Initial commit.

examples/stm32/f1/Makefile.include

@@ -0,0 +1,172 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+## Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+PREFIX	?= arm-none-eabi
+#PREFIX		?= arm-elf
+CC		= $(PREFIX)-gcc
+LD		= $(PREFIX)-gcc
+OBJCOPY		= $(PREFIX)-objcopy
+OBJDUMP		= $(PREFIX)-objdump
+GDB		= $(PREFIX)-gdb
+
+TOOLCHAIN_DIR ?= ../../../../..
+ifeq ($(wildcard ../../../../../lib/libopencm3_stm32f1.a),)
+ifneq ($(strip $(shell which $(CC))),)
+TOOLCHAIN_DIR := $(shell dirname `which $(CC)`)/../$(PREFIX)
+endif
+else
+ifeq ($(V),1)
+$(info We seem to be building the example in the source directory. Using local library!)
+endif
+endif
+
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m3 -msoft-float
+CFLAGS		+= -Os -g \
+		   -Wall -Wextra -Wimplicit-function-declaration \
+		   -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes \
+		   -Wundef -Wshadow \
+		   -I$(TOOLCHAIN_DIR)/include \
+		   -fno-common $(ARCH_FLAGS) -MD -DSTM32F1
+LDSCRIPT	?= $(BINARY).ld
+LDFLAGS		+= --static -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group \
+		   -L$(TOOLCHAIN_DIR)/lib \
+		   -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
+		   $(ARCH_FLAGS) -mfix-cortex-m3-ldrd
+
+ifneq ($(OPENCM3_DIR),)
+CFLAGS          += -I$(OPENCM3_DIR)/include
+LDFLAGS         += -L$(OPENCM3_DIR)/lib -L$(OPENCM3_DIR)/lib/stm32/f1
+SCRIPT_DIR      = $(OPENCM3_DIR)/share
+else
+SCRIPT_DIR      = $(shell dirname $(shell readlink -f $(shell which $(PREFIX)-gcc)))/../$(PREFIX)/share
+endif
+
+OBJS		+= $(BINARY).o
+
+OOCD		?= openocd
+OOCD_INTERFACE	?= flossjtag
+OOCD_BOARD	?= olimex_stm32_h103
+# Black magic probe specific variables
+# Set the BMP_PORT to a serial port and then BMP is used for flashing
+BMP_PORT        ?=
+# texane/stlink can be used by uncommenting this...
+# or defining it in your own makefiles
+#STLINK_PORT ?= :4242
+
+# Be silent per default, but 'make V=1' will show all compiler calls.
+ifneq ($(V),1)
+Q := @
+NULL := 2>/dev/null
+else
+LDFLAGS += -Wl,--print-gc-sections
+endif
+
+.SUFFIXES: .elf .bin .hex .srec .list .images
+.SECONDEXPANSION:
+.SECONDARY:
+
+all: images
+
+images: $(BINARY).images
+flash: $(BINARY).flash
+
+%.images: %.bin %.hex %.srec %.list
+	@#echo "*** $* images generated ***"
+
+%.bin: %.elf
+	@#printf "  OBJCOPY $(*).bin\n"
+	$(Q)$(OBJCOPY) -Obinary $(*).elf $(*).bin
+
+%.hex: %.elf
+	@#printf "  OBJCOPY $(*).hex\n"
+	$(Q)$(OBJCOPY) -Oihex $(*).elf $(*).hex
+
+%.srec: %.elf
+	@#printf "  OBJCOPY $(*).srec\n"
+	$(Q)$(OBJCOPY) -Osrec $(*).elf $(*).srec
+
+%.list: %.elf
+	@#printf "  OBJDUMP $(*).list\n"
+	$(Q)$(OBJDUMP) -S $(*).elf > $(*).list
+
+%.elf: $(OBJS) $(LDSCRIPT) $(TOOLCHAIN_DIR)/lib/libopencm3_stm32f1.a
+	@#printf "  LD      $(subst $(shell pwd)/,,$(@))\n"
+	$(Q)$(LD) -o $(*).elf $(OBJS) -lopencm3_stm32f1 $(LDFLAGS)
+
+%.o: %.c Makefile
+	@#printf "  CC      $(subst $(shell pwd)/,,$(@))\n"
+	$(Q)$(CC) $(CFLAGS) -o $@ -c $<
+
+clean:
+	$(Q)rm -f *.o
+	$(Q)rm -f *.d
+	$(Q)rm -f *.elf
+	$(Q)rm -f *.bin
+	$(Q)rm -f *.hex
+	$(Q)rm -f *.srec
+	$(Q)rm -f *.list
+
+ifeq ($(STLINK_PORT),)
+ifeq ($(BMP_PORT),)
+ifeq ($(OOCD_SERIAL),)
+%.flash: %.hex
+	@printf "  FLASH   $<\n"
+	@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
+	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
+		    -f board/$(OOCD_BOARD).cfg \
+		    -c "init" -c "reset init" \
+		    -c "stm32f1x mass_erase 0" \
+		    -c "flash write_image $(*).hex" \
+		    -c "reset" \
+		    -c "shutdown" $(NULL)
+else
+%.flash: %.hex
+	@printf "  FLASH   $<\n"
+	@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
+	$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
+		    -f board/$(OOCD_BOARD).cfg \
+		    -c "ft2232_serial $(OOCD_SERIAL)" \
+		    -c "init" -c "reset init" \
+		    -c "stm32f1x mass_erase 0" \
+		    -c "flash write_image $(*).hex" \
+		    -c "reset" \
+		    -c "shutdown" $(NULL)
+endif
+else
+%.flash: %.elf
+	@echo "  GDB   $(*).elf (flash)"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(BMP_PORT)' \
+		   -x $(TOOLCHAIN_DIR)/scripts/black_magic_probe_flash.scr \
+		   $(*).elf
+endif
+else
+%.flash: %.elf
+	@echo "  GDB   $(*).elf (flash)"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(STLINK_PORT)' \
+		   -x $(SCRIPT_DIR)/libopencm3/scripts/stlink_flash.scr \
+		   $(*).elf
+endif
+
+.PHONY: images clean
+
+-include $(OBJS:.o=.d)
+

examples/stm32/f1/lisa-m-1/can/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = can
+
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-1/can/README

@@ -0,0 +1,4 @@
+This test sets up the CAN interface on Lisa/M and transmits 8 bites every
+100ms. The first byte is being incremented in each cycle. The demo also
+receives messages and is displaing the first 4 bits of the first byte on the
+board LEDs.

examples/stm32/f1/lisa-m-1/can/can.c

@@ -0,0 +1,237 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+static void gpio_setup(void)
+{
+        /* Enable Alternate Function clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Enable GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Preconfigure LEDs. */
+	gpio_set(GPIOA, GPIO8);  /* LED0 off */
+	gpio_set(GPIOB, GPIO4);  /* LED1 off */
+	gpio_set(GPIOC, GPIO15); /* LED2 off */
+	gpio_set(GPIOC, GPIO2);  /* LED3 off */
+	gpio_set(GPIOC, GPIO5);  /* LED4 off */
+
+	/* Configure LED GPIOOs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+}
+
+static void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(8999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+static void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
+
+	AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIOB, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12,		/* BRP+1: Baud rate prescaler */
+		     false,		/* loopback mode */
+		     false))		/* silent mode */
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_clear(GPIOC, GPIO2);       /* LED3 on */
+		gpio_set(GPIOC, GPIO5);	        /* LED4 off */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so 100ms = 1s
+	 * Resulting in 100Hz message frequency.
+	 */
+	if (++temp32 != 100)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_set(GPIOC, GPIO2);         /* LED3 off */
+		gpio_clear(GPIOC, GPIO5);	/* LED4 on */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO8);
+	else
+		gpio_set(GPIOA, GPIO8);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOB, GPIO4);
+	else
+		gpio_set(GPIOB, GPIO4);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOC, GPIO15);
+	else
+		gpio_set(GPIOC, GPIO15);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOC, GPIO2);
+	else
+		gpio_set(GPIOC, GPIO2);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/lisa-m-1/can/can.c~

@@ -0,0 +1,218 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/nvic.h>
+#include <libopencm3/stm32/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+void gpio_setup(void)
+{
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	gpio_set(GPIOA, GPIO6); /* LED0 off */
+	gpio_set(GPIOA, GPIO7); /* LED1 off */
+	gpio_set(GPIOB, GPIO0); /* LED2 off */
+	gpio_set(GPIOB, GPIO1); /* LED3 off */
+
+	/* Set GPIO6/7 (in GPIO port A) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO7);
+
+	/* Set GPIO0/1 (in GPIO port B) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO0);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
+}
+
+void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	systick_set_reload(9000);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
+
+	AFIO_MAPR = AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIOB, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_set(GPIOA, GPIO6);		/* LED0 off */
+		gpio_set(GPIOA, GPIO7);		/* LED1 off */
+		gpio_set(GPIOB, GPIO0);		/* LED2 off */
+		gpio_clear(GPIOB, GPIO1);	/* LED3 on */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (++temp32 != 1000)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO6);		/* LED0 off */
+		gpio_set(GPIOA, GPIO7);		/* LED1 off */
+		gpio_clear(GPIOB, GPIO0);	/* LED2 on */
+		gpio_set(GPIOB, GPIO1);		/* LED3 off */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO6);
+	else
+		gpio_set(GPIOA, GPIO6);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOA, GPIO7);
+	else
+		gpio_set(GPIOA, GPIO7);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOB, GPIO0);
+	else
+		gpio_set(GPIOB, GPIO0);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOB, GPIO1);
+	else
+		gpio_set(GPIOB, GPIO1);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/lisa-m-1/fancyblink/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = fancyblink
+
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-1/fancyblink/fancyblink.c

@@ -0,0 +1,68 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2011 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+
+/* Set STM32 to 72 MHz. */
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOB, GPIOC, and AFIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO13 (in GPIO port C) to 'output push-pull'. */
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO13);
+
+	/* Set GPIO4 (in GPIO port B) to 'output push-pull'. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+	/* Preconfigure the LEDs. */
+	gpio_set(GPIOB, GPIO4);	/* Switch off LED. */
+	gpio_clear(GPIOC, GPIO13);	/* Switch on LED. */
+}
+
+int main(void)
+{
+	int i;
+
+	clock_setup();
+	gpio_setup();
+
+	/* Blink the LEDs (PC13 and PB4) on the board. */
+	while (1) {
+		gpio_toggle(GPIOC, GPIO13);	/* LED on/off */
+		gpio_toggle(GPIOB, GPIO4);	/* LED on/off */
+		for (i = 0; i < 800000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-1/lisa-m.ld

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for Lisa-M (STM32F103RBT6, 128K flash, 20K RAM). */
+/* TODO: Chip name and sizes correct? */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

examples/stm32/f1/lisa-m-1/usb_cdcacm/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = cdcacm
+
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-1/usb_cdcacm/README

@@ -0,0 +1,7 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example implements a USB CDC-ACM device (aka Virtual Serial Port)
+to demonstrate the use of the USB device stack.
+

examples/stm32/f1/lisa-m-1/usb_cdcacm/cdcacm.c

@@ -0,0 +1,261 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/cdc.h>
+
+static const struct usb_device_descriptor dev = {
+	.bLength = USB_DT_DEVICE_SIZE,
+	.bDescriptorType = USB_DT_DEVICE,
+	.bcdUSB = 0x0200,
+	.bDeviceClass = USB_CLASS_CDC,
+	.bDeviceSubClass = 0,
+	.bDeviceProtocol = 0,
+	.bMaxPacketSize0 = 64,
+	.idVendor = 0x0483,
+	.idProduct = 0x5740,
+	.bcdDevice = 0x0200,
+	.iManufacturer = 1,
+	.iProduct = 2,
+	.iSerialNumber = 3,
+	.bNumConfigurations = 1,
+};
+
+/*
+ * This notification endpoint isn't implemented. According to CDC spec it's
+ * optional, but its absence causes a NULL pointer dereference in the
+ * Linux cdc_acm driver.
+ */
+static const struct usb_endpoint_descriptor comm_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x83,
+	.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+	.wMaxPacketSize = 16,
+	.bInterval = 255,
+}};
+
+static const struct usb_endpoint_descriptor data_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x01,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}, {
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x82,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}};
+
+static const struct {
+	struct usb_cdc_header_descriptor header;
+	struct usb_cdc_call_management_descriptor call_mgmt;
+	struct usb_cdc_acm_descriptor acm;
+	struct usb_cdc_union_descriptor cdc_union;
+} __attribute__((packed)) cdcacm_functional_descriptors = {
+	.header = {
+		.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
+		.bcdCDC = 0x0110,
+	},
+	.call_mgmt = {
+		.bFunctionLength =
+			sizeof(struct usb_cdc_call_management_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
+		.bmCapabilities = 0,
+		.bDataInterface = 1,
+	},
+	.acm = {
+		.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_ACM,
+		.bmCapabilities = 0,
+	},
+	.cdc_union = {
+		.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_UNION,
+		.bControlInterface = 0,
+		.bSubordinateInterface0 = 1,
+	 }
+};
+
+static const struct usb_interface_descriptor comm_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 1,
+	.bInterfaceClass = USB_CLASS_CDC,
+	.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
+	.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
+	.iInterface = 0,
+
+	.endpoint = comm_endp,
+
+	.extra = &cdcacm_functional_descriptors,
+	.extralen = sizeof(cdcacm_functional_descriptors)
+}};
+
+static const struct usb_interface_descriptor data_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 1,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 2,
+	.bInterfaceClass = USB_CLASS_DATA,
+	.bInterfaceSubClass = 0,
+	.bInterfaceProtocol = 0,
+	.iInterface = 0,
+
+	.endpoint = data_endp,
+}};
+
+static const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.altsetting = comm_iface,
+}, {
+	.num_altsetting = 1,
+	.altsetting = data_iface,
+}};
+
+static const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+	.bNumInterfaces = 2,
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0x80,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+	"Black Sphere Technologies",
+	"CDC-ACM Demo",
+	"DEMO",
+};
+
+static int cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, u8 **buf,
+		u16 *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req))
+{
+	(void)complete;
+	(void)buf;
+	(void)usbd_dev;
+
+	switch (req->bRequest) {
+	case USB_CDC_REQ_SET_CONTROL_LINE_STATE: {
+		/*
+		 * This Linux cdc_acm driver requires this to be implemented
+		 * even though it's optional in the CDC spec, and we don't
+		 * advertise it in the ACM functional descriptor.
+		 */
+		char local_buf[10];
+		struct usb_cdc_notification *notif = (void*)local_buf;
+
+		/* We echo signals back to host as notification. */
+		notif->bmRequestType = 0xA1;
+		notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
+		notif->wValue = 0;
+		notif->wIndex = 0;
+		notif->wLength = 2;
+		local_buf[8] = req->wValue & 3;
+		local_buf[9] = 0;
+		// usbd_ep_write_packet(0x83, buf, 10);
+		return 1;
+		}
+	case USB_CDC_REQ_SET_LINE_CODING:
+		if (*len < sizeof(struct usb_cdc_line_coding))
+			return 0;
+
+		return 1;
+	}
+	return 0;
+}
+
+static void cdcacm_data_rx_cb(usbd_device *usbd_dev, u8 ep)
+{
+	(void)ep;
+
+	char buf[64];
+	int len = usbd_ep_read_packet(usbd_dev, 0x01, buf, 64);
+
+	if (len) {
+		while (usbd_ep_write_packet(usbd_dev, 0x82, buf, len) == 0)
+			;
+		buf[len] = 0;
+	}
+
+	gpio_toggle(GPIOC, GPIO5);
+}
+
+static void cdcacm_set_config(usbd_device *usbd_dev, u16 wValue)
+{
+	(void)wValue;
+
+	usbd_ep_setup(usbd_dev, 0x01, USB_ENDPOINT_ATTR_BULK, 64, cdcacm_data_rx_cb);
+	usbd_ep_setup(usbd_dev, 0x82, USB_ENDPOINT_ATTR_BULK, 64, NULL);
+	usbd_ep_setup(usbd_dev, 0x83, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
+
+	usbd_register_control_callback(
+				usbd_dev,
+				USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				cdcacm_control_request);
+}
+
+int main(void)
+{
+	int i;
+
+	usbd_device *usbd_dev;
+
+	rcc_clock_setup_in_hsi_out_48mhz();
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+	rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_OTGFSEN);
+
+	gpio_set(GPIOC, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+	gpio_set(GPIOC, GPIO5);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	usbd_dev = usbd_init(&stm32f107_usb_driver, &dev, &config, usb_strings, 3);
+	usbd_register_set_config_callback(usbd_dev, cdcacm_set_config);
+
+	for (i = 0; i < 0x800000; i++)
+		__asm__("nop");
+	gpio_clear(GPIOC, GPIO2);
+
+	while (1)
+		usbd_poll(usbd_dev);
+}

examples/stm32/f1/lisa-m-1/usb_cdcacm/cdcacm_test.py

@@ -0,0 +1,56 @@
+#! /usr/bin/env python
+#
+# This file is part of the libopencm3 project.
+#
+# Copyright (C) 2011 Piotr Esden-Tempski <piotr@esden.net>
+#
+# This library is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with this library.  If not, see <http://www.gnu.org/licenses/>.
+#
+
+import serial
+import signal
+import sys
+import time
+
+def signal_handler(signal, frame):
+        print 'You pressed Ctrl+C!'
+        ser.close();
+        sys.exit(0)
+
+signal.signal(signal.SIGINT, signal_handler);
+
+ser = serial.Serial('/dev/cu.usbmodemDEM1', 115200, timeout=0.05);
+
+error = 0
+
+tim = time.time();
+
+cycles = 0
+
+while 1==1:
+
+    ser.write("abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890!@#$%^&*(){}");
+
+    buf = ser.read(1024);
+
+    cycles += 1
+
+    if buf != "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890!@#$%^&*(){}" :
+        error+=1
+
+    print "received " + buf + " errors: " + str(error) + " cycles: " + str(cycles) + " runtime: " + str(time.time() - tim)
+
+    #time.sleep(0.1);
+
+ser.close();

examples/stm32/f1/lisa-m-1/usb_dfu/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usbdfu
+
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-1/usb_dfu/README

