler

+	.word	SWPMI1_IRQHandler

+	.word	TSC_IRQHandler

+	.word	LCD_IRQHandler

+	.word 0

+	.word	RNG_IRQHandler

+	.word	FPU_IRQHandler

+

+

+/*******************************************************************************

+*

+* Provide weak aliases for each Exception handler to the Default_Handler.

+* As they are weak aliases, any function with the same name will override

+* this definition.

+*

+*******************************************************************************/

+

+  .weak	NMI_Handler

+	.thumb_set NMI_Handler,Default_Handler

+

+  .weak	HardFault_Handler

+	.thumb_set HardFault_Handler,Default_Handler

+

+  .weak	MemManage_Handler

+	.thumb_set MemManage_Handler,Default_Handler

+

+  .weak	BusFault_Handler

+	.thumb_set BusFault_Handler,Default_Handler

+

+	.weak	UsageFault_Handler

+	.thumb_set UsageFault_Handler,Default_Handler

+

+	.weak	SVC_Handler

+	.thumb_set SVC_Handler,Default_Handler

+

+	.weak	DebugMon_Handler

+	.thumb_set DebugMon_Handler,Default_Handler

+

+	.weak	PendSV_Handler

+	.thumb_set PendSV_Handler,Default_Handler

+

+	.weak	SysTick_Handler

+	.thumb_set SysTick_Handler,Default_Handler

+

+	.weak	WWDG_IRQHandler

+	.thumb_set WWDG_IRQHandler,Default_Handler

+

+	.weak	PVD_PVM_IRQHandler

+	.thumb_set PVD_PVM_IRQHandler,Default_Handler

+

+	.weak	TAMP_STAMP_IRQHandler

+	.thumb_set TAMP_STAMP_IRQHandler,Default_Handler

+

+	.weak	RTC_WKUP_IRQHandler

+	.thumb_set RTC_WKUP_IRQHandler,Default_Handler

+

+	.weak	FLASH_IRQHandler

+	.thumb_set FLASH_IRQHandler,Default_Handler

+

+	.weak	RCC_IRQHandler

+	.thumb_set RCC_IRQHandler,Default_Handler

+

+	.weak	EXTI0_IRQHandler

+	.thumb_set EXTI0_IRQHandler,Default_Handler

+

+	.weak	EXTI1_IRQHandler

+	.thumb_set EXTI1_IRQHandler,Default_Handler

+

+	.weak	EXTI2_IRQHandler

+	.thumb_set EXTI2_IRQHandler,Default_Handler

+

+	.weak	EXTI3_IRQHandler

+	.thumb_set EXTI3_IRQHandler,Default_Handler

+

+	.weak	EXTI4_IRQHandler

+	.thumb_set EXTI4_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel1_IRQHandler

+	.thumb_set DMA1_Channel1_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel2_IRQHandler

+	.thumb_set DMA1_Channel2_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel3_IRQHandler

+	.thumb_set DMA1_Channel3_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel4_IRQHandler

+	.thumb_set DMA1_Channel4_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel5_IRQHandler

+	.thumb_set DMA1_Channel5_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel6_IRQHandler