@@ -0,0 +1,7 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example implements a USB Device Firmware Upgrade (DFU) bootloader
+to demonstrate the use of the USB device stack.
+

examples/stm32/f1/lisa-m-1/usb_dfu/usbdfu.c

@@ -0,0 +1,272 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/cm3/scb.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/dfu.h>
+
+#define APP_ADDRESS	0x08002000
+
+/* Commands sent with wBlockNum == 0 as per ST implementation. */
+#define CMD_SETADDR	0x21
+#define CMD_ERASE	0x41
+
+/* We need a special large control buffer for this device: */
+u8 usbd_control_buffer[1024];
+
+static enum dfu_state usbdfu_state = STATE_DFU_IDLE;
+
+static struct {
+	u8 buf[sizeof(usbd_control_buffer)];
+	u16 len;
+	u32 addr;
+	u16 blocknum;
+} prog;
+
+const struct usb_device_descriptor dev = {
+	.bLength = USB_DT_DEVICE_SIZE,
+	.bDescriptorType = USB_DT_DEVICE,
+	.bcdUSB = 0x0200,
+	.bDeviceClass = 0,
+	.bDeviceSubClass = 0,
+	.bDeviceProtocol = 0,
+	.bMaxPacketSize0 = 64,
+	.idVendor = 0x0483,
+	.idProduct = 0xDF11,
+	.bcdDevice = 0x0200,
+	.iManufacturer = 1,
+	.iProduct = 2,
+	.iSerialNumber = 3,
+	.bNumConfigurations = 1,
+};
+
+const struct usb_dfu_descriptor dfu_function = {
+	.bLength = sizeof(struct usb_dfu_descriptor),
+	.bDescriptorType = DFU_FUNCTIONAL,
+	.bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
+	.wDetachTimeout = 255,
+	.wTransferSize = 1024,
+	.bcdDFUVersion = 0x011A,
+};
+
+const struct usb_interface_descriptor iface = {
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 0,
+	.bInterfaceClass = 0xFE, /* Device Firmware Upgrade */
+	.bInterfaceSubClass = 1,
+	.bInterfaceProtocol = 2,
+
+	/* The ST Microelectronics DfuSe application needs this string.
+	 * The format isn't documented... */
+	.iInterface = 4,
+
+	.extra = &dfu_function,
+	.extralen = sizeof(dfu_function),
+};
+
+const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.altsetting = &iface,
+}};
+
+const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+	.bNumInterfaces = 1,
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0xC0,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+	"Black Sphere Technologies",
+	"DFU Demo",
+	"DEMO",
+	/* This string is used by ST Microelectronics' DfuSe utility. */
+	"@Internal Flash   /0x08000000/8*001Ka,56*001Kg",
+};
+
+static u8 usbdfu_getstatus(u32 *bwPollTimeout)
+{
+	switch (usbdfu_state) {
+	case STATE_DFU_DNLOAD_SYNC:
+		usbdfu_state = STATE_DFU_DNBUSY;
+		*bwPollTimeout = 100;
+		return DFU_STATUS_OK;
+	case STATE_DFU_MANIFEST_SYNC:
+		/* Device will reset when read is complete. */
+		usbdfu_state = STATE_DFU_MANIFEST;
+		return DFU_STATUS_OK;
+	default:
+		return DFU_STATUS_OK;
+	}
+}
+
+static void usbdfu_getstatus_complete(usbd_device *usbd_dev, struct usb_setup_data *req)
+{
+	int i;
+	(void)req;
+	(void)usbd_dev;
+
+	switch (usbdfu_state) {
+	case STATE_DFU_DNBUSY:
+		flash_unlock();
+		if (prog.blocknum == 0) {
+			switch (prog.buf[0]) {
+			case CMD_ERASE:
+				{
+					u32 *dat = (u32 *)(prog.buf + 1);
+					flash_erase_page(*dat);
+				}
+			case CMD_SETADDR:
+				{
+					u32 *dat = (u32 *)(prog.buf + 1);
+					prog.addr = *dat;
+				}
+			}
+		} else {
+			u32 baseaddr = prog.addr + ((prog.blocknum - 2) *
+				       dfu_function.wTransferSize);
+			for (i = 0; i < prog.len; i += 2) {
+				u16 *dat = (u16 *)(prog.buf + i);
+				flash_program_half_word(baseaddr + i,
+						*dat);
+			}
+		}
+		flash_lock();
+
+		/* Jump straight to dfuDNLOAD-IDLE, skipping dfuDNLOAD-SYNC. */
+		usbdfu_state = STATE_DFU_DNLOAD_IDLE;
+		return;
+	case STATE_DFU_MANIFEST:
+		/* USB device must detach, we just reset... */
+		scb_reset_system();
+		return; /* Will never return. */
+	default:
+		return;
+	}
+}
+
+static int usbdfu_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, u8 **buf,
+		u16 *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req))
+{
+	(void)usbd_dev;
+
+	if ((req->bmRequestType & 0x7F) != 0x21)
+		return 0; /* Only accept class request. */
+
+	switch (req->bRequest) {
+	case DFU_DNLOAD:
+		if ((len == NULL) || (*len == 0)) {
+			usbdfu_state = STATE_DFU_MANIFEST_SYNC;
+			return 1;
+		} else {
+			/* Copy download data for use on GET_STATUS. */
+			prog.blocknum = req->wValue;
+			prog.len = *len;
+			memcpy(prog.buf, *buf, *len);
+			usbdfu_state = STATE_DFU_DNLOAD_SYNC;
+			return 1;
+		}
+	case DFU_CLRSTATUS:
+		/* Clear error and return to dfuIDLE. */
+		if (usbdfu_state == STATE_DFU_ERROR)
+			usbdfu_state = STATE_DFU_IDLE;
+		return 1;
+	case DFU_ABORT:
+		/* Abort returns to dfuIDLE state. */
+		usbdfu_state = STATE_DFU_IDLE;
+		return 1;
+	case DFU_UPLOAD:
+		/* Upload not supported for now. */
+		return 0;
+	case DFU_GETSTATUS: {
+		u32 bwPollTimeout = 0; /* 24-bit integer in DFU class spec */
+		(*buf)[0] = usbdfu_getstatus(&bwPollTimeout);
+		(*buf)[1] = bwPollTimeout & 0xFF;
+		(*buf)[2] = (bwPollTimeout >> 8) & 0xFF;
+		(*buf)[3] = (bwPollTimeout >> 16) & 0xFF;
+		(*buf)[4] = usbdfu_state;
+		(*buf)[5] = 0; /* iString not used here */
+		*len = 6;
+		*complete = usbdfu_getstatus_complete;
+		return 1;
+		}
+	case DFU_GETSTATE:
+		/* Return state with no state transision. */
+		*buf[0] = usbdfu_state;
+		*len = 1;
+		return 1;
+	}
+
+	return 0;
+}
+
+int main(void)
+{
+	usbd_device *usbd_dev;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	if (!gpio_get(GPIOA, GPIO10)) {
+		/* Boot the application if it's valid. */
+		if ((*(volatile u32 *)APP_ADDRESS & 0x2FFE0000) == 0x20000000) {
+			/* Set vector table base address. */
+			SCB_VTOR = APP_ADDRESS & 0xFFFF;
+			/* Initialise master stack pointer. */
+			asm volatile("msr msp, %0"::"g"
+				     (*(volatile u32 *)APP_ADDRESS));
+			/* Jump to application. */
+			(*(void (**)())(APP_ADDRESS + 4))();
+		}
+	}
+
+	rcc_clock_setup_in_hsi_out_48mhz();
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+	rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_OTGFSEN);
+
+	gpio_set(GPIOC, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+
+	usbd_dev = usbd_init(&stm32f107_usb_driver, &dev, &config, usb_strings, 4);
+	usbd_set_control_buffer_size(usbd_dev, sizeof(usbd_control_buffer));
+	usbd_register_control_callback(
+				usbd_dev,
+				USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				usbdfu_control_request);
+
+	gpio_clear(GPIOC, GPIO2);
+
+	while (1)
+		usbd_poll(usbd_dev);
+}

examples/stm32/f1/lisa-m-1/usb_hid/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usbhid
+
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-1/usb_hid/README

@@ -0,0 +1,7 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example implements a USB Human Interface Device (HID)
+to demonstrate the use of the USB device stack.
+

examples/stm32/f1/lisa-m-1/usb_hid/adxl345.h

@@ -0,0 +1,38 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2011 Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __ADXL345_H
+#define __ADXL345_H
+
+/* Register addresses */
+#define ADXL345_DEVID		0x00
+#define ADXL345_POWER_CTL	0x2D
+#define ADXL345_DATA_FORMAT	0x31
+#define ADXL345_DATAX0		0x32
+#define ADXL345_DATAX1		0x33
+#define ADXL345_DATAY0		0x34
+#define ADXL345_DATAY1		0x35
+#define ADXL345_DATAZ0		0x36
+#define ADXL345_DATAZ1		0x37
+
+#define ADXL345_POWER_CTL_MEASURE	(1 << 3)
+#define ADXL345_DATA_FORMAT_LALIGN	(1 << 2)
+
+#endif
+

examples/stm32/f1/lisa-m-1/usb_hid/usbhid.c

@@ -0,0 +1,369 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ * Copyright (C) 2011 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/spi.h>
+#include <libopencm3/stm32/otg_fs.h>
+#include <libopencm3/stm32/f1/nvic.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/hid.h>
+#include "adxl345.h"
+
+/* Define this to include the DFU APP interface. */
+#define INCLUDE_DFU_INTERFACE
+
+#ifdef INCLUDE_DFU_INTERFACE
+#include <libopencm3/cm3/scb.h>
+#include <libopencm3/usb/dfu.h>
+#endif
+
+static usbd_device *usbd_dev;
+
+const struct usb_device_descriptor dev_descr = {
+	.bLength = USB_DT_DEVICE_SIZE,
+	.bDescriptorType = USB_DT_DEVICE,
+	.bcdUSB = 0x0200,
+	.bDeviceClass = 0,
+	.bDeviceSubClass = 0,
+	.bDeviceProtocol = 0,
+	.bMaxPacketSize0 = 64,
+	.idVendor = 0x0483,
+	.idProduct = 0x5710,
+	.bcdDevice = 0x0200,
+	.iManufacturer = 1,
+	.iProduct = 2,
+	.iSerialNumber = 3,
+	.bNumConfigurations = 1,
+};
+
+/* I have no idea what this means. I haven't read the HID spec. */
+static const u8 hid_report_descriptor[] = {
+	0x05, 0x01, 0x09, 0x02, 0xA1, 0x01, 0x09, 0x01,
+	0xA1, 0x00, 0x05, 0x09, 0x19, 0x01, 0x29, 0x03,
+	0x15, 0x00, 0x25, 0x01, 0x95, 0x03, 0x75, 0x01,
+	0x81, 0x02, 0x95, 0x01, 0x75, 0x05, 0x81, 0x01,
+	0x05, 0x01, 0x09, 0x30, 0x09, 0x31, 0x09, 0x38,
+	0x15, 0x81, 0x25, 0x7F, 0x75, 0x08, 0x95, 0x03,
+	0x81, 0x06, 0xC0, 0x09, 0x3c, 0x05, 0xff, 0x09,
+	0x01, 0x15, 0x00, 0x25, 0x01, 0x75, 0x01, 0x95,
+	0x02, 0xb1, 0x22, 0x75, 0x06, 0x95, 0x01, 0xb1,
+	0x01, 0xc0,
+};
+
+static const struct {
+	struct usb_hid_descriptor hid_descriptor;
+	struct {
+		u8 bReportDescriptorType;
+		u16 wDescriptorLength;
+	} __attribute__((packed)) hid_report;
+} __attribute__((packed)) hid_function = {
+	.hid_descriptor = {
+		.bLength = sizeof(hid_function),
+		.bDescriptorType = USB_DT_HID,
+		.bcdHID = 0x0100,
+		.bCountryCode = 0,
+		.bNumDescriptors = 1,
+	},
+	.hid_report = {
+		.bReportDescriptorType = USB_DT_REPORT,
+		.wDescriptorLength = sizeof(hid_report_descriptor),
+	}
+};
+
+const struct usb_endpoint_descriptor hid_endpoint = {
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x81,
+	.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+	.wMaxPacketSize = 4,
+	.bInterval = 0x02,
+};
+
+const struct usb_interface_descriptor hid_iface = {
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 1,
+	.bInterfaceClass = USB_CLASS_HID,
+	.bInterfaceSubClass = 1, /* boot */
+	.bInterfaceProtocol = 2, /* mouse */
+	.iInterface = 0,
+
+	.endpoint = &hid_endpoint,
+
+	.extra = &hid_function,
+	.extralen = sizeof(hid_function),
+};
+
+#ifdef INCLUDE_DFU_INTERFACE
+const struct usb_dfu_descriptor dfu_function = {
+	.bLength = sizeof(struct usb_dfu_descriptor),
+	.bDescriptorType = DFU_FUNCTIONAL,
+	.bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
+	.wDetachTimeout = 255,
+	.wTransferSize = 1024,
+	.bcdDFUVersion = 0x011A,
+};
+
+const struct usb_interface_descriptor dfu_iface = {
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 1,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 0,
+	.bInterfaceClass = 0xFE,
+	.bInterfaceSubClass = 1,
+	.bInterfaceProtocol = 1,
+	.iInterface = 0,
+
+	.extra = &dfu_function,
+	.extralen = sizeof(dfu_function),
+};
+#endif
+
+const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.altsetting = &hid_iface,
+#ifdef INCLUDE_DFU_INTERFACE
+}, {
+	.num_altsetting = 1,
+	.altsetting = &dfu_iface,
+#endif
+}};
+
+const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+#ifdef INCLUDE_DFU_INTERFACE
+	.bNumInterfaces = 2,
+#else
+	.bNumInterfaces = 1,
+#endif
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0xC0,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+	"Black Sphere Technologies",
+	"HID Demo",
+	"DEMO",
+};
+
+static int hid_control_request(usbd_device *dev, struct usb_setup_data *req, u8 **buf, u16 *len,
+			void (**complete)(usbd_device *dev, struct usb_setup_data *req))
+{
+	(void)complete;
+	(void)dev;
+
+	if((req->bmRequestType != 0x81) ||
+	   (req->bRequest != USB_REQ_GET_DESCRIPTOR) ||
+	   (req->wValue != 0x2200))
+		return 0;
+
+	/* Handle the HID report descriptor. */
+	*buf = (u8 *)hid_report_descriptor;
+	*len = sizeof(hid_report_descriptor);
+
+	return 1;
+}
+
+#ifdef INCLUDE_DFU_INTERFACE
+static void dfu_detach_complete(usbd_device *dev, struct usb_setup_data *req)
+{
+	(void)req;
+	(void)dev;
+
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, 0, GPIO15);
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO10);
+	gpio_set(GPIOA, GPIO10);
+	scb_reset_core();
+}
+
+static int dfu_control_request(usbd_device *dev, struct usb_setup_data *req, u8 **buf, u16 *len,
+			void (**complete)(usbd_device *dev, struct usb_setup_data *req))
+{
+	(void)buf;
+	(void)len;
+	(void)dev;
+
+	if ((req->bmRequestType != 0x21) || (req->bRequest != DFU_DETACH))
+		return 0; /* Only accept class request. */
+
+	*complete = dfu_detach_complete;
+
+	return 1;
+}
+#endif
+
+static void hid_set_config(usbd_device *dev, u16 wValue)
+{
+	(void)wValue;
+
+	usbd_ep_setup(dev, 0x81, USB_ENDPOINT_ATTR_INTERRUPT, 4, NULL);
+
+	usbd_register_control_callback(
+				dev,
+				USB_REQ_TYPE_STANDARD | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				hid_control_request);
+#ifdef INCLUDE_DFU_INTERFACE
+	usbd_register_control_callback(
+				dev,
+				USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				dfu_control_request);
+#endif
+
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(99999);
+	systick_interrupt_enable();
+	systick_counter_enable();
+}
+
+static u8 spi_readwrite(u32 spi, u8 data)
+{
+	while (SPI_SR(spi) & SPI_SR_BSY)
+		;
+	SPI_DR(spi) = data;
+	while (!(SPI_SR(spi) & SPI_SR_RXNE))
+		;
+	return SPI_DR(spi);
+}
+
+static u8 accel_read(u8 addr)
+{
+	u8 ret;
+	gpio_clear(GPIOB, GPIO12);
+	spi_readwrite(SPI2, addr | 0x80);
+	ret = spi_readwrite(SPI2, 0);
+	gpio_set(GPIOB, GPIO12);
+	return ret;
+}
+
+static void accel_write(u8 addr, u8 data)
+{
+	gpio_clear(GPIOB, GPIO12);
+	spi_readwrite(SPI2, addr);
+	spi_readwrite(SPI2, data);
+	gpio_set(GPIOB, GPIO12);
+}
+
+static void accel_get(s16 *x, s16 *y, s16 *z)
+{
+	if (x)
+		*x = accel_read(ADXL345_DATAX0) |
+			(accel_read(ADXL345_DATAX1) << 8);
+	if (y)
+		*y = accel_read(ADXL345_DATAY0) |
+			(accel_read(ADXL345_DATAY1) << 8);
+	if (z)
+		*z = accel_read(ADXL345_DATAZ0) |
+			(accel_read(ADXL345_DATAZ1) << 8);
+}
+
+int main(void)
+{
+	int i;
+
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_SPI2EN);
+	rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_OTGFSEN);
+
+	/* Configure SPI2: PB13(SCK), PB14(MISO), PB15(MOSI). */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_10_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+		      GPIO_SPI2_SCK | GPIO_SPI2_MOSI);
+	gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
+		      GPIO_SPI2_MISO);
+	/* Enable CS pin on PB12. */
+	gpio_set(GPIOB, GPIO12);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_10_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
+
+	/* Force to SPI mode. This should be default after reset! */
+	SPI2_I2SCFGR = 0;
+	spi_init_master(SPI2,
+			SPI_CR1_BAUDRATE_FPCLK_DIV_256,
+			SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
+			SPI_CR1_CPHA_CLK_TRANSITION_2,
+			SPI_CR1_DFF_8BIT,
+			SPI_CR1_MSBFIRST);
+	/* Ignore the stupid NSS pin. */
+	spi_enable_software_slave_management(SPI2);
+	spi_set_nss_high(SPI2);
+	spi_enable(SPI2);
+
+	(void)accel_read(ADXL345_DEVID);
+	accel_write(ADXL345_POWER_CTL, ADXL345_POWER_CTL_MEASURE);
+	accel_write(ADXL345_DATA_FORMAT, ADXL345_DATA_FORMAT_LALIGN);
+
+	/* USB_DETECT as input. */
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO8);
+
+	/* Green LED off, as output. */
+	gpio_set(GPIOC, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+
+	usbd_dev = usbd_init(&stm32f107_usb_driver, &dev_descr, &config, usb_strings, 3);
+	usbd_register_set_config_callback(usbd_dev, hid_set_config);
+
+	/* Delay some seconds to show that pull-up switch works. */
+	for (i = 0; i < 0x800000; i++)
+		__asm__("nop");
+
+	/* Wait for USB Vbus. */
+	while (gpio_get(GPIOA, GPIO8) == 0)
+		__asm__("nop");
+
+	/* Green LED on, connect USB. */
+	gpio_clear(GPIOC, GPIO2);
+	// OTG_FS_GCCFG &= ~OTG_FS_GCCFG_VBUSBSEN;
+
+	while (1)
+		usbd_poll(usbd_dev);
+}
+
+void sys_tick_handler(void)
+{
+	s16 x, y;
+	u8 buf[4] = {0, 0, 0, 0};
+
+	accel_get(&x, &y, NULL);
+	buf[1] = x >> 9;
+	buf[2] = y >> 9;
+
+	usbd_ep_write_packet(usbd_dev, 0x81, buf, 4);
+}

examples/stm32/f1/lisa-m-2/adc_injec/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = adc_injec
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/adc_injec/README

@@ -0,0 +1,11 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a simple polling example that sends the value read out from the
+temperature sensor ADC channel of the STM32 to the USART2.
+
+This example polls injected channels.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+

examples/stm32/f1/lisa-m-2/adc_injec/adc_injec.c

@@ -0,0 +1,174 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ * Copyright (C) 2012 Stephen Dwyer	<dwyer.sc@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include <libopencm3/stm32/usart.h>
+
+static void usart_setup(void)
+{
+	/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Setup GPIO pin GPIO_USART1_TX/GPIO9 on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 115200);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	/* Enable GPIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Setup the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+}
+
+static void adc_setup(void)
+{
+	int i;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
+
+	/* Make sure the ADC doesn't run during config. */
+	adc_off(ADC1);
+
+	/* We configure everything for one single injected conversion. */
+	adc_disable_scan_mode(ADC1);
+	adc_set_single_conversion_mode(ADC1);
+	/* We can only use discontinuous mode on either the regular OR injected channels, not both */
+	adc_disable_discontinuous_mode_regular(ADC1);
+	adc_enable_discontinuous_mode_injected(ADC1);
+	/* We want to start the injected conversion in software */
+	adc_enable_external_trigger_injected(ADC1,ADC_CR2_JEXTSEL_JSWSTART);
+	adc_set_right_aligned(ADC1);
+	/* We want to read the temperature sensor, so we have to enable it. */
+	adc_enable_temperature_sensor(ADC1);
+	adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
+
+	adc_power_on(ADC1);
+
+	/* Wait for ADC starting up. */
+	for (i = 0; i < 800000; i++)    /* Wait a bit. */
+		__asm__("nop");
+
+	adc_reset_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_RSTCAL) != 0); //added this check
+	adc_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_CAL) != 0); //added this check
+}
+
+static void my_usart_print_int(u32 usart, int value)
+{
+	s8 i;
+	u8 nr_digits = 0;
+	char buffer[25];
+
+	if (value < 0) {
+		usart_send_blocking(usart, '-');
+		value = value * -1;
+	}
+
+	while (value > 0) {
+		buffer[nr_digits++] = "0123456789"[value % 10];
+		value /= 10;
+	}
+
+	for (i = (nr_digits - 1); i >= 0; i--) {
+		usart_send_blocking(usart, buffer[i]);
+	}
+
+	usart_send_blocking(usart, '\r');
+}
+
+int main(void)
+{
+	u8 channel_array[16];
+	u16 temperature = 0;
+
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	usart_setup();
+	adc_setup();
+
+	gpio_set(GPIOA, GPIO8);	                /* LED1 on */
+	gpio_set(GPIOC, GPIO15);		/* LED2 on */
+
+	/* Send a message on USART1. */
+	usart_send_blocking(USART2, 's');
+	usart_send_blocking(USART2, 't');
+	usart_send_blocking(USART2, 'm');
+	usart_send_blocking(USART2, '\r');
+	usart_send_blocking(USART2, '\n');
+
+	/* Select the channel we want to convert. 16=temperature_sensor. */
+	channel_array[0] = 16;
+	/* Set the injected sequence here, with number of channels */
+	adc_set_injected_sequence(ADC1, 1, channel_array);
+
+	/* Continously convert and poll the temperature ADC. */
+	while (1) {
+		/*
+		 * If the ADC_CR2_ON bit is already set -> setting it another time
+		 * starts a regular conversion. Injected conversion is started
+		 * explicitly with the JSWSTART bit as an external trigger. It may
+		 * also work by setting no regular channels and setting JAUTO to
+		 * automatically convert the injected channels after the regular
+		 * channels (of which there would be none). (Not tested.)
+		 */
+		adc_start_conversion_injected(ADC1);
+
+		/* Wait for end of conversion. */
+		while (!(adc_eoc_injected(ADC1)));
+		ADC_SR(ADC2) &= ~ADC_SR_JEOC; //clear injected end of conversion
+
+		temperature = adc_read_injected(ADC1,1); //get the result from ADC_JDR1 on ADC1 (only bottom 16bits)
+
+		/*
+		 * That's actually not the real temperature - you have to compute it
+		 * as described in the datasheet.
+		 */
+		my_usart_print_int(USART2, temperature);
+
+		gpio_toggle(GPIOA, GPIO8); /* LED2 on */
+
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/adc_injec_timtrig/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = adc_injec_timtrig
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/adc_injec_timtrig/README

@@ -0,0 +1,11 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a simple example that sends the value read out from the
+temperature sensor ADC channel of the STM32 to the USART2.
+
+This example uses a timer trigger to automatically sample the adc channel.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+

examples/stm32/f1/lisa-m-2/adc_injec_timtrig/adc_injec_timtrig.c

@@ -0,0 +1,195 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ * Copyright (C) 2012 Stephen Dwyer <dwyer.sc@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/timer.h>
+
+static void usart_setup(void)
+{
+	/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Setup GPIO pin GPIO_USART1_TX/GPIO9 on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 115200);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	/* Enable GPIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Setup the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+}
+
+static void timer_setup(void)
+{
+	/* Set up the timer TIM2 for injected sampling */
+	uint32_t timer;
+    volatile uint32_t *rcc_apbenr;
+    uint32_t rcc_apb;
+
+	timer   = TIM2;
+    rcc_apbenr = &RCC_APB1ENR;
+    rcc_apb = RCC_APB1ENR_TIM2EN;
+
+	rcc_peripheral_enable_clock(rcc_apbenr, rcc_apb);
+
+	/* Time Base configuration */
+    timer_reset(timer);
+    timer_set_mode(timer, TIM_CR1_CKD_CK_INT,
+	    TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+    timer_set_period(timer, 0xFF);
+    timer_set_prescaler(timer, 0x8);
+    timer_set_clock_division(timer, 0x0);
+    /* Generate TRGO on every update. */
+    timer_set_master_mode(timer, TIM_CR2_MMS_UPDATE);
+    timer_enable_counter(timer);
+}
+
+static void adc_setup(void)
+{
+	int i;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
+
+	/* Make sure the ADC doesn't run during config. */
+	adc_off(ADC1);
+
+	/* We configure everything for one single timer triggered injected conversion. */
+	adc_disable_scan_mode(ADC1);
+	adc_set_single_conversion_mode(ADC1);
+	/* We can only use discontinuous mode on either the regular OR injected channels, not both */
+	adc_disable_discontinuous_mode_regular(ADC1);
+	adc_enable_discontinuous_mode_injected(ADC1);
+	/* We want to start the injected conversion with the TIM2 TRGO */
+	adc_enable_external_trigger_injected(ADC1,ADC_CR2_JEXTSEL_TIM2_TRGO);
+	adc_set_right_aligned(ADC1);
+	/* We want to read the temperature sensor, so we have to enable it. */
+	adc_enable_temperature_sensor(ADC1);
+	adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
+
+	adc_power_on(ADC1);
+
+	/* Wait for ADC starting up. */
+	for (i = 0; i < 800000; i++)    /* Wait a bit. */
+		__asm__("nop");
+
+	adc_reset_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_RSTCAL) != 0);
+	adc_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_CAL) != 0);
+}
+
+static void my_usart_print_int(u32 usart, int value)
+{
+	s8 i;
+	u8 nr_digits = 0;
+	char buffer[25];
+
+	if (value < 0) {
+		usart_send_blocking(usart, '-');
+		value = value * -1;
+	}
+
+	while (value > 0) {
+		buffer[nr_digits++] = "0123456789"[value % 10];
+		value /= 10;
+	}
+
+	for (i = (nr_digits - 1); i >= 0; i--) {
+		usart_send_blocking(usart, buffer[i]);
+	}
+
+	usart_send_blocking(usart, '\r');
+}
+
+int main(void)
+{
+	u8 channel_array[16];
+	u16 temperature = 0;
+
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	usart_setup();
+	timer_setup();
+	adc_setup();
+
+	gpio_set(GPIOA, GPIO8);	                /* LED1 on */
+	gpio_set(GPIOC, GPIO15);		/* LED2 on */
+
+	/* Send a message on USART1. */
+	usart_send_blocking(USART2, 's');
+	usart_send_blocking(USART2, 't');
+	usart_send_blocking(USART2, 'm');
+	usart_send_blocking(USART2, '\r');
+	usart_send_blocking(USART2, '\n');
+
+	/* Select the channel we want to convert. 16=temperature_sensor. */
+	channel_array[0] = 16;
+	/* Set the injected sequence here, with number of channels */
+	adc_set_injected_sequence(ADC1, 1, channel_array);
+
+	/* Continously convert and poll the temperature ADC. */
+	while (1) {
+		/*
+		 * Since the injected sampling is triggered by the timer, it gets
+		 * updated automatically, we just need to periodically read out the value.
+		 * It would be better to check if the JEOC bit is set, and clear it following
+		 * so that you do not read the same value twice, especially for a slower
+		 * sampling rate.
+		 */
+
+		temperature = adc_read_injected(ADC1,1); //get the result from ADC_JDR1 on ADC1 (only bottom 16bits)
+
+		/*
+		 * That's actually not the real temperature - you have to compute it
+		 * as described in the datasheet.
+		 */
+		my_usart_print_int(USART2, temperature);
+
+		gpio_toggle(GPIOA, GPIO8); /* LED2 on */
+
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/adc_injec_timtrig_irq/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = adc_injec_timtrig_irq
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/adc_injec_timtrig_irq/README