+	.thumb_set DMA1_Channel6_IRQHandler,Default_Handler

+

+	.weak	DMA1_Channel7_IRQHandler

+	.thumb_set DMA1_Channel7_IRQHandler,Default_Handler

+

+	.weak	ADC1_2_IRQHandler

+	.thumb_set ADC1_2_IRQHandler,Default_Handler

+

+	.weak	CAN1_TX_IRQHandler

+	.thumb_set CAN1_TX_IRQHandler,Default_Handler

+

+	.weak	CAN1_RX0_IRQHandler

+	.thumb_set CAN1_RX0_IRQHandler,Default_Handler

+

+	.weak	CAN1_RX1_IRQHandler

+	.thumb_set CAN1_RX1_IRQHandler,Default_Handler

+

+	.weak	CAN1_SCE_IRQHandler

+	.thumb_set CAN1_SCE_IRQHandler,Default_Handler

+

+	.weak	EXTI9_5_IRQHandler

+	.thumb_set EXTI9_5_IRQHandler,Default_Handler

+

+	.weak	TIM1_BRK_TIM15_IRQHandler

+	.thumb_set TIM1_BRK_TIM15_IRQHandler,Default_Handler

+

+	.weak	TIM1_UP_TIM16_IRQHandler

+	.thumb_set TIM1_UP_TIM16_IRQHandler,Default_Handler

+

+	.weak	TIM1_TRG_COM_TIM17_IRQHandler

+	.thumb_set TIM1_TRG_COM_TIM17_IRQHandler,Default_Handler

+

+	.weak	TIM1_CC_IRQHandler

+	.thumb_set TIM1_CC_IRQHandler,Default_Handler

+

+	.weak	TIM2_IRQHandler

+	.thumb_set TIM2_IRQHandler,Default_Handler

+

+	.weak	TIM3_IRQHandler

+	.thumb_set TIM3_IRQHandler,Default_Handler

+

+	.weak	TIM4_IRQHandler

+	.thumb_set TIM4_IRQHandler,Default_Handler

+

+	.weak	I2C1_EV_IRQHandler

+	.thumb_set I2C1_EV_IRQHandler,Default_Handler

+

+	.weak	I2C1_ER_IRQHandler

+	.thumb_set I2C1_ER_IRQHandler,Default_Handler

+

+	.weak	I2C2_EV_IRQHandler

+	.thumb_set I2C2_EV_IRQHandler,Default_Handler

+

+	.weak	I2C2_ER_IRQHandler

+	.thumb_set I2C2_ER_IRQHandler,Default_Handler

+

+	.weak	SPI1_IRQHandler

+	.thumb_set SPI1_IRQHandler,Default_Handler

+

+	.weak	SPI2_IRQHandler

+	.thumb_set SPI2_IRQHandler,Default_Handler

+

+	.weak	USART1_IRQHandler

+	.thumb_set USART1_IRQHandler,Default_Handler

+

+	.weak	USART2_IRQHandler

+	.thumb_set USART2_IRQHandler,Default_Handler

+

+	.weak	USART3_IRQHandler

+	.thumb_set USART3_IRQHandler,Default_Handler

+

+	.weak	EXTI15_10_IRQHandler

+	.thumb_set EXTI15_10_IRQHandler,Default_Handler

+

+	.weak	RTC_Alarm_IRQHandler

+	.thumb_set RTC_Alarm_IRQHandler,Default_Handler

+

+	.weak	DFSDM1_FLT3_IRQHandler

+	.thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler

+

+	.weak	TIM8_BRK_IRQHandler

+	.thumb_set TIM8_BRK_IRQHandler,Default_Handler

+

+	.weak	TIM8_UP_IRQHandler

+	.thumb_set TIM8_UP_IRQHandler,Default_Handler

+

+	.weak	TIM8_TRG_COM_IRQHandler

+	.thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler

+

+	.weak	TIM8_CC_IRQHandler

+	.thumb_set TIM8_CC_IRQHandler,Default_Handler

+

+	.weak	ADC3_IRQHandler

+	.thumb_set ADC3_IRQHandler,Default_Handler

+

+	.weak	FMC_IRQHandler

+	.thumb_set FMC_IRQHandler,Default_Handler

+

+	.weak	SDMMC1_IRQHandler

+	.thumb_set SDMMC1_IRQHandler,Default_Handler

+

+	.weak	TIM5_IRQHandler

+	.thumb_set TIM5_IRQHandler,Default_Handler

+

+	.weak	SPI3_IRQHandler

+	.thumb_set SPI3_IRQHandler,Default_Handler

+

+	.weak	UART4_IRQHandler

+	.thumb_set UART4_IRQHandler,Default_Handler

+

+	.weak	UART5_IRQHandler

+	.thumb_set UART5_IRQHandler,Default_Handler

+

+	.weak	TIM6_DAC_IRQHandler

+	.thumb_set TIM6_DAC_IRQHandler,Default_Handler

+

+	.weak	TIM7_IRQHandler

+	.thumb_set TIM7_IRQHandler,Default_Handler

+

+	.weak	DMA2_Channel1_IRQHandler

+	.thumb_set DMA2_Channel1_IRQHandler,Default_Handler

+

+	.weak	DMA2_Channel2_IRQHandler

+	.thumb_set DMA2_Channel2_IRQHandler,Default_Handler

+

+	.weak	DMA2_Channel3_IRQHandler

+	.thumb_set DMA2_Channel3_IRQHandler,Default_Handler

+

+	.weak	DMA2_Channel4_IRQHandler

+	.thumb_set DMA2_Channel4_IRQHandler,Default_Handler

+

+	.weak	DMA2_Channel5_IRQHandler

+	.thumb_set DMA2_Channel5_IRQHandler,Default_Handler

+

+	.weak	DFSDM1_FLT0_IRQHandler