@@ -0,0 +1,12 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a simple example that sends the value read out from the
+temperature sensor ADC channel of the STM32 to the USART2.
+
+This example uses a timer trigger to sample an injected adc channel and
+then uses an interrupt routine to retrieve the sample from the data register.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+

examples/stm32/f1/lisa-m-2/adc_injec_timtrig_irq/adc_injec_timtrig_irq.c

@@ -0,0 +1,211 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ * Copyright (C) 2012 Stephen Dwyer <dwyer.sc@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/timer.h>
+#include <libopencm3/cm3/nvic.h>
+
+volatile u16 temperature = 0;
+
+static void usart_setup(void)
+{
+	/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Setup GPIO pin GPIO_USART1_TX/GPIO9 on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 115200);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	/* Enable GPIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Setup the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+}
+
+static void timer_setup(void)
+{
+	/* Set up the timer TIM2 for injected sampling */
+	uint32_t timer;
+    volatile uint32_t *rcc_apbenr;
+    uint32_t rcc_apb;
+
+	timer   = TIM2;
+    rcc_apbenr = &RCC_APB1ENR;
+    rcc_apb = RCC_APB1ENR_TIM2EN;
+
+	rcc_peripheral_enable_clock(rcc_apbenr, rcc_apb);
+
+	/* Time Base configuration */
+    timer_reset(timer);
+    timer_set_mode(timer, TIM_CR1_CKD_CK_INT,
+	    TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+    timer_set_period(timer, 0xFF);
+    timer_set_prescaler(timer, 0x8);
+    timer_set_clock_division(timer, 0x0);
+    /* Generate TRGO on every update. */
+    timer_set_master_mode(timer, TIM_CR2_MMS_UPDATE);
+    timer_enable_counter(timer);
+}
+
+static void irq_setup(void)
+{
+	/* Enable the adc1_2_isr() routine */
+    nvic_set_priority(NVIC_ADC1_2_IRQ, 0);
+    nvic_enable_irq(NVIC_ADC1_2_IRQ);
+}
+
+static void adc_setup(void)
+{
+	int i;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
+
+	/* Make sure the ADC doesn't run during config. */
+	adc_off(ADC1);
+
+	/* We configure everything for one single timer triggered injected conversion with interrupt generation. */
+	/* While not needed for a single channel, try out scan mode which does all channels in one sweep and
+	 * generates the interrupt/EOC/JEOC flags set at the end of all channels, not each one.
+	 */
+	adc_enable_scan_mode(ADC1);
+	adc_set_single_conversion_mode(ADC1);
+	/* We want to start the injected conversion with the TIM2 TRGO */
+	adc_enable_external_trigger_injected(ADC1,ADC_CR2_JEXTSEL_TIM2_TRGO);
+	/* Generate the ADC1_2_IRQ */
+	adc_enable_eoc_interrupt_injected(ADC1);
+	adc_set_right_aligned(ADC1);
+	/* We want to read the temperature sensor, so we have to enable it. */
+	adc_enable_temperature_sensor(ADC1);
+	adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
+
+	adc_power_on(ADC1);
+
+	/* Wait for ADC starting up. */
+	for (i = 0; i < 800000; i++)    /* Wait a bit. */
+		__asm__("nop");
+
+	adc_reset_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_RSTCAL) != 0);
+	adc_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_CAL) != 0);
+}
+
+static void my_usart_print_int(u32 usart, int value)
+{
+	s8 i;
+	u8 nr_digits = 0;
+	char buffer[25];
+
+	if (value < 0) {
+		usart_send_blocking(usart, '-');
+		value = value * -1;
+	}
+
+	while (value > 0) {
+		buffer[nr_digits++] = "0123456789"[value % 10];
+		value /= 10;
+	}
+
+	for (i = (nr_digits - 1); i >= 0; i--) {
+		usart_send_blocking(usart, buffer[i]);
+	}
+
+	usart_send_blocking(usart, '\r');
+}
+
+int main(void)
+{
+	u8 channel_array[16];
+
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	usart_setup();
+	timer_setup();
+	irq_setup();
+	adc_setup();
+
+	gpio_set(GPIOA, GPIO8);	                /* LED1 on */
+	gpio_set(GPIOC, GPIO15);		/* LED2 on */
+
+	/* Send a message on USART1. */
+	usart_send_blocking(USART2, 's');
+	usart_send_blocking(USART2, 't');
+	usart_send_blocking(USART2, 'm');
+	usart_send_blocking(USART2, '\r');
+	usart_send_blocking(USART2, '\n');
+
+	/* Select the channel we want to convert. 16=temperature_sensor. */
+	channel_array[0] = 16;
+	/* Set the injected sequence here, with number of channels */
+	adc_set_injected_sequence(ADC1, 1, channel_array);
+
+	/* Continously convert and poll the temperature ADC. */
+	while (1) {
+		/*
+		 * Since sampling is triggered by the timer and copying the value
+		 * out of the data register is handled by the interrupt routine,
+		 * we just need to print the value and toggle the LED. It may be useful
+		 * to buffer the adc values in some cases.
+		 */
+
+		/*
+		 * That's actually not the real temperature - you have to compute it
+		 * as described in the datasheet.
+		 */
+		my_usart_print_int(USART2, temperature);
+
+		gpio_toggle(GPIOA, GPIO8); /* LED2 on */
+
+	}
+
+	return 0;
+}
+
+void adc1_2_isr(void)
+{
+    /* Clear Injected End Of Conversion (JEOC) */
+    ADC_SR(ADC1) &= ~ADC_SR_JEOC;
+    temperature = adc_read_injected(ADC1,1);
+}

examples/stm32/f1/lisa-m-2/adc_injec_timtrig_irq_4ch/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = adc_injec_timtrig_irq_4ch
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/adc_injec_timtrig_irq_4ch/README

@@ -0,0 +1,12 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a simple example that sends the values read out from four ADC
+channels of the STM32 to the USART2.
+
+This example uses a timer trigger to sample the injected adc channels and
+then uses an interrupt routine to retrieve the samples from the data registers.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+

examples/stm32/f1/lisa-m-2/adc_injec_timtrig_irq_4ch/adc_injec_timtrig_irq_4ch.c

@@ -0,0 +1,230 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ * Copyright (C) 2012 Stephen Dwyer <dwyer.sc@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/timer.h>
+#include <libopencm3/cm3/nvic.h>
+
+volatile u16 temperature = 0;
+volatile u16 v_refint = 0;
+volatile u16 lisam_adc1 = 0;
+volatile u16 lisam_adc2 = 0;
+u8 channel_array[4]; /* for injected sampling, 4 channels max, for regular, 16 max */
+
+static void usart_setup(void)
+{
+	/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Setup GPIO pin GPIO_USART1_TX/GPIO9 on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 115200);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	/* Enable GPIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Setup the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+
+	/* Setup Lisa/M v2 ADC1,2 on ANALOG1 connector */
+	gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG,                                \
+					GPIO3 | GPIO0 );    
+}
+
+static void timer_setup(void)
+{
+	/* Set up the timer TIM2 for injected sampling */
+	uint32_t timer;
+    volatile uint32_t *rcc_apbenr;
+    uint32_t rcc_apb;
+
+	timer   = TIM2;
+    rcc_apbenr = &RCC_APB1ENR;
+    rcc_apb = RCC_APB1ENR_TIM2EN;
+
+	rcc_peripheral_enable_clock(rcc_apbenr, rcc_apb);
+
+	/* Time Base configuration */
+    timer_reset(timer);
+    timer_set_mode(timer, TIM_CR1_CKD_CK_INT,
+	    TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+    timer_set_period(timer, 0xFF);
+    timer_set_prescaler(timer, 0x8);
+    timer_set_clock_division(timer, 0x0);
+    /* Generate TRGO on every update. */
+    timer_set_master_mode(timer, TIM_CR2_MMS_UPDATE);
+    timer_enable_counter(timer);
+}
+
+static void irq_setup(void)
+{
+	/* Enable the adc1_2_isr() routine */
+    nvic_set_priority(NVIC_ADC1_2_IRQ, 0);
+    nvic_enable_irq(NVIC_ADC1_2_IRQ);
+}
+
+static void adc_setup(void)
+{
+	int i;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
+
+	/* Make sure the ADC doesn't run during config. */
+	adc_off(ADC1);
+
+	/* We configure everything for one single timer triggered injected conversion with interrupt generation. */
+	/* While not needed for a single channel, try out scan mode which does all channels in one sweep and
+	 * generates the interrupt/EOC/JEOC flags set at the end of all channels, not each one.
+	 */
+	adc_enable_scan_mode(ADC1);
+	adc_set_single_conversion_mode(ADC1);
+	/* We want to start the injected conversion with the TIM2 TRGO */
+	adc_enable_external_trigger_injected(ADC1,ADC_CR2_JEXTSEL_TIM2_TRGO);
+	/* Generate the ADC1_2_IRQ */
+	adc_enable_eoc_interrupt_injected(ADC1);
+	adc_set_right_aligned(ADC1);
+	/* We want to read the temperature sensor, so we have to enable it. */
+	adc_enable_temperature_sensor(ADC1);
+	adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
+
+	/* Select the channels we want to convert.
+	 * 16=temperature_sensor, 17=Vrefint, 13=ADC1, 10=ADC2
+	 */
+	channel_array[0] = 16;
+	channel_array[1] = 17;
+	channel_array[2] = 13;
+	channel_array[3] = 10;
+	adc_set_injected_sequence(ADC1, 4, channel_array);
+
+	adc_power_on(ADC1);
+
+	/* Wait for ADC starting up. */
+	for (i = 0; i < 800000; i++)    /* Wait a bit. */
+		__asm__("nop");
+
+	adc_reset_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_RSTCAL) != 0); //added this check
+	adc_calibration(ADC1);
+	while ((ADC_CR2(ADC1) & ADC_CR2_CAL) != 0); //added this check
+}
+
+static void my_usart_print_int(u32 usart, int value)
+{
+	s8 i;
+	u8 nr_digits = 0;
+	char buffer[25];
+
+	if (value < 0) {
+		usart_send_blocking(usart, '-');
+		value = value * -1;
+	}
+
+	while (value > 0) {
+		buffer[nr_digits++] = "0123456789"[value % 10];
+		value /= 10;
+	}
+
+	for (i = (nr_digits - 1); i >= 0; i--) {
+		usart_send_blocking(usart, buffer[i]);
+	}
+
+	//usart_send_blocking(usart, '\r');
+}
+
+int main(void)
+{
+
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	usart_setup();
+	timer_setup();
+	irq_setup();
+	adc_setup();
+
+	gpio_set(GPIOA, GPIO8);	                /* LED1 off */
+	gpio_set(GPIOC, GPIO15);		/* LED5 off */
+
+	/* Send a message on USART1. */
+	usart_send_blocking(USART2, 's');
+	usart_send_blocking(USART2, 't');
+	usart_send_blocking(USART2, 'm');
+	usart_send_blocking(USART2, '\r');
+	usart_send_blocking(USART2, '\n');
+
+	/* Moved the channel selection and sequence init to adc_setup() */
+
+	/* Continously convert and poll the temperature ADC. */
+	while (1) {
+		/*
+		 * Since sampling is triggered by the timer and copying the values
+		 * out of the data registers is handled by the interrupt routine,
+		 * we just need to print the values and toggle the LED. It may be useful
+		 * to buffer the adc values in some cases.
+		 */
+
+		my_usart_print_int(USART2, temperature);
+		usart_send_blocking(USART2, ' ');
+		my_usart_print_int(USART2, v_refint);
+		usart_send_blocking(USART2, ' ');
+		my_usart_print_int(USART2, lisam_adc1);
+		usart_send_blocking(USART2, ' ');
+		my_usart_print_int(USART2, lisam_adc2);
+		usart_send_blocking(USART2, '\r');
+
+		gpio_toggle(GPIOA, GPIO8); /* LED2 on */
+
+	}
+
+	return 0;
+}
+
+void adc1_2_isr(void)
+{
+    /* Clear Injected End Of Conversion (JEOC) */
+    ADC_SR(ADC1) &= ~ADC_SR_JEOC;
+    temperature = adc_read_injected(ADC1,1);
+    v_refint = adc_read_injected(ADC1,2);
+    lisam_adc1 = adc_read_injected(ADC1,3);
+    lisam_adc2 = adc_read_injected(ADC1,4);
+}

examples/stm32/f1/lisa-m-2/adc_regular/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = adc
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/adc_regular/README

@@ -0,0 +1,9 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a simple polling example that sends the value read out from the
+temperature sensor ADC channel of the STM32 to the USART2.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+

examples/stm32/f1/lisa-m-2/adc_regular/adc.c

@@ -0,0 +1,161 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ * Copyright (C) 2012 Ken Sarkies <ksarkies@internode.on.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include <libopencm3/stm32/usart.h>
+
+static void usart_setup(void)
+{
+	/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Setup GPIO pin GPIO_USART1_TX/GPIO9 on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 115200);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	/* Enable GPIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Setup the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+}
+
+static void adc_setup(void)
+{
+	int i;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
+
+	/* Make sure the ADC doesn't run during config. */
+	adc_off(ADC1);
+
+	/* We configure everything for one single conversion. */
+	adc_disable_scan_mode(ADC1);
+	adc_set_single_conversion_mode(ADC1);
+	adc_disable_external_trigger_regular(ADC1);
+	adc_set_right_aligned(ADC1);
+	/* We want to read the temperature sensor, so we have to enable it. */
+	adc_enable_temperature_sensor(ADC1);
+	adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
+
+	adc_power_on(ADC1);
+
+	/* Wait for ADC starting up. */
+	for (i = 0; i < 800000; i++)    /* Wait a bit. */
+		__asm__("nop");
+
+	adc_reset_calibration(ADC1);
+	adc_calibration(ADC1);
+}
+
+static void my_usart_print_int(u32 usart, int value)
+{
+	s8 i;
+	u8 nr_digits = 0;
+	char buffer[25];
+
+	if (value < 0) {
+		usart_send_blocking(usart, '-');
+		value = value * -1;
+	}
+
+	while (value > 0) {
+		buffer[nr_digits++] = "0123456789"[value % 10];
+		value /= 10;
+	}
+
+	for (i = nr_digits; i >= 0; i--) {
+		usart_send_blocking(usart, buffer[i]);
+	}
+
+	usart_send_blocking(usart, '\r');
+}
+
+int main(void)
+{
+	u8 channel_array[16];
+	u16 temperature = 0;
+
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	usart_setup();
+	adc_setup();
+
+	gpio_set(GPIOA, GPIO8);	                /* LED1 on */
+	gpio_set(GPIOC, GPIO15);		/* LED2 off */
+
+	/* Send a message on USART1. */
+	usart_send_blocking(USART2, 's');
+	usart_send_blocking(USART2, 't');
+	usart_send_blocking(USART2, 'm');
+	usart_send_blocking(USART2, '\r');
+	usart_send_blocking(USART2, '\n');
+
+	/* Select the channel we want to convert. 16=temperature_sensor. */
+	channel_array[0] = 16;
+	adc_set_regular_sequence(ADC1, 1, channel_array);
+
+	/* Continously convert and poll the temperature ADC. */
+	while (1) {
+		/*
+		 * Start the conversion directly (ie without a trigger).
+		 */
+		adc_start_conversion_direct(ADC1);
+
+		/* Wait for end of conversion. */
+		while (!(adc_eoc(ADC1)));
+
+		temperature = adc_read_regular(ADC1);
+
+		/*
+		 * That's actually not the real temperature - you have to compute it
+		 * as described in the datasheet.
+		 */
+		my_usart_print_int(USART2, temperature);
+
+		gpio_toggle(GPIOA, GPIO8); /* LED2 on */
+
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/can/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = can
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/can/README

@@ -0,0 +1,4 @@
+This test sets up the CAN interface on Lisa/M and transmits 8 bites every
+100ms. The first byte is being incremented in each cycle. The demo also
+receives messages and is displaing the first 4 bits of the first byte on the
+board LEDs.