+	.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler	

+	

+	.weak	DFSDM1_FLT1_IRQHandler

+	.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler	

+	

+	.weak	DFSDM1_FLT2_IRQHandler

+	.thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler	

+	

+	.weak	COMP_IRQHandler

+	.thumb_set COMP_IRQHandler,Default_Handler

+	

+	.weak	LPTIM1_IRQHandler

+	.thumb_set LPTIM1_IRQHandler,Default_Handler

+	

+	.weak	LPTIM2_IRQHandler

+	.thumb_set LPTIM2_IRQHandler,Default_Handler	

+	

+	.weak	OTG_FS_IRQHandler

+	.thumb_set OTG_FS_IRQHandler,Default_Handler	

+	

+	.weak	DMA2_Channel6_IRQHandler

+	.thumb_set DMA2_Channel6_IRQHandler,Default_Handler	

+	

+	.weak	DMA2_Channel7_IRQHandler

+	.thumb_set DMA2_Channel7_IRQHandler,Default_Handler	

+	

+	.weak	LPUART1_IRQHandler

+	.thumb_set LPUART1_IRQHandler,Default_Handler	

+	

+	.weak	QUADSPI_IRQHandler

+	.thumb_set QUADSPI_IRQHandler,Default_Handler	

+	

+	.weak	I2C3_EV_IRQHandler

+	.thumb_set I2C3_EV_IRQHandler,Default_Handler	

+	

+	.weak	I2C3_ER_IRQHandler

+	.thumb_set I2C3_ER_IRQHandler,Default_Handler	

+	

+	.weak	SAI1_IRQHandler

+	.thumb_set SAI1_IRQHandler,Default_Handler

+	

+	.weak	SAI2_IRQHandler

+	.thumb_set SAI2_IRQHandler,Default_Handler

+	

+	.weak	SWPMI1_IRQHandler

+	.thumb_set SWPMI1_IRQHandler,Default_Handler

+	

+	.weak	TSC_IRQHandler

+	.thumb_set TSC_IRQHandler,Default_Handler

+	

+	.weak	LCD_IRQHandler

+	.thumb_set LCD_IRQHandler,Default_Handler

+	

+	.weak	RNG_IRQHandler

+	.thumb_set RNG_IRQHandler,Default_Handler

+	

+	.weak	FPU_IRQHandler

+	.thumb_set FPU_IRQHandler,Default_Handler

+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

diff --git a/src/stm32l4xx_it.c b/src/stm32l4xx_it.c
new file mode 100644
index 0000000..31477a0
--- /dev/null
+++ b/src/stm32l4xx_it.c
@@ -0,0 +1,146 @@
+/**

+  ******************************************************************************

+  * @file    Templates/Src/stm32l4xx_it.c 

+  * @author  MCD Application Team

+  * @version V1.8.0

+  * @date    21-April-2017

+  * @brief   Main Interrupt Service Routines.

+  *          This file provides template for all exceptions handler and 

+  *          peripherals interrupt service routine.

+  ******************************************************************************

+  * @attention

+  *

+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>

+  *

+  * Redistribution and use in source and binary forms, with or without modification,

+  * are permitted provided that the following conditions are met:

+  *   1. Redistributions of source code must retain the above copyright notice,

+  *      this list of conditions and the following disclaimer.

+  *   2. Redistributions in binary form must reproduce the above copyright notice,

+  *      this list of conditions and the following disclaimer in the documentation

+  *      and/or other materials provided with the distribution.

+  *   3. Neither the name of STMicroelectronics nor the names of its contributors

+  *      may be used to endorse or promote products derived from this software

+  *      without specific prior written permission.

+  *

+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+  *

+  ******************************************************************************

+  */

+

+/* Includes ------------------------------------------------------------------*/

+#include <stdbool.h>

+#include "stm32l4xx_hal.h"

+

+/******************************************************************************/

+/*            Cortex-M4 Processor Exceptions Handlers                         */

+/******************************************************************************/

+

+/**

+  * @brief   This function handles NMI exception.