examples/stm32/f1/lisa-m-2/can/can.c

@@ -0,0 +1,237 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010-2011 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+static void gpio_setup(void)
+{
+        /* Enable Alternate Function clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Enable GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Preconfigure LEDs. */
+	gpio_set(GPIOA, GPIO8);  /* LED1 off */
+	gpio_set(GPIOB, GPIO4);  /* LED2 off */
+	gpio_set(GPIOC, GPIO2);  /* LED3 off */
+	gpio_set(GPIOC, GPIO5);  /* LED4 off */
+	gpio_set(GPIOC, GPIO15); /* LED5 off */
+
+	/* Configure LED GPIOOs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+}
+
+static void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(8999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+static void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CAN1EN);
+
+	AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12,
+		     false,
+		     false))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_set(GPIOA, GPIO8);   /* LED1 off */
+		gpio_set(GPIOB, GPIO4);   /* LED2 off */
+		gpio_set(GPIOC, GPIO2);   /* LED3 off */
+		gpio_clear(GPIOC, GPIO5); /* LED4 on */
+		gpio_set(GPIOC, GPIO15);  /* LED5 off */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so every 100ms = 0.1s
+	 * resulting in 100Hz message rate.
+	 */
+	if (++temp32 != 100)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO8);    /* LED1 off */
+		gpio_set(GPIOB, GPIO4);    /* LED2 off */
+		gpio_set(GPIOC, GPIO2);    /* LED3 off */
+		gpio_set(GPIOC, GPIO5);    /* LED4 off */
+		gpio_clear(GPIOC, GPIO15); /* LED5 on */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO8);
+	else
+		gpio_set(GPIOA, GPIO8);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOB, GPIO4);
+	else
+		gpio_set(GPIOB, GPIO4);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOC, GPIO2);
+	else
+		gpio_set(GPIOC, GPIO2);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOC, GPIO5);
+	else
+		gpio_set(GPIOC, GPIO5);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/can/can.c~

@@ -0,0 +1,232 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+void gpio_setup(void)
+{
+        /* Enable Alternate Function clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Enable GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Preconfigure LEDs. */
+	gpio_set(GPIOA, GPIO8);  /* LED0 off */
+	gpio_set(GPIOB, GPIO4);  /* LED1 off */
+	gpio_set(GPIOC, GPIO15); /* LED2 off */
+	gpio_set(GPIOC, GPIO2);  /* LED3 off */
+	gpio_set(GPIOC, GPIO5);  /* LED4 off */
+
+	/* Configure LED GPIOOs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+}
+
+void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	systick_set_reload(9000);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
+
+	AFIO_MAPR = AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIOB, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_clear(GPIOC, GPIO2);       /* LED3 on */
+		gpio_set(GPIOC, GPIO5);	        /* LED4 off */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (++temp32 != 1000)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_set(GPIOC, GPIO2);         /* LED3 off */
+		gpio_clear(GPIOC, GPIO5);	/* LED4 on */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO8);
+	else
+		gpio_set(GPIOA, GPIO8);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOB, GPIO4);
+	else
+		gpio_set(GPIOB, GPIO4);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOC, GPIO15);
+	else
+		gpio_set(GPIOC, GPIO15);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOC, GPIO2);
+	else
+		gpio_set(GPIOC, GPIO2);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/fancyblink/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = fancyblink
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/fancyblink/fancyblink.c

@@ -0,0 +1,148 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2011 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+
+/* Set STM32 to 72 MHz. */
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC, and AFIO clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+}
+
+static void gpio_setup(void)
+{
+	/* LED1 */
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+
+	/* LED2 */
+	/* Set GPIO15 (in GPIO port C) to 'output push-pull'. */
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+
+	/* JTAG_TRST */
+	/* Set GPIO4 (in GPIO port B) to 'output push-pull'. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+	/* ADC4 */
+	/* Set GPIO5 (in GPIO port C) to 'output push-pull'. */
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	/* ADC6 */
+	/* Set GPIO2 (in GPIO port C) to 'output push-pull'. */
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+
+	/* Preconfigure the LEDs. */
+	gpio_set(GPIOA, GPIO8);
+	gpio_set(GPIOC, GPIO15);
+	gpio_set(GPIOB, GPIO4);
+	gpio_set(GPIOC, GPIO5);
+	gpio_set(GPIOC, GPIO2);
+}
+
+static void led_set(int id, int on)
+{
+	if (on) {
+		switch (id) {
+			case 0:
+				gpio_clear(GPIOA, GPIO8); /* LED1 On */
+				break;
+			case 1:
+				gpio_clear(GPIOB, GPIO4); /* JTAG_TRST On */
+				break;
+			case 2:
+				gpio_clear(GPIOC, GPIO2); /* ADC6 On */
+				break;
+			case 3:
+				gpio_clear(GPIOC, GPIO5); /* ADC4 On */
+				break;
+			case 4:
+				gpio_clear(GPIOC, GPIO15); /* LED2 On */
+				break;
+		}
+	} else {
+		switch (id) {
+			case 0:
+				gpio_set(GPIOA, GPIO8); /* LED1 On */
+				break;
+			case 1:
+				gpio_set(GPIOB, GPIO4); /* JTAG_TRST On */
+				break;
+			case 2:
+				gpio_set(GPIOC, GPIO2); /* ADC6 On */
+				break;
+			case 3:
+				gpio_set(GPIOC, GPIO5); /* ADC4 On */
+				break;
+			case 4:
+				gpio_set(GPIOC, GPIO15); /* LED2 On */
+				break;
+		}
+	}
+}
+
+static void led_advance(void)
+{
+	static int state = 0;
+
+	if (state < 5) {
+		led_set(state, 1);
+	} else if (state < 10) {
+		led_set(state - 5, 0);
+	} else if (state < 15) {
+		led_set(14 - state, 1);
+	} else if (state < 20) {
+		led_set(19 - state, 0);
+	}
+
+	state++;
+	if(state == 20) state = 0;
+
+}
+
+int main(void)
+{
+	int i;
+
+	clock_setup();
+	gpio_setup();
+
+	/* Blink the LEDs (PC13 and PB4) on the board. */
+	while (1) {
+		led_advance();
+		for (i = 0; i < 800000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/lisa-m.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for Lisa-M (STM32F103RBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

examples/stm32/f1/lisa-m-2/spi/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = spi
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/spi/README

@@ -0,0 +1,14 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example program demonstrates simple SPI transceive on Lisa/M 2.0 board 
+(http://paparazzi.enac.fr/wiki/Lisa/M_v20 for details).
+
+The terminal settings for the receiving device/PC are 9600 8n1.
+
+The example expects a loopback connection between the MISO and MOSI pins on
+SPI1.
+
+A counter increments and the spi sends this byte out, after which it should
+come back in to the rx buffer, and the result is reported on the uart.

examples/stm32/f1/lisa-m-2/spi/spi.c

@@ -0,0 +1,164 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2013 Stephen Dwyer <scdwyer@ualberta.ca>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/stm32/spi.h>
+#include <stdio.h>
+#include <errno.h>
+
+int _write(int file, char *ptr, int len);
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port A (for GPIO_USART2_TX) and USART2. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Enable SPI1 Periph and gpio clocks */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_SPI1EN);
+
+}
+
+static void spi_setup(void) {
+
+  /* Configure GPIOs: SS=PA4, SCK=PA5, MISO=PA6 and MOSI=PA7 */
+  gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO4 |
+            								GPIO5 |
+                                            GPIO7 );
+
+  gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
+          GPIO6);
+
+  /* Reset SPI, SPI_CR1 register cleared, SPI is disabled */
+  spi_reset(SPI1);
+
+  /* Set up SPI in Master mode with:
+   * Clock baud rate: 1/64 of peripheral clock frequency
+   * Clock polarity: Idle High
+   * Clock phase: Data valid on 2nd clock pulse
+   * Data frame format: 8-bit
+   * Frame format: MSB First
+   */
+  spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_64, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
+                  SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
+
+  /*
+   * Set NSS management to software.
+   *
+   * Note:
+   * Setting nss high is very important, even if we are controlling the GPIO
+   * ourselves this bit needs to be at least set to 1, otherwise the spi
+   * peripheral will not send any data out.
+   */
+  spi_enable_software_slave_management(SPI1);
+  spi_set_nss_high(SPI1);
+
+  /* Enable SPI1 periph. */
+  spi_enable(SPI1);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_TX and GPIO_USART2_RX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 9600);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+int _write(int file, char *ptr, int len)
+{
+	int i;
+
+	if (file == 1) {
+		for (i = 0; i < len; i++)
+			usart_send_blocking(USART2, ptr[i]);
+		return i;
+	}
+
+	errno = EIO;
+	return -1;
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+}
+
+int main(void)
+{
+	int counter = 0;
+	u16 rx_value = 0x42;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+	spi_setup();
+
+
+	/* Blink the LED (PA8) on the board with every transmitted byte. */
+	while (1) {
+		/* LED on/off */
+		gpio_toggle(GPIOA, GPIO8);
+
+		/* printf the value that SPI should send */
+		printf("Counter: %i  SPI Sent Byte: %i", counter, (uint8_t) counter);
+		/* blocking send of the byte out SPI1 */
+		spi_send(SPI1, (uint8_t) counter);
+		/* Read the byte that just came in (use a loopback between MISO and MOSI
+		 * to get the same byte back)
+		 */
+		rx_value = spi_read(SPI1);
+		/* printf the byte just received */
+		printf("    SPI Received Byte: %i\r\n", rx_value);
+
+		counter++;
+		
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/spi_dma/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = spi_dma
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/spi_dma/README

@@ -0,0 +1,17 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example program demonstrates SPI transceive with DMA on Lisa/M 2.0 board 
+(http://paparazzi.enac.fr/wiki/Lisa/M_v20 for details).
+
+The terminal settings for the receiving device/PC are 9600 8n1.
+
+The example expects a loopback connection between the MISO and MOSI pins on
+SPI1. The DRDY and SS pins (on the Lisa/M v2.0 SPI1 connector) are used as
+GPIO to time the tx and rx ISRs, respectively. Use a scope or logic analyzer.
+
+The tx length is incremented, followed by the rx length, after which both tx
+and rx lengths are decremented together. The case where rx is longer than tx
+requires greater complexity to ensure all rx data is clocked in. See the adv
+example for this.

examples/stm32/f1/lisa-m-2/spi_dma/spi_dma.c

@@ -0,0 +1,439 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2013 Stephen Dwyer <scdwyer@ualberta.ca>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/stm32/spi.h>
+#include <stdio.h>
+#include <errno.h>
+
+#ifndef USE_16BIT_TRANSFERS
+#define USE_16BIT_TRANSFERS 1
+#endif
+
+/* This is for the counter state flag */
+typedef enum {
+	TX_UP_RX_HOLD = 0,
+	TX_HOLD_RX_UP,
+	TX_DOWN_RX_DOWN
+} cnt_state;
+
+/* This is a global spi state flag */
+typedef enum {
+	NONE = 0,
+	ONE,
+	DONE
+} trans_status;
+
+volatile trans_status transceive_status;
+
+int _write(int file, char *ptr, int len);
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port A (for GPIO_USART2_TX) and USART2. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Enable SPI1 Periph and gpio clocks */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_SPI1EN);
+
+	/* Enable DMA1 clock */
+	rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_DMA1EN);
+}
+
+static void spi_setup(void) {
+
+	/* Configure GPIOs: SS=PA4, SCK=PA5, MISO=PA6 and MOSI=PA7
+	 * For now ignore the SS pin so we can use it to time the ISRs
+	 */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, /* GPIO4 | */
+            								GPIO5 |
+                                            GPIO7 );
+
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
+			GPIO6);
+
+	/* Reset SPI, SPI_CR1 register cleared, SPI is disabled */
+	spi_reset(SPI1);
+
+	/* Explicitly disable I2S in favour of SPI operation */
+	SPI1_I2SCFGR = 0;
+
+	/* Set up SPI in Master mode with:
+	 * Clock baud rate: 1/64 of peripheral clock frequency
+	 * Clock polarity: Idle High
+	 * Clock phase: Data valid on 2nd clock pulse
+	 * Data frame format: 8-bit or 16-bit
+	 * Frame format: MSB First
+	 */
+#if USE_16BIT_TRANSFERS
+	spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_64, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
+			SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_16BIT, SPI_CR1_MSBFIRST);
+#else
+	spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_64, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
+			SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
+#endif
+
+	/*
+	 * Set NSS management to software.
+	 *
+	 * Note:
+	 * Setting nss high is very important, even if we are controlling the GPIO
+	 * ourselves this bit needs to be at least set to 1, otherwise the spi
+	 * peripheral will not send any data out.
+	 */
+	spi_enable_software_slave_management(SPI1);
+	spi_set_nss_high(SPI1);
+
+	/* Enable SPI1 periph. */
+	spi_enable(SPI1);
+}
+
+static void dma_int_enable(void) {
+	/* SPI1 RX on DMA1 Channel 2 */
+ 	nvic_set_priority(NVIC_DMA1_CHANNEL2_IRQ, 0);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL2_IRQ);
+	/* SPI1 TX on DMA1 Channel 3 */
+	nvic_set_priority(NVIC_DMA1_CHANNEL3_IRQ, 0);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL3_IRQ);
+}
+
+/* Not used in this example
+static void dma_int_disable(void) {
+ 	nvic_disable_irq(NVIC_DMA1_CHANNEL2_IRQ);
+ 	nvic_disable_irq(NVIC_DMA1_CHANNEL3_IRQ);
+}
+*/
+
+static void dma_setup(void)
+{
+	dma_int_enable();	
+}
+
+#if USE_16BIT_TRANSFERS
+static int spi_dma_transceive(u16 *tx_buf, int tx_len, u16 *rx_buf, int rx_len)
+#else
+static int spi_dma_transceive(u8 *tx_buf, int tx_len, u8 *rx_buf, int rx_len)
+#endif
+{
+	/* Check for 0 length in both tx and rx */
+	if ((rx_len < 1) && (tx_len < 1)) {
+		/* return -1 as error */
+		return -1;
+	}
+
+	/* Reset DMA channels*/
+	dma_channel_reset(DMA1, DMA_CHANNEL2);
+	dma_channel_reset(DMA1, DMA_CHANNEL3);
+
+	/* Reset SPI data and status registers.
+	 * Here we assume that the SPI peripheral is NOT
+	 * busy any longer, i.e. the last activity was verified
+	 * complete elsewhere in the program.
+	 */
+	volatile u8 temp_data __attribute__ ((unused));
+	while (SPI_SR(SPI1) & (SPI_SR_RXNE | SPI_SR_OVR)) {
+		temp_data = SPI_DR(SPI1);
+	}
+
+	/* Reset status flag appropriately (both 0 case caught above) */
+	transceive_status = NONE;
+	if (rx_len < 1) {
+		transceive_status = ONE;
+	}
+	if (tx_len < 1) {
+		transceive_status = ONE;
+	}
+
+	/* Set up rx dma, note it has higher priority to avoid overrun */
+	if (rx_len > 0) {
+		dma_set_peripheral_address(DMA1, DMA_CHANNEL2, (u32)&SPI1_DR);
+		dma_set_memory_address(DMA1, DMA_CHANNEL2, (u32)rx_buf);
+		dma_set_number_of_data(DMA1, DMA_CHANNEL2, rx_len);
+		dma_set_read_from_peripheral(DMA1, DMA_CHANNEL2);
+		dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL2);
+#if USE_16BIT_TRANSFERS
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL2, DMA_CCR_PSIZE_16BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL2, DMA_CCR_MSIZE_16BIT);
+#else
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL2, DMA_CCR_PSIZE_8BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL2, DMA_CCR_MSIZE_8BIT);
+#endif
+		dma_set_priority(DMA1, DMA_CHANNEL2, DMA_CCR_PL_VERY_HIGH);
+	}
+
+	/* Set up tx dma */
+	if (tx_len > 0) {
+		dma_set_peripheral_address(DMA1, DMA_CHANNEL3, (u32)&SPI1_DR);
+		dma_set_memory_address(DMA1, DMA_CHANNEL3, (u32)tx_buf);
+		dma_set_number_of_data(DMA1, DMA_CHANNEL3, tx_len);
+		dma_set_read_from_memory(DMA1, DMA_CHANNEL3);
+		dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL3);
+#if USE_16BIT_TRANSFERS
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_16BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_16BIT);
+#else
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_8BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_8BIT);
+#endif
+		dma_set_priority(DMA1, DMA_CHANNEL3, DMA_CCR_PL_HIGH);
+	}
+
+	/* Enable dma transfer complete interrupts */
+	if (rx_len > 0) {
+		dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL2);
+	}
+	if (tx_len > 0) {
+		dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL3);
+	}
+
+	/* Activate dma channels */
+	if (rx_len > 0) {
+		dma_enable_channel(DMA1, DMA_CHANNEL2);
+	}
+	if (tx_len > 0) {
+		dma_enable_channel(DMA1, DMA_CHANNEL3);
+	}
+
+	/* Enable the spi transfer via dma
+	 * This will immediately start the transmission,
+	 * after which when the receive is complete, the
+	 * receive dma will activate
+	 */
+	if (rx_len > 0) {
+    	spi_enable_rx_dma(SPI1);
+    }
+    if (tx_len > 0) {
+    	spi_enable_tx_dma(SPI1);
+    }
+
+    return 0;
+}
+
+/* SPI receive completed with DMA */
+void dma1_channel2_isr(void)
+{
+	gpio_set(GPIOA,GPIO4);
+	if ((DMA1_ISR &DMA_ISR_TCIF2) != 0) {
+		DMA1_IFCR |= DMA_IFCR_CTCIF2;
+	}
+
+	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL2);
+
+	spi_disable_rx_dma(SPI1);
+
+	dma_disable_channel(DMA1, DMA_CHANNEL2);
+
+	/* Increment the status to indicate one of the transfers is complete */
+	transceive_status++;
+	gpio_clear(GPIOA,GPIO4);
+}
+
+/* SPI transmit completed with DMA */
+void dma1_channel3_isr(void)
+{
+	gpio_set(GPIOB,GPIO1);
+	if ((DMA1_ISR &DMA_ISR_TCIF3) != 0) {
+		DMA1_IFCR |= DMA_IFCR_CTCIF3;
+	}
+
+	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL3);
+
+	spi_disable_tx_dma(SPI1);
+
+	dma_disable_channel(DMA1, DMA_CHANNEL3);
+
+	/* Increment the status to indicate one of the transfers is complete */
+	transceive_status++;
+	gpio_clear(GPIOB,GPIO1);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_TX and GPIO_USART2_RX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 9600);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+int _write(int file, char *ptr, int len)
+{
+	int i;
+
+	if (file == 1) {
+		for (i = 0; i < len; i++)
+			usart_send_blocking(USART2, ptr[i]);
+		return i;
+	}
+
+	errno = EIO;
+	return -1;
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+
+	/* Use the extra pins to signal when the ISRs are running */
+	/* First, SPI1 - SS pin on Lisa/M v2.0 */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	/* Then, SPI1 - DRDY pin on Lisa/M v2.0 */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
+
+}
+
+int main(void)
+{
+	int counter_tx = 0;
+	int counter_rx = 0;
+
+	cnt_state counter_state = TX_UP_RX_HOLD;
+
+	int i = 0;
+
+	/* Transmit and Receive packets, set transmit to index and receive to known unused value to aid in debugging */
+#if USE_16BIT_TRANSFERS
+	u16 tx_packet[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
+	u16 rx_packet[16] = {0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42};
+#else
+	u8 tx_packet[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
+	u8 rx_packet[16] = {0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42};
+#endif
+
+	transceive_status = DONE;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+	spi_setup();
+	dma_setup();
+
+#if USE_16BIT_TRANSFERS
+	printf("SPI with DMA Transfer Test using 16bit option (Use loopback)\r\n\r\n");
+#else
+	printf("SPI with DMA Transfer Test using 8bit option (Use loopback)\r\n\r\n");
+#endif
+
+	/* Blink the LED (PA8) on the board with every transmitted byte. */
+	while (1) {
+		/* LED on/off */
+		gpio_toggle(GPIOA, GPIO8);
+
+		/* Print what is going to be sent on the SPI bus */
+		printf("Sending  packet (tx len %02i):", counter_tx);
+		for (i = 0; i < counter_tx; i++)
+		{
+			printf(" 0x%02x,", tx_packet[i]);
+		}
+		printf("\r\n");
+
+		/* Start a transceive */
+		if (spi_dma_transceive(tx_packet, counter_tx, rx_packet, counter_rx)) {
+			printf("Attempted 0 length tx and rx packets\r\n");
+		}
+
+		/* Wait until transceive complete.
+		 * This checks the state flag as well as follows the
+		 * procedure on the Reference Manual (RM0008 rev 14
+		 * Section 25.3.9 page 692, the note.)
+		 */
+		while (transceive_status != DONE)
+			;
+		while (!(SPI_SR(SPI1) & SPI_SR_TXE))
+			;
+		while (SPI_SR(SPI1) & SPI_SR_BSY)
+			;
+
+		/* Print what was received on the SPI bus */
+		printf("Received Packet (rx len %02i):", counter_rx);
+		for (i = 0; i < 16; i++) {
+			printf(" 0x%02x,", rx_packet[i]);
+		}
+		printf("\r\n\r\n");
+
+		/* Update counters
+		 * If we use the loopback method, we can not
+		 * have a rx length longer than the tx length.
+		 * Testing rx lengths longer than tx lengths
+		 * requires an actual slave device that will
+		 * return data.
+		 */
+		switch (counter_state) {
+			case TX_UP_RX_HOLD:
+				counter_tx++;
+				if (counter_tx > 15) {
+					counter_state = TX_HOLD_RX_UP;
+				}
+				break;
+			case TX_HOLD_RX_UP:
+				counter_rx++;
+				if (counter_rx > 15) {
+					counter_state = TX_DOWN_RX_DOWN;
+				}
+				break;
+			case TX_DOWN_RX_DOWN:
+				counter_tx--;
+				counter_rx--;
+				if (counter_tx < 1) {
+					counter_state = TX_UP_RX_HOLD;
+				}
+				break;
+			default:
+				;
+		}
+
+		/* Reset receive buffer for consistency */
+		for (i = 0; i < 16; i++) {
+			rx_packet[i] = 0x42;
+		}		
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/spi_dma_adv/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = spi_dma_adv
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/spi_dma_adv/README

@@ -0,0 +1,17 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example program demonstrates SPI transceive with DMA on Lisa/M 2.0 board 
+(http://paparazzi.enac.fr/wiki/Lisa/M_v20 for details).
+
+The terminal settings for the receiving device/PC are 9600 8n1.
+
+The example expects a loopback connection between the MISO and MOSI pins on
+SPI1. The DRDY and SS pins (on the Lisa/M v2.0 SPI1 connector) are used as
+GPIO to time the tx and rx ISRs, respectively. Use a scope or logic analyzer.
+
+The tx length is incremented, followed by the rx length, after which the tx is
+decremented, then the rx is decremented. This is repeated in a loop. In this
+example, rx lengths longer than tx lengths are handled by using two dma transmits
+one after the other, handled inside the tx dma ISR.

examples/stm32/f1/lisa-m-2/spi_dma_adv/spi_dma_adv.c

@@ -0,0 +1,506 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2013 Stephen Dwyer <scdwyer@ualberta.ca>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/stm32/spi.h>
+#include <stdio.h>
+#include <errno.h>
+
+#ifndef USE_16BIT_TRANSFERS
+#define USE_16BIT_TRANSFERS 0
+#endif
+
+/* This is for the counter state flag */
+typedef enum {
+	TX_UP_RX_HOLD = 0,
+	TX_HOLD_RX_UP,
+	TX_DOWN_RX_HOLD,
+	TX_HOLD_RX_DOWN
+} cnt_state;
+
+/* This is a global spi state flag */
+typedef enum {
+	NONE = 0,
+	ONE,
+	DONE
+} trans_status;
+
+volatile trans_status transceive_status;
+
+/* Global for dummy tx dma transfer */
+int rx_buf_remainder = 0;
+
+#if USE_16BIT_TRANSFERS
+u16 dummy_tx_buf = 0xdd;
+#else
+u8 dummy_tx_buf = 0xdd;
+#endif
+
+int _write(int file, char *ptr, int len);
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port A (for GPIO_USART2_TX) and USART2. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+
+	/* Enable SPI1 Periph and gpio clocks */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_SPI1EN);
+
+	/* Enable DMA1 clock */
+	rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_DMA1EN);
+}
+
+static void spi_setup(void) {
+
+	/* Configure GPIOs: SS=PA4, SCK=PA5, MISO=PA6 and MOSI=PA7
+	 * For now ignore the SS pin so we can use it to time the ISRs
+	 */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+            GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, /* GPIO4 | */
+            								GPIO5 |
+                                            GPIO7 );
+
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
+			GPIO6);
+
+	/* Reset SPI, SPI_CR1 register cleared, SPI is disabled */
+	spi_reset(SPI1);
+
+	/* Explicitly disable I2S in favour of SPI operation */
+	SPI1_I2SCFGR = 0;
+
+	/* Set up SPI in Master mode with:
+	 * Clock baud rate: 1/64 of peripheral clock frequency
+	 * Clock polarity: Idle High
+	 * Clock phase: Data valid on 2nd clock pulse
+	 * Data frame format: 8-bit or 16-bit
+	 * Frame format: MSB First
+	 */
+#if USE_16BIT_TRANSFERS
+	spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_64, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
+			SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_16BIT, SPI_CR1_MSBFIRST);
+#else
+	spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_64, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
+			SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
+#endif
+
+	/*
+	 * Set NSS management to software.
+	 *
+	 * Note:
+	 * Setting nss high is very important, even if we are controlling the GPIO
+	 * ourselves this bit needs to be at least set to 1, otherwise the spi
+	 * peripheral will not send any data out.
+	 */
+	spi_enable_software_slave_management(SPI1);
+	spi_set_nss_high(SPI1);
+
+	/* Enable SPI1 periph. */
+	spi_enable(SPI1);
+}
+
+static void dma_int_enable(void) {
+	/* SPI1 RX on DMA1 Channel 2 */
+ 	nvic_set_priority(NVIC_DMA1_CHANNEL2_IRQ, 0);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL2_IRQ);
+	/* SPI1 TX on DMA1 Channel 3 */
+	nvic_set_priority(NVIC_DMA1_CHANNEL3_IRQ, 0);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL3_IRQ);
+}
+
+/* Not used in this example
+static void dma_int_disable(void) {
+ 	nvic_disable_irq(NVIC_DMA1_CHANNEL2_IRQ);
+ 	nvic_disable_irq(NVIC_DMA1_CHANNEL3_IRQ);
+}
+*/
+
+static void dma_setup(void)
+{
+	dma_int_enable();	
+}
+
+#if USE_16BIT_TRANSFERS
+static int spi_dma_transceive(u16 *tx_buf, int tx_len, u16 *rx_buf, int rx_len)
+#else
+static int spi_dma_transceive(u8 *tx_buf, int tx_len, u8 *rx_buf, int rx_len)
+#endif
+{	
+
+	/* Check for 0 length in both tx and rx */
+	if ((rx_len < 1) && (tx_len < 1)) {
+		/* return -1 as error */
+		return -1;
+	}
+
+	/* Reset DMA channels*/
+	dma_channel_reset(DMA1, DMA_CHANNEL2);
+	dma_channel_reset(DMA1, DMA_CHANNEL3);
+
+	/* Reset SPI data and status registers.
+	 * Here we assume that the SPI peripheral is NOT
+	 * busy any longer, i.e. the last activity was verified
+	 * complete elsewhere in the program.
+	 */
+	volatile u8 temp_data __attribute__ ((unused));
+	while (SPI_SR(SPI1) & (SPI_SR_RXNE | SPI_SR_OVR)) {
+		temp_data = SPI_DR(SPI1);
+	}
+
+	/* Reset status flag appropriately (both 0 case caught above) */
+	transceive_status = NONE;
+	if (rx_len < 1) {
+		transceive_status = ONE;
+	}
+
+	/* Determine tx length case to change behaviour
+	 * If tx_len >= rx_len, then normal case, run both DMAs with normal settings
+	 * If rx_len == 0, just don't run the rx DMA at all
+	 * If tx_len == 0, use a dummy buf and set the tx dma to transfer the same
+	 *    amount as the rx_len, to ensure everything is clocked in
+	 * If 0 < tx_len < rx_len, first do a normal case, then on the tx finished
+	 *    interrupt, set up a new dummyy buf tx dma transfer for the remaining
+	 *    required clock cycles (handled in tx dma complete interrupt)
+	 */
+	if ((tx_len > 0) && (tx_len < rx_len)) {
+		rx_buf_remainder = rx_len - tx_len;
+	}
+
+	/* Set up rx dma, note it has higher priority to avoid overrun */
+	if (rx_len > 0) {
+		dma_set_peripheral_address(DMA1, DMA_CHANNEL2, (u32)&SPI1_DR);
+		dma_set_memory_address(DMA1, DMA_CHANNEL2, (u32)rx_buf);
+		dma_set_number_of_data(DMA1, DMA_CHANNEL2, rx_len);
+		dma_set_read_from_peripheral(DMA1, DMA_CHANNEL2);
+		dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL2);
+#if USE_16BIT_TRANSFERS
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL2, DMA_CCR_PSIZE_16BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL2, DMA_CCR_MSIZE_16BIT);
+#else
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL2, DMA_CCR_PSIZE_8BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL2, DMA_CCR_MSIZE_8BIT);
+#endif
+		dma_set_priority(DMA1, DMA_CHANNEL2, DMA_CCR_PL_VERY_HIGH);
+	}
+
+	/* Set up tx dma (must always run tx to get clock signal) */
+	if (tx_len > 0) {
+		/* Here we have a regular tx transfer */
+		dma_set_peripheral_address(DMA1, DMA_CHANNEL3, (u32)&SPI1_DR);
+		dma_set_memory_address(DMA1, DMA_CHANNEL3, (u32)tx_buf);
+		dma_set_number_of_data(DMA1, DMA_CHANNEL3, tx_len);
+		dma_set_read_from_memory(DMA1, DMA_CHANNEL3);
+		dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL3);
+#if USE_16BIT_TRANSFERS
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_16BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_16BIT);
+#else
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_8BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_8BIT);
+#endif
+		dma_set_priority(DMA1, DMA_CHANNEL3, DMA_CCR_PL_HIGH);
+	} else {
+		/* Here we aren't transmitting any real data, use the dummy buffer
+		 * and set the length to the rx_len to get all rx data in, while
+		 * not incrementing the memory pointer
+		 */
+		dma_set_peripheral_address(DMA1, DMA_CHANNEL3, (u32)&SPI1_DR);
+		dma_set_memory_address(DMA1, DMA_CHANNEL3, (u32)(&dummy_tx_buf)); // Change here
+		dma_set_number_of_data(DMA1, DMA_CHANNEL3, rx_len); // Change here
+		dma_set_read_from_memory(DMA1, DMA_CHANNEL3);
+		dma_disable_memory_increment_mode(DMA1, DMA_CHANNEL3); // Change here
+#if USE_16BIT_TRANSFERS
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_16BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_16BIT);
+#else
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_8BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_8BIT);
+#endif
+		dma_set_priority(DMA1, DMA_CHANNEL3, DMA_CCR_PL_HIGH);
+	}
+
+	/* Enable dma transfer complete interrupts */
+	if (rx_len > 0) {
+		dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL2);
+	}
+	dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL3);
+
+	/* Activate dma channels */
+	if (rx_len > 0) {
+		dma_enable_channel(DMA1, DMA_CHANNEL2);
+	}
+	dma_enable_channel(DMA1, DMA_CHANNEL3);
+
+	/* Enable the spi transfer via dma
+	 * This will immediately start the transmission,
+	 * after which when the receive is complete, the
+	 * receive dma will activate
+	 */
+	if (rx_len > 0) {
+    	spi_enable_rx_dma(SPI1);
+    }
+    spi_enable_tx_dma(SPI1);
+
+    return 0;
+}
+
+/* SPI receive completed with DMA */
+void dma1_channel2_isr(void)
+{
+	gpio_set(GPIOA,GPIO4);
+	if ((DMA1_ISR &DMA_ISR_TCIF2) != 0) {
+		DMA1_IFCR |= DMA_IFCR_CTCIF2;
+	}
+
+	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL2);
+
+	spi_disable_rx_dma(SPI1);
+
+	dma_disable_channel(DMA1, DMA_CHANNEL2);
+
+	/* Increment the status to indicate one of the transfers is complete */
+	transceive_status++;
+	gpio_clear(GPIOA,GPIO4);
+}
+
+/* SPI transmit completed with DMA */
+void dma1_channel3_isr(void)
+{
+	gpio_set(GPIOB,GPIO1);
+	if ((DMA1_ISR &DMA_ISR_TCIF3) != 0) {
+		DMA1_IFCR |= DMA_IFCR_CTCIF3;
+	}
+
+	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL3);
+
+	spi_disable_tx_dma(SPI1);
+
+	dma_disable_channel(DMA1, DMA_CHANNEL3);
+
+	/* If tx_len < rx_len, create a dummy transfer to clock in the remaining
+	 * rx data
+	 */
+	if (rx_buf_remainder > 0) {
+		dma_channel_reset(DMA1, DMA_CHANNEL3);
+		dma_set_peripheral_address(DMA1, DMA_CHANNEL3, (u32)&SPI1_DR);
+		dma_set_memory_address(DMA1, DMA_CHANNEL3, (u32)(&dummy_tx_buf)); // Change here
+		dma_set_number_of_data(DMA1, DMA_CHANNEL3, rx_buf_remainder); // Change here
+		dma_set_read_from_memory(DMA1, DMA_CHANNEL3);
+		dma_disable_memory_increment_mode(DMA1, DMA_CHANNEL3); // Change here
+#if USE_16BIT_TRANSFERS
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_16BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_16BIT);
+#else
+		dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_8BIT);
+		dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_8BIT);
+#endif
+		dma_set_priority(DMA1, DMA_CHANNEL3, DMA_CCR_PL_HIGH);
+
+		rx_buf_remainder = 0; // Clear the buffer remainder to disable this section later
+
+		dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL3);
+		dma_enable_channel(DMA1, DMA_CHANNEL3);
+		spi_enable_tx_dma(SPI1);
+	} else {
+		/* Increment the status to indicate one of the transfers is complete */
+		transceive_status++;
+	}
+
+	gpio_clear(GPIOB,GPIO1);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_TX and GPIO_USART2_RX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 9600);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+int _write(int file, char *ptr, int len)
+{
+	int i;
+
+	if (file == 1) {
+		for (i = 0; i < len; i++)
+			usart_send_blocking(USART2, ptr[i]);
+		return i;
+	}
+
+	errno = EIO;
+	return -1;
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+
+	/* Use the extra pins to signal when the ISRs are running */
+	/* First, SPI1 - SS pin on Lisa/M v2.0 */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	/* Then, SPI1 - DRDY pin on Lisa/M v2.0 */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
+
+}
+
+int main(void)
+{
+	int counter_tx = 0;
+	int counter_rx = 0;
+
+	cnt_state counter_state = TX_UP_RX_HOLD;
+
+	int i = 0;
+
+	/* Transmit and Receive packets, set transmit to index and receive to known unused value to aid in debugging */
+#if USE_16BIT_TRANSFERS
+	u16 tx_packet[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
+	u16 rx_packet[16] = {0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42};
+#else
+	u8 tx_packet[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
+	u8 rx_packet[16] = {0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42};
+#endif
+
+	transceive_status = DONE;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+	spi_setup();
+	dma_setup();
+
+	printf("SPI with DMA Transfer Test (Use loopback)\r\n\r\n");
+
+	/* Blink the LED (PA8) on the board with every transmitted byte. */
+	while (1) {
+		/* LED on/off */
+		gpio_toggle(GPIOA, GPIO8);
+
+		/* Print what is going to be sent on the SPI bus */
+		printf("Sending  packet (tx len %02i):", counter_tx);
+		for (i = 0; i < counter_tx; i++)
+		{
+			printf(" 0x%02x,", tx_packet[i]);
+		}
+		printf("\r\n");
+
+		/* Start a transceive */
+		if (spi_dma_transceive(tx_packet, counter_tx, rx_packet, counter_rx)) {
+			printf("Attempted 0 length tx and rx packets\r\n");
+		}
+
+		/* Wait until transceive complete.
+		 * This checks the state flag as well as follows the
+		 * procedure on the Reference Manual (RM0008 rev 14
+		 * Section 25.3.9 page 692, the note.)
+		 */
+		while (transceive_status != DONE)
+			;
+		while (!(SPI_SR(SPI1) & SPI_SR_TXE))
+			;
+		while (SPI_SR(SPI1) & SPI_SR_BSY)
+			;
+
+		/* Print what was received on the SPI bus */
+		printf("Received Packet (rx len %02i):", counter_rx);
+		for (i = 0; i < 16; i++) {
+			printf(" 0x%02x,", rx_packet[i]);
+		}
+		printf("\r\n\r\n");
+
+		/* Update counters
+		 * If we use the loopback method, we can not
+		 * have a rx length longer than the tx length.
+		 * Testing rx lengths longer than tx lengths
+		 * requires an actual slave device that will
+		 * return data.
+		 */
+		switch (counter_state) {
+			case TX_UP_RX_HOLD:
+				counter_tx++;
+				if (counter_tx > 15) {
+					counter_state = TX_HOLD_RX_UP;
+				}
+				break;
+			case TX_HOLD_RX_UP:
+				counter_rx++;
+				if (counter_rx > 15) {
+					counter_state = TX_DOWN_RX_HOLD;
+				}
+				break;
+			case TX_DOWN_RX_HOLD:
+				counter_tx--;
+				if (counter_tx < 1) {
+					counter_state = TX_HOLD_RX_DOWN;
+				}
+				break;
+			case TX_HOLD_RX_DOWN:
+				counter_rx--;
+				if (counter_rx < 1) {
+					counter_state = TX_UP_RX_HOLD;
+				}
+				break;
+			default:
+				;
+		}
+
+		/* Reset receive buffer for consistency */
+		for (i = 0; i < 16; i++) {
+#if USE_16BIT_TRANSFERS
+			tx_packet[i] = (u16)i;
+#else
+			tx_packet[i] = (u8)i;
+#endif
+			rx_packet[i] = 0x42;
+		}		
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/usart/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/usart/README