+  * @param  None

+  * @retval None

+  */

+void	NMI_Handler		(void)

+{

+}

+

+/**

+  * @brief  This function handles Hard Fault exception.

+  * @param  None

+  * @retval None

+  */

+void	HardFault_Handler	(void)

+{

+	/* Go to infinite loop when Hard Fault exception occurs */

+	while (true)

+	{

+	}

+}

+

+/**

+  * @brief  This function handles Memory Manage exception.

+  * @param  None

+  * @retval None

+  */

+void	MemManage_Handler	(void)

+{

+	/* Go to infinite loop when Memory Manage exception occurs */

+	while (true)

+	{

+	}

+}

+

+/**

+  * @brief  This function handles Bus Fault exception.

+  * @param  None

+  * @retval None

+  */

+void	BusFault_Handler	(void)

+{

+	/* Go to infinite loop when Bus Fault exception occurs */

+	while (true)

+	{

+	}

+}

+

+/**

+  * @brief  This function handles Usage Fault exception.

+  * @param  None

+  * @retval None

+  */

+void	UsageFault_Handler	(void)

+{

+	/* Go to infinite loop when Usage Fault exception occurs */

+	while (true)

+	{

+	}

+}

+

+/**

+  * @brief  This function handles SVCall exception.

+  * @param  None

+  * @retval None

+  */

+void	SVC_Handler		(void)

+{

+}

+

+/**

+  * @brief  This function handles Debug Monitor exception.

+  * @param  None

+  * @retval None

+  */

+void	DebugMon_Handler	(void)

+{

+}

+

+/**

+  * @brief  This function handles PendSVC exception.

+  * @param  None

+  * @retval None

+  */

+void	PendSV_Handler		(void)

+{

+}

+

+/**

+  * @brief  This function handles SysTick Handler.

+  * @param  None

+  * @retval None

+  */

+void	SysTick_Handler		(void)

+{

+	HAL_IncTick();

+}

+

+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

diff --git a/src/system_stm32l4xx.c b/src/system_stm32l4xx.c
new file mode 100644
index 0000000..d09954f
--- /dev/null
+++ b/src/system_stm32l4xx.c
@@ -0,0 +1,363 @@
+/**

+  ******************************************************************************

+  * @file    system_stm32l4xx.c

+  * @author  MCD Application Team

+  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File

+  *

+  *   This file provides two functions and one global variable to be called from

+  *   user application:

+  *      - SystemInit(): This function is called at startup just after reset and

+  *                      before branch to main program. This call is made inside

+  *                      the "startup_stm32l4xx.s" file.

+  *

+  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used

+  *                                  by the user application to setup the SysTick

+  *                                  timer or configure other parameters.

+  *

+  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must

+  *                                 be called whenever the core clock is changed

+  *                                 during program execution.

+  *

+  *   After each device reset the MSI (4 MHz) is used as system clock source.

+  *   Then SystemInit() function is called, in "startup_stm32l4xx.s" file, to

+  *   configure the system clock before to branch to main program.

+  *

+  *   This file configures the system clock as follows:

+  *=============================================================================

+  *-----------------------------------------------------------------------------

+  *        System Clock source                    | MSI

+  *-----------------------------------------------------------------------------

+  *        SYSCLK(Hz)                             | 4000000

+  *-----------------------------------------------------------------------------

+  *        HCLK(Hz)                               | 4000000

+  *-----------------------------------------------------------------------------

+  *        AHB Prescaler                          | 1

+  *-----------------------------------------------------------------------------

+  *        APB1 Prescaler                         | 1

+  *-----------------------------------------------------------------------------

+  *        APB2 Prescaler                         | 1

+  *-----------------------------------------------------------------------------

+  *        PLL_M                                  | 1

+  *-----------------------------------------------------------------------------

+  *        PLL_N                                  | 8

+  *-----------------------------------------------------------------------------

+  *        PLL_P                                  | 7

+  *-----------------------------------------------------------------------------

+  *        PLL_Q                                  | 2

+  *-----------------------------------------------------------------------------

+  *        PLL_R                                  | 2

+  *-----------------------------------------------------------------------------