@@ -0,0 +1,12 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example program sends some characters on USART2 on Lisa/M 2.0 board 
+(see http://paparazzi.enac.fr/wiki/LisaM for details).
+
+The terminal settings for the receiving device/PC are 38400 8n1.
+
+The sending is done in a blocking way in the code, see the usart_irq example
+for a more elaborate USART example.
+

examples/stm32/f1/lisa-m-2/usart/usart.c

@@ -0,0 +1,86 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port B (for GPIO_USART3_TX) and USART3. */
+	rcc_peripheral_enable_clock(&RCC_APB1ENR,
+				    RCC_APB1ENR_USART2EN);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_TX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 38400);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+}
+
+int main(void)
+{
+	int i, j = 0, c = 0;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/* Blink the LED (PA8) on the board with every transmitted byte. */
+	while (1) {
+		gpio_toggle(GPIOA, GPIO8);	/* LED on/off */
+		usart_send_blocking(USART2, c + '0');	/* USART2: Send byte. */
+		c = (c == 9) ? 0 : c + 1;	/* Increment c. */
+		if ((j++ % 80) == 0) {	/* Newline after line full. */
+			usart_send_blocking(USART2, '\r');
+			usart_send_blocking(USART2, '\n');
+		}
+		for (i = 0; i < 800000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/usart_dma/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart_dma
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/usart_dma/usart_dma.c

@@ -0,0 +1,199 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/f1/dma.h>
+#include <libopencm3/cm3/nvic.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port B (for GPIO_USART3_TX) and USART3. */
+	rcc_peripheral_enable_clock(&RCC_APB1ENR,
+				    RCC_APB1ENR_USART2EN);
+
+	/* Enable DMA1 clock */
+	rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_DMA1EN);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_TX and GPIO_USART2_RX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 38400);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+
+	nvic_set_priority(NVIC_DMA1_CHANNEL7_IRQ, 0);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL7_IRQ);
+
+	nvic_set_priority(NVIC_DMA1_CHANNEL6_IRQ, 0);
+	nvic_enable_irq(NVIC_DMA1_CHANNEL6_IRQ);
+
+}
+
+static void dma_write(char *data, int size)
+{
+	/*
+	 * Using channel 7 for USART2_TX
+	 */
+
+	/* Reset DMA channel*/
+	dma_channel_reset(DMA1, DMA_CHANNEL7);
+
+	dma_set_peripheral_address(DMA1, DMA_CHANNEL7, (u32)&USART2_DR);
+	dma_set_memory_address(DMA1, DMA_CHANNEL7, (u32)data);
+	dma_set_number_of_data(DMA1, DMA_CHANNEL7, size);
+	dma_set_read_from_memory(DMA1, DMA_CHANNEL7);
+	dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL7);
+	dma_set_peripheral_size(DMA1, DMA_CHANNEL7, DMA_CCR_PSIZE_8BIT);
+	dma_set_memory_size(DMA1, DMA_CHANNEL7, DMA_CCR_MSIZE_8BIT);
+	dma_set_priority(DMA1, DMA_CHANNEL7, DMA_CCR_PL_VERY_HIGH);
+
+	dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL7);
+
+	dma_enable_channel(DMA1, DMA_CHANNEL7);
+
+        usart_enable_tx_dma(USART2);
+}
+
+volatile int transfered = 0;
+
+void dma1_channel7_isr(void)
+{
+	if ((DMA1_ISR &DMA_ISR_TCIF7) != 0) {
+		DMA1_IFCR |= DMA_IFCR_CTCIF7;
+
+		transfered = 1;
+	}
+
+	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL7);
+
+	usart_disable_tx_dma(USART2);
+
+	dma_disable_channel(DMA1, DMA_CHANNEL7);
+}
+
+static void dma_read(char *data, int size)
+{
+	/*
+	 * Using channel 6 for USART2_RX
+	 */
+
+	/* Reset DMA channel*/
+	dma_channel_reset(DMA1, DMA_CHANNEL6);
+
+	dma_set_peripheral_address(DMA1, DMA_CHANNEL6, (u32)&USART2_DR);
+	dma_set_memory_address(DMA1, DMA_CHANNEL6, (u32)data);
+	dma_set_number_of_data(DMA1, DMA_CHANNEL6, size);
+	dma_set_read_from_peripheral(DMA1, DMA_CHANNEL6);
+	dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL6);
+	dma_set_peripheral_size(DMA1, DMA_CHANNEL6, DMA_CCR_PSIZE_8BIT);
+	dma_set_memory_size(DMA1, DMA_CHANNEL6, DMA_CCR_MSIZE_8BIT);
+	dma_set_priority(DMA1, DMA_CHANNEL6, DMA_CCR_PL_HIGH);
+
+	dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL6);
+
+	dma_enable_channel(DMA1, DMA_CHANNEL6);
+
+        usart_enable_rx_dma(USART2);
+}
+
+volatile int received = 0;
+
+void dma1_channel6_isr(void)
+{
+	if ((DMA1_ISR &DMA_ISR_TCIF6) != 0) {
+		DMA1_IFCR |= DMA_IFCR_CTCIF6;
+
+		received = 1;
+	}
+
+	dma_disable_transfer_complete_interrupt(DMA1, DMA_CHANNEL6);
+
+	usart_disable_rx_dma(USART2);
+
+	dma_disable_channel(DMA1, DMA_CHANNEL6);
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+}
+
+int main(void)
+{
+	char tx[10] = "abcdefg\r\n";
+	int tx_len = 10;
+	char rx[7] = "bcdefg";
+	int rx_len = 6;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	transfered = 0;
+	dma_write(tx, tx_len);
+	received = 0;
+	dma_read(rx, rx_len);
+
+	/* Blink the LED (PA8) on the board with every transmitted byte. */
+	while (1) {
+		gpio_toggle(GPIOA, GPIO8);	/* LED on/off */
+		while ( transfered != 1) {
+			if (received == 1) {
+				tx[1] = rx[0];
+				tx[2] = rx[1];
+				tx[3] = rx[2];
+				tx[4] = rx[3];
+				tx[5] = rx[4];
+				tx[6] = rx[5];
+				received = 0;
+				dma_read(rx, rx_len);
+			}
+		}
+		tx[0]++;
+		if (tx[0] > 'z') tx[0] = 'a';
+		transfered = 0;
+		dma_write(tx, tx_len);
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/usart_dma/usart_dma.c~

@@ -0,0 +1,86 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+
+void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA, GPIOB, GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port B (for GPIO_USART3_TX) and USART3. */
+	rcc_peripheral_enable_clock(&RCC_APB1ENR,
+				    RCC_APB1ENR_USART2EN);
+}
+
+void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_TX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 38400);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+
+}
+
+void gpio_setup(void)
+{
+	/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+}
+
+int main(void)
+{
+	int i, j = 0, c = 0;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/* Blink the LED (PA8) on the board with every transmitted byte. */
+	while (1) {
+		gpio_toggle(GPIOA, GPIO8);	/* LED on/off */
+		usart_send_blocking(USART2, c + '0');	/* USART2: Send byte. */
+		c = (c == 9) ? 0 : c + 1;	/* Increment c. */
+		if ((j++ % 80) == 0) {	/* Newline after line full. */
+			usart_send_blocking(USART2, '\r');
+			usart_send_blocking(USART2, '\n');
+		}
+		for (i = 0; i < 800000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/usart_irq/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart_irq
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/usart_irq/usart_irq.c

@@ -0,0 +1,126 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA clock (for LED GPIOs). */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port A (for GPIO_USART2_TX) and USART2. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_AFIOEN);
+
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+}
+
+static void usart_setup(void)
+{
+	/* Enable the USART2 interrupt. */
+	nvic_enable_irq(NVIC_USART2_IRQ);
+
+	/* Setup GPIO pin GPIO_USART2_TX on GPIO port A for transmit. */
+	gpio_set_mode(GPIO_BANK_USART2_TX, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup GPIO pin GPIO_USART2_RX on GPIO port A for receive. */
+	gpio_set_mode(GPIO_BANK_USART2_RX, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 230400);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+
+	/* Enable USART2 Receive interrupt. */
+	USART_CR1(USART2) |= USART_CR1_RXNEIE;
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	gpio_set(GPIOA, GPIO8);
+
+	/* Setup GPIO8 (in GPIO port A) for LED use. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	
+	gpio_set(GPIOC, GPIO15);
+
+	/* Setup GPIO15 (in GPIO port C) for LED use. */
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+}
+
+void usart2_isr(void)
+{
+	static u8 data = 'A';
+
+	/* Check if we were called because of RXNE. */
+	if (((USART_CR1(USART2) & USART_CR1_RXNEIE) != 0) &&
+	    ((USART_SR(USART2) & USART_SR_RXNE) != 0)) {
+
+		/* Indicate that we got data. */
+		gpio_toggle(GPIOA, GPIO8);
+
+		/* Retrieve the data from the peripheral. */
+		data = usart_recv(USART2);
+
+		/* Enable transmit interrupt so it sends back the data. */
+		USART_CR1(USART2) |= USART_CR1_TXEIE;
+	}
+
+	/* Check if we were called because of TXE. */
+	if (((USART_CR1(USART2) & USART_CR1_TXEIE) != 0) &&
+	    ((USART_SR(USART2) & USART_SR_TXE) != 0)) {
+
+		/* Indicate that we are sending out data. */
+		gpio_toggle(GPIOC, GPIO15);
+
+		/* Put data into the transmit register. */
+		usart_send(USART2, data);
+
+		/* Disable the TXE interrupt as we don't need it anymore. */
+		USART_CR1(USART2) &= ~USART_CR1_TXEIE;
+	}
+}
+
+int main(void)
+{
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/* Wait forever and do nothing. */
+	while (1)
+		__asm__("nop");
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/usart_irq_printf/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart_irq_printf
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/usart_irq_printf/usart_irq_printf.c