+  *        PLLSAI1_P                              | NA

+  *-----------------------------------------------------------------------------

+  *        PLLSAI1_Q                              | NA

+  *-----------------------------------------------------------------------------

+  *        PLLSAI1_R                              | NA

+  *-----------------------------------------------------------------------------

+  *        PLLSAI2_P                              | NA

+  *-----------------------------------------------------------------------------

+  *        PLLSAI2_Q                              | NA

+  *-----------------------------------------------------------------------------

+  *        PLLSAI2_R                              | NA

+  *-----------------------------------------------------------------------------

+  *        Require 48MHz for USB OTG FS,          | Disabled

+  *        SDIO and RNG clock                     |

+  *-----------------------------------------------------------------------------

+  *=============================================================================

+  ******************************************************************************

+  * @attention

+  *

+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>

+  *

+  * Redistribution and use in source and binary forms, with or without modification,

+  * are permitted provided that the following conditions are met:

+  *   1. Redistributions of source code must retain the above copyright notice,

+  *      this list of conditions and the following disclaimer.

+  *   2. Redistributions in binary form must reproduce the above copyright notice,

+  *      this list of conditions and the following disclaimer in the documentation

+  *      and/or other materials provided with the distribution.

+  *   3. Neither the name of STMicroelectronics nor the names of its contributors

+  *      may be used to endorse or promote products derived from this software

+  *      without specific prior written permission.

+  *

+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+  *

+  ******************************************************************************

+  */

+

+/** @addtogroup CMSIS

+  * @{

+  */

+

+/** @addtogroup stm32l4xx_system

+  * @{

+  */

+

+/** @addtogroup STM32L4xx_System_Private_Includes

+  * @{

+  */

+

+#include "stm32l4xx.h"

+

+#if !defined	(HSE_VALUE)

+  # define	HSE_VALUE	(8000000U)  /*!< Value of the External oscillator in Hz */

+#endif /* HSE_VALUE */

+

+#if !defined	(MSI_VALUE)

+  # define	MSI_VALUE	(4000000U)  /*!< Value of the Internal oscillator in Hz*/

+#endif /* MSI_VALUE */

+

+#if !defined	(HSI_VALUE)

+  # define	HSI_VALUE	(16000000U) /*!< Value of the Internal oscillator in Hz*/

+#endif /* HSI_VALUE */

+

+/**

+  * @}

+  */

+

+/** @addtogroup STM32L4xx_System_Private_TypesDefinitions

+  * @{

+  */

+

+/**

+  * @}

+  */

+

+/** @addtogroup STM32L4xx_System_Private_Defines

+  * @{

+  */

+

+/************************* Miscellaneous Configuration ************************/

+/*!< Uncomment the following line if you need to relocate your vector Table in

+     Internal SRAM. */

+/* #define VECT_TAB_SRAM */

+# define	VECT_TAB_OFFSET		(0x00) /*!< Vector Table base offset field.

+                                   This value must be a multiple of 0x200. */

+/******************************************************************************/

+/**

+  * @}

+  */

+

+/** @addtogroup STM32L4xx_System_Private_Macros

+  * @{

+  */

+

+/**

+  * @}

+  */

+

+/** @addtogroup STM32L4xx_System_Private_Variables

+  * @{

+  */

+  /* The SystemCoreClock variable is updated in three ways:

+      1) by calling CMSIS function SystemCoreClockUpdate()

+      2) by calling HAL API function HAL_RCC_GetHCLKFreq()

+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency

+         Note: If you use this function to configure the system clock; then there

+               is no need to call the 2 first functions listed above, since SystemCoreClock

+               variable is updated automatically.

+  */

+	uint32_t	SystemCoreClock		= 4000000U;

+

+	const uint8_t	AHBPrescTable [16]	= {

+				0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U,

+				1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U

+			};

+	const uint8_t	APBPrescTable [8]	=  {

+				0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U

+			};

+	const uint32_t	MSIRangeTable [12]	= {

+				  100000U,   200000U,   400000U,   800000U,

+				 1000000U,  2000000U,  4000000U,  8000000U,

+				16000000U, 24000000U, 32000000U, 48000000U

+			};

+/**

+  * @}

+  */

+

+/** @addtogroup STM32L4xx_System_Private_FunctionPrototypes

+  * @{

+  */

+

+/**

+  * @}

+  */

+

+/** @addtogroup STM32L4xx_System_Private_Functions

+  * @{

+  */

+

+/**

+  * @brief  Setup the microcontroller system.

+  * @param  None

+  * @retval None

+  */

+

+void SystemInit(void)

+{

+	/* FPU settings ------------------------------------------------------------*/

+  #if (__FPU_PRESENT == 1)  &&  (__FPU_USED == 1)

+	SCB->CPACR	|= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */

+  #endif

+

+	/* Reset the RCC clock configuration to the default reset state ------------*/

+	/* Set MSION bit */

+	RCC->CR		|= RCC_CR_MSION;

+

+	/* Reset CFGR register */

+	RCC->CFGR	= 0x00000000U;

+

+	/* Reset HSEON, CSSON , HSION, and PLLON bits */

+	RCC->CR		&= 0xEAF6FFFFU;

+

+	/* Reset PLLCFGR register */

+	RCC->PLLCFGR	= 0x00001000U;

+

+	/* Reset HSEBYP bit */

+	RCC->CR		&= 0xFFFBFFFFU;

+

+	/* Disable all interrupts */

+	RCC->CIER	= 0x00000000U;

+

+	/* Configure the Vector Table location add offset address ------------------*/

+  #ifdef VECT_TAB_SRAM

+	SCB->VTOR	= SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */

+  #else

+	SCB->VTOR	= FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */

+  #endif

+}

+

+/**

+  * @brief  Update SystemCoreClock variable according to Clock Register Values.

+  *         The SystemCoreClock variable contains the core clock (HCLK), it can

+  *         be used by the user application to setup the SysTick timer or configure

+  *         other parameters.

+  *

+  * @note   Each time the core clock (HCLK) changes, this function must be called

+  *         to update SystemCoreClock variable value. Otherwise, any configuration

+  *         based on this variable will be incorrect.

+  *

+  * @note   - The system frequency computed by this function is not the real

+  *           frequency in the chip. It is calculated based on the predefined

+  *           constant and the selected clock source:

+  *

+  *           - If SYSCLK source is MSI, SystemCoreClock will contain the MSI_VALUE(*)

+  *

+  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)

+  *

+  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)

+  *

+  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(***)

+  *             or HSI_VALUE(*) or MSI_VALUE(*) multiplied/divided by the PLL factors.

+  *

+  *         (*) MSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value

+  *             4 MHz) but the real value may vary depending on the variations

+  *             in voltage and temperature.

+  *

+  *         (**) HSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value

+  *              16 MHz) but the real value may vary depending on the variations

+  *              in voltage and temperature.

+  *

+  *         (***) HSE_VALUE is a constant defined in stm32l4xx_hal.h file (default value

+  *              8 MHz), user has to ensure that HSE_VALUE is same as the real

+  *              frequency of the crystal used. Otherwise, this function may

+  *              have wrong result.

+  *

+  *         - The result of this function could be not correct when using fractional

+  *           value for HSE crystal.

+  *

+  * @param  None

+  * @retval None

+  */

+void SystemCoreClockUpdate(void)

+{

+	uint32_t	tmp		= 0u;

+	uint32_t	msirange	= 0u;

+	uint32_t	pllvco		= 0u;

+	uint32_t	pllr		= 2u;

+	uint32_t	pllsource	= 0u;

+	uint32_t	pllm		= 2u;

+

+	/* Get MSI Range frequency--------------------------------------------------*/

+	if ((RCC->CR & RCC_CR_MSIRGSEL)  ==  RESET) {

+		/* MSISRANGE from RCC_CSR applies */

+		msirange	= (RCC->CSR & RCC_CSR_MSISRANGE) >> 8u;

+	} else {

+		/* MSIRANGE from RCC_CR applies */

+		msirange	= (RCC->CR & RCC_CR_MSIRANGE) >> 4u;

+	}

+	/*MSI frequency range in HZ*/

+	msirange	= MSIRangeTable[msirange];

+

+	/* Get SYSCLK source -------------------------------------------------------*/

+	switch (RCC->CFGR & RCC_CFGR_SWS) {

+	case 0x00:  /* MSI used as system clock source */

+		SystemCoreClock	= msirange;

+		break;

+

+	case 0x04:  /* HSI used as system clock source */

+		SystemCoreClock	= HSI_VALUE;

+		break;

+

+	case 0x08:  /* HSE used as system clock source */

+		SystemCoreClock	= HSE_VALUE;

+		break;

+

+	case 0x0C:  /* PLL used as system clock  source */

+		/* PLL_VCO = (HSE_VALUE or HSI_VALUE or MSI_VALUE/ PLLM) * PLLN

+		 * SYSCLK = PLL_VCO / PLLR

+		 */

+		pllsource	= (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC);

+		pllm		= ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM) >> 4U) + 1U;

+

+		switch (pllsource) {

+		case 0x02:  /* HSI used as PLL clock source */

+			pllvco = (HSI_VALUE / pllm);

+			break;

+

+		case 0x03:  /* HSE used as PLL clock source */

+			pllvco = (HSE_VALUE / pllm);

+			break;

+

+		default:    /* MSI used as PLL clock source */

+			pllvco = (msirange / pllm);

+			break;

+		}

+		pllvco		= pllvco * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 8U);

+		pllr		= (((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 25U) + 1U) * 2U;

+		SystemCoreClock	= pllvco / pllr;

+		break;

+

+	default:

+		SystemCoreClock	= msirange;

+		break;

+	}

+	/* Compute HCLK clock frequency --------------------------------------------*/

+	/* Get HCLK prescaler */

+	tmp	= AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];

+	/* HCLK clock frequency */

+	SystemCoreClock	>>= tmp;

+}

+

+

+/**

+  * @}

+  */

+

+/**

+  * @}

+  */

+

+/**

+  * @}

+  */

+

+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

diff --git a/tmp/Makefile b/tmp/Makefile
new file mode 100644
index 0000000..48d6486
--- /dev/null
+++ b/tmp/Makefile
@@ -0,0 +1,138 @@
+#!/usr/bin/make -f
+
+# directories
+
+STM32_CMSIS_DIR		= $(DRIVERS_DIR)/CMSIS/
+STM32L4_CMSIS_DIR	= $(STM32_CMSIS_DIR)/ST/STM32L4xx/
+STM32L4_HAL_DIR		= $(DRIVERS_DIR)/STM32L4xx_HAL_Driver/
+
+LIBALX_INC_DIR		= $(LIBALX_DIR)/inc/
+STM32_CMSIS_INC_DIR	= $(STM32_CMSIS_DIR)/Include/
+STM32L4_CMSIS_INC_DIR	= $(STM32L4_CMSIS_DIR)/Include/
+STM32L4_HAL_INC_DIR	= $(STM32L4_HAL_DIR)/Inc/
+
+MODULES_BASE_INC_DIR	= $(MODULES_DIR)/inc/
+MODULES_DEV_INC_DIR	= $(MODULES_DIR)/inc/dev/
+MODULES_TST_INC_DIR	= $(MODULES_DIR)/inc/test/
+
+SRC_DIR = $(MAIN_DIR)/src/
+INC_DIR = $(MAIN_DIR)/inc/
+DEP_DIR = $(MAIN_DIR)/dep/
+
+# dependencies
+
+ALL		= \
+		system_stm32l4xx.o stm32l4xx_it.o main.o \
+		ctrl.o actuators.o
+
+COMMON_INC_CMSIS	= core_cm4.h cmsis_gcc.h
+COMMON_INC_CMSIS_L4	= stm32l4xx.h
+COMMON_INC_HAL		= stm32l4xx_hal.h
+COMMON_DEPS		= \
+			$(patsubst %,$(STM32_CMSIS_INC_DIR)/%,$(COMMON_INC_CMSIS)) \
+			$(patsubst %,$(STM32L4_CMSIS_INC_DIR)/%,$(COMMON_INC_CMSIS_L4)) \
+			$(patsubst %,$(STM32L4_HAL_INC_DIR)/%,$(COMMON_INC_HAL))
+COMMON_INC_DIRS		= \
+			-I $(STM32_CMSIS_INC_DIR) \
+			-I $(STM32L4_CMSIS_INC_DIR) \
+			-I $(STM32L4_HAL_INC_DIR)
+
+
+SYS_DEPS		= $(SRC_DIR)/system_stm32l4xx.c \
+			$(COMMON_DEPS)
+SYS_INC_DIRS		= \
+			$(COMMON_INC_DIRS)
+
+
+IT_DEPS			= $(SRC_DIR)/stm32l4xx_it.c \
+			$(COMMON_DEPS)
+IT_INC_DIRS		= \
+			$(COMMON_INC_DIRS)
+
+
+MAIN_INC_BASE		= can.h clk.h delay.h errors.h led.h tim.h
+MAIN_INC_DEV		= display.h nunchuk.h servo.h
+MAIN_INC_TST		= \
+			can_test.h led_test.h tim_test.h \
+			display_test.h nunchuk_test.h servo_test.h
+MAIN_INC		= ctrl.h actuators.h
+MAIN_DEPS		= $(SRC_DIR)/main.c \
+			$(COMMON_DEPS) \
+			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(MAIN_INC_BASE)) \
+			$(patsubst %,$(MODULES_DEV_INC_DIR)/%,$(MAIN_INC_DEV)) \
+			$(patsubst %,$(MODULES_TST_INC_DIR)/%,$(MAIN_INC_TST)) \
+			$(patsubst %,$(INC_DIR)/%,$(MAIN_INC))
+MAIN_INC_DIRS		= -I $(INC_DIR) \
+			-I $(MODULES_BASE_INC_DIR) \
+			-I $(MODULES_DEV_INC_DIR) \
+			-I $(MODULES_TST_INC_DIR) \
+			$(COMMON_INC_DIRS)
+
+
+CTRL_INC_LIBALX		= alx_math.h
+CTRL_INC_BASE		= can.h delay.h errors.h led.h tim.h
+CTRL_INC_DEV		= nunchuk.h
+CTRL_INC		= ctrl.h
+CTRL_DEPS		= $(SRC_DIR)/ctrl.c \
+			$(COMMON_DEPS) \
+			$(patsubst %,$(LIBALX_INC_DIR)/%,$(CTRL_INC_LIBALX)) \
+			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(CTRL_INC_BASE)) \
+			$(patsubst %,$(MODULES_DEV_INC_DIR)/%,$(CTRL_INC_DEV)) \
+			$(patsubst %,$(INC_DIR)/%,$(CTRL_INC))
+CTRL_INC_DIRS		= -I $(INC_DIR) \
+			-I $(LIBALX_INC_DIR) \
+			-I $(MODULES_BASE_INC_DIR) \
+			-I $(MODULES_DEV_INC_DIR) \
+			$(COMMON_INC_DIRS)
+
+
+ACT_INC_LIBALX		= alx_math.h
+ACT_INC_BASE		= can.h delay.h errors.h led.h tim.h
+ACT_INC_DEV		= servo.h
+ACT_INC			= actuators.h
+ACT_DEPS		= $(SRC_DIR)/actuators.c \
+			$(COMMON_DEPS) \
+			$(patsubst %,$(LIBALX_INC_DIR)/%,$(ACT_INC_LIBALX)) \
+			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(ACT_INC_BASE)) \
+			$(patsubst %,$(MODULES_DEV_INC_DIR)/%,$(ACT_INC_DEV)) \
+			$(patsubst %,$(INC_DIR)/%,$(ACT_INC))
+ACT_INC_DIRS		= -I $(INC_DIR) \
+			-I $(LIBALX_INC_DIR) \
+			-I $(MODULES_BASE_INC_DIR) \
+			-I $(MODULES_DEV_INC_DIR) \
+			$(COMMON_INC_DIRS)
+
+
+# target: dependencies
+#	action
+
+all: $(ALL)
+
+
+system_stm32l4xx.o: $(SYS_DEPS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(SYS_INC_DIRS) -c $< -o $@
+
+stm32l4xx_it.o: $(IT_DEPS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(IT_INC_DIRS) -c $< -o $@
+
+main.o: $(MAIN_DEPS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(MAIN_INC_DIRS) -c $< -o $@
+
+ctrl.o: $(CTRL_DEPS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(CTRL_INC_DIRS) -c $< -o $@
+
+actuators.o: $(ACT_DEPS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(ACT_INC_DIRS) -c $< -o $@
+
+
+clean:
+	$(Q)rm -f *.o
+
+################################################################################
+######## End of file ###########################################################
+################################################################################