@@ -0,0 +1,274 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>,
+ * Copyright (C) 2011 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <stdio.h>
+#include <errno.h>
+
+/******************************************************************************
+ * Simple ringbuffer implementation from open-bldc's libgovernor that
+ * you can find at:
+ * https://github.com/open-bldc/open-bldc/tree/master/source/libgovernor
+ *****************************************************************************/
+
+typedef s32 ring_size_t;
+
+struct ring {
+	u8 *data;
+	ring_size_t size;
+	u32 begin;
+	u32 end;
+};
+
+#define RING_SIZE(RING)  ((RING)->size - 1)
+#define RING_DATA(RING)  (RING)->data
+#define RING_EMPTY(RING) ((RING)->begin == (RING)->end)
+
+int _write(int file, char *ptr, int len);
+
+static void ring_init(struct ring *ring, u8 *buf, ring_size_t size)
+{
+	ring->data = buf;
+	ring->size = size;
+	ring->begin = 0;
+	ring->end = 0;
+}
+
+static s32 ring_write_ch(struct ring *ring, u8 ch)
+{
+	if (((ring->end + 1) % ring->size) != ring->begin) {
+		ring->data[ring->end++] = ch;
+		ring->end %= ring->size;
+		return (u32)ch;
+	}
+
+	return -1;
+}
+
+static s32 ring_write(struct ring *ring, u8 *data, ring_size_t size)
+{
+	s32 i;
+
+	for (i = 0; i < size; i++) {
+		if (ring_write_ch(ring, data[i]) < 0)
+			return -i;
+	}
+
+	return i;
+}
+
+static s32 ring_read_ch(struct ring *ring, u8 *ch)
+{
+	s32 ret = -1;
+
+	if (ring->begin != ring->end) {
+		ret = ring->data[ring->begin++];
+		ring->begin %= ring->size;
+		if (ch)
+			*ch = ret;
+	}
+
+	return ret;
+}
+
+/* Not used!
+static s32 ring_read(struct ring *ring, u8 *data, ring_size_t size)
+{
+	s32 i;
+
+	for (i = 0; i < size; i++) {
+		if (ring_read_ch(ring, data + i) < 0)
+			return i;
+	}
+
+	return -i;
+}
+*/
+
+/******************************************************************************
+ * The example implementation
+ *****************************************************************************/
+
+#define BUFFER_SIZE 1024
+
+struct ring output_ring;
+u8 output_ring_buffer[BUFFER_SIZE];
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA clock (for LED GPIOs). */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable clocks for GPIO port A (for GPIO_USART2_TX) and USART2. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+}
+
+static void usart_setup(void)
+{
+	/* Initialize output ring buffer. */
+	ring_init(&output_ring, output_ring_buffer, BUFFER_SIZE);
+
+	/* Enable the USART2 interrupt. */
+	nvic_enable_irq(NVIC_USART2_IRQ);
+
+	/* Setup GPIO pin GPIO_USART2_TX on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup GPIO pin GPIO_USART2_RX on GPIO port A for receive. */
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 230400);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+
+	/* Enable USART2 Receive interrupt. */
+	USART_CR1(USART2) |= USART_CR1_RXNEIE;
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	gpio_set(GPIOA, GPIO8);
+
+	/* Setup GPIO8 (in GPIO port A) for LED use. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+}
+
+void usart2_isr(void)
+{
+	/* Check if we were called because of RXNE. */
+	if (((USART_CR1(USART2) & USART_CR1_RXNEIE) != 0) &&
+	    ((USART_SR(USART2) & USART_SR_RXNE) != 0)) {
+
+		/* Indicate that we got data. */
+		gpio_toggle(GPIOA, GPIO8);
+
+		/* Retrieve the data from the peripheral. */
+		ring_write_ch(&output_ring, usart_recv(USART2));
+
+		/* Enable transmit interrupt so it sends back the data. */
+		USART_CR1(USART2) |= USART_CR1_TXEIE;
+	}
+
+	/* Check if we were called because of TXE. */
+	if (((USART_CR1(USART2) & USART_CR1_TXEIE) != 0) &&
+	    ((USART_SR(USART2) & USART_SR_TXE) != 0)) {
+
+		s32 data;
+
+		data = ring_read_ch(&output_ring, NULL);
+
+		if (data == -1) {
+			/* Disable the TXE interrupt, it's no longer needed. */
+			USART_CR1(USART2) &= ~USART_CR1_TXEIE;
+		} else {
+			/* Put data into the transmit register. */
+			usart_send(USART2, data);
+		}
+	}
+}
+
+int _write(int file, char *ptr, int len)
+{
+	int ret;
+
+	if (file == 1) {
+		ret = ring_write(&output_ring, (u8 *)ptr, len);
+
+		if (ret < 0)
+			ret = -ret;
+
+		USART_CR1(USART2) |= USART_CR1_TXEIE;
+
+		return ret;
+	}
+
+	errno = EIO;
+	return -1;
+}
+
+static void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second. */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(8999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+void sys_tick_handler(void)
+{
+	static int counter = 0;
+	static float fcounter = 0.0;
+	static double dcounter = 0.0;
+	static u32 temp32 = 0;
+
+	temp32++;
+
+	/*
+	 * We call this handler every 1ms so we are sending hello world
+	 * every 10ms / 100Hz.
+	 */
+	if (temp32 == 10) {
+		printf("Hello World! %i %f %f\r\n", counter, fcounter,
+		       dcounter);
+		counter++;
+		fcounter += 0.01;
+		dcounter += 0.01;
+
+		temp32 = 0;
+	}
+}
+
+int main(void)
+{
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+	systick_setup();
+
+	while (1)
+		__asm__("nop");
+
+	return 0;
+}

examples/stm32/f1/lisa-m-2/usart_printf/Makefile

@@ -0,0 +1,28 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart_printf
+
+# Comment the following line if you _don't_ have luftboot flashed!
+LDFLAGS += -Wl,-Ttext=0x8002000
+CFLAGS += -std=c99
+LDSCRIPT = ../lisa-m.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/lisa-m-2/usart_printf/usart_printf.c

@@ -0,0 +1,108 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>,
+ * Copyright (C) 2011-2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+#include <stdio.h>
+#include <errno.h>
+
+int _write(int file, char *ptr, int len);
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+
+	/* Enable GPIOA clock (for LED GPIOs). */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Enable clocks for GPIO port A (for GPIO_USART2_TX) and USART2. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART2EN);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO pin GPIO_USART2_RE_TX on GPIO port B for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART2, 230400);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+	usart_set_mode(USART2, USART_MODE_TX);
+
+	/* Finally enable the USART. */
+	usart_enable(USART2);
+}
+
+static void gpio_setup(void)
+{
+	gpio_set(GPIOA, GPIO8);
+
+	/* Setup GPIO8 (in GPIO port A) for LED use. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+}
+
+int _write(int file, char *ptr, int len)
+{
+	int i;
+
+	if (file == 1) {
+		for (i = 0; i < len; i++)
+			usart_send_blocking(USART2, ptr[i]);
+		return i;
+	}
+
+	errno = EIO;
+	return -1;
+}
+
+int main(void)
+{
+	int counter = 0;
+	float fcounter = 0.0;
+	double dcounter = 0.0;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/*
+	 * Write Hello World, an integer, float and double all over
+	 * again while incrementing the numbers.
+	 */
+	while (1) {
+		gpio_toggle(GPIOA, GPIO8);
+		printf("Hello World! %i %f %f\r\n", counter, fcounter,
+		       dcounter);
+		counter++;
+		fcounter += 0.01;
+		dcounter += 0.01;
+	}
+
+	return 0;
+}

examples/stm32/f1/mb525/fancyblink/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = fancyblink
+
+LDSCRIPT = ../mb525.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/mb525/fancyblink/README

@@ -0,0 +1,10 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a blink example program using libopencm3.
+
+It's intended for the ST STM32-based MB525 eval board (see
+http://www.st.com/stonline/products/literature/um/13472.htm for details).
+It should blink the LEDs on the board.
+

examples/stm32/f1/mb525/fancyblink/fancyblink.c

@@ -0,0 +1,76 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>,
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO6/7/8/9 (in GPIO port C) to 'output push-pull'. */
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6 | GPIO7 | GPIO8 | GPIO9);
+}
+
+int main(void)
+{
+	int i;
+
+	clock_setup();
+	gpio_setup();
+
+	/* Blink the LEDs on the board. */
+	gpio_set(GPIOC, GPIO6);
+	while (1) {
+		gpio_toggle(GPIOC, GPIO6);	/* LED on/off */
+		gpio_toggle(GPIOC, GPIO7);	/* LED on/off */
+		for (i = 0; i < 4000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOC, GPIO7);	/* LED on/off */
+		gpio_toggle(GPIOC, GPIO8);	/* LED on/off */
+		for (i = 0; i < 4000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOC, GPIO8);	/* LED on/off */
+		gpio_toggle(GPIOC, GPIO9);	/* LED on/off */
+		for (i = 0; i < 4000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOC, GPIO8);	/* LED on/off */
+		gpio_toggle(GPIOC, GPIO9);	/* LED on/off */
+		for (i = 0; i < 4000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOC, GPIO7);	/* LED on/off */
+		gpio_toggle(GPIOC, GPIO8);	/* LED on/off */
+		for (i = 0; i < 4000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOC, GPIO6);	/* LED on/off */
+		gpio_toggle(GPIOC, GPIO7);	/* LED on/off */
+		for (i = 0; i < 4000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/mb525/mb525.ld

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* TODO: Fix description and sizes. */
+/* Linker script for Olimex STM32-H103 (STM32F103RBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

examples/stm32/f1/mb525/pwmleds/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = pwmleds
+
+LDSCRIPT = ../mb525.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/mb525/pwmleds/README

@@ -0,0 +1,9 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This is a PWM based LED fading example using libopencm3.
+
+It's intended for the ST STM32-based MB525 eval board (see
+http://www.st.com/stonline/products/literature/um/13472.htm for details).
+

examples/stm32/f1/mb525/pwmleds/pwmleds.c

@@ -0,0 +1,497 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/timer.h>
+
+// #define COMPARE
+// #define MOVING_FADE
+#define KITT
+
+#ifdef COMPARE
+#define GAMMA_LINEAR
+#define GAMMA_1_3
+#define GAMMA_2_5
+#define GAMMA_3_0
+#endif
+
+#ifdef MOVING_FADE
+#define GAMMA_2_2
+#define GAMMA_TABLE gamma_table_2_2
+#endif
+
+#ifdef KITT
+#define GAMMA_2_5
+#define GAMMA_TABLE gamma_table_2_5
+#endif
+
+/*
+ * Gamma correction table
+ *
+ * The nonlinear tables are calculating with the function:
+ * Iout = Iin ** gamma
+ */
+#ifdef GAMMA_LINEAR
+static const u16 gamma_table_linear[] = {
+	1,	4,	9,	17,	26,	37,	51,	67,
+	84,	104,	126,	149,	175,	203,	233,	265,
+	299,	334,	372,	412,	454,	499,	545,	593,
+	643,	695,	749,	805,	864,	924,	986,	1050,
+	1116,	1185,	1255,	1327,	1402,	1478,	1556,	1637,
+	1719,	1803,	1890,	1978,	2068,	2161,	2255,	2352,
+	2450,	2550,	2653,	2757,	2864,	2972,	3082,	3195,
+	3309,	3426,	3544,	3664,	3787,	3911,	4038,	4166,
+	4296,	4429,	4563,	4700,	4838,	4978,	5121,	5265,
+	5411,	5560,	5710,	5862,	6017,	6173,	6331,	6492,
+	6654,	6818,	6985,	7153,	7323,	7495,	7670,	7846,
+	8024,	8204,	8387,	8571,	8757,	8945,	9135,	9327,
+	9521,	9718,	9916,	10116,	10318,	10522,	10728,	10936,
+	11146,	11358,	11572,	11788,	12006,	12226,	12448,	12672,
+	12897,	13125,	13355,	13587,	13821,	14057,	14294,	14534,
+	14776,	15020,	15265,	15513,	15763,	16014,	16268,	16524,
+	16781,	17041,	17302,	17566,	17831,	18099,	18368,	18640,
+	18913,	19189,	19466,	19745,	20027,	20310,	20595,	20883,
+	21172,	21463,	21756,	22051,	22349,	22648,	22949,	23252,
+	23557,	23864,	24173,	24484,	24797,	25112,	25429,	25748,
+	26069,	26391,	26716,	27043,	27372,	27702,	28035,	28370,
+	28707,	29045,	29386,	29728,	30073,	30419,	30768,	31118,
+	31471,	31825,	32182,	32540,	32900,	33263,	33627,	33993,
+	34361,	34731,	35104,	35478,	35854,	36232,	36612,	36994,
+	37378,	37764,	38152,	38542,	38933,	39327,	39723,	40121,
+	40521,	40922,	41326,	41732,	42139,	42549,	42960,	43374,
+	43789,	44207,	44626,	45048,	45471,	45896,	46324,	46753,
+	47184,	47617,	48052,	48490,	48929,	49370,	49813,	50258,
+	50705,	51154,	51604,	52057,	52512,	52969,	53428,	53888,
+	54351,	54816,	55282,	55751,	56222,	56694,	57169,	57645,
+	58123,	58604,	59086,	59570,	60057,	60545,	61035,	61527,
+	62021,	62517,	63016,	63516,	64018,	64521,	65027,	65535,
+};
+#endif
+
+#ifdef GAMMA_1_3
+static const u16 gamma_table_1_3[] = {
+	/* Gamma 1.3 */
+	0,	49,	120,	203,	296,	395,	501,	612,
+	728,	848,	973,	1101,	1233,	1368,	1506,	1648,
+	1792,	1939,	2088,	2241,	2395,	2552,	2711,	2872,
+	3036,	3201,	3369,	3538,	3709,	3882,	4057,	4234,
+	4412,	4592,	4774,	4957,	5142,	5329,	5517,	5706,
+	5897,	6090,	6283,	6479,	6675,	6873,	7072,	7273,
+	7475,	7678,	7882,	8088,	8294,	8502,	8711,	8922,
+	9133,	9346,	9559,	9774,	9990,	10207,	10425,	10644,
+	10864,	11086,	11308,	11531,	11755,	11981,	12207,	12434,
+	12662,	12891,	13121,	13352,	13584,	13817,	14051,	14285,
+	14521,	14757,	14994,	15233,	15472,	15712,	15952,	16194,
+	16436,	16679,	16923,	17168,	17414,	17660,	17908,	18156,
+	18405,	18654,	18905,	19156,	19408,	19660,	19914,	20168,
+	20423,	20679,	20935,	21192,	21450,	21708,	21968,	22228,
+	22488,	22750,	23012,	23275,	23538,	23802,	24067,	24332,
+	24599,	24865,	25133,	25401,	25670,	25939,	26209,	26480,
+	26751,	27023,	27296,	27569,	27843,	28118,	28393,	28669,
+	28945,	29222,	29500,	29778,	30057,	30336,	30616,	30897,
+	31178,	31460,	31742,	32025,	32308,	32592,	32877,	33162,
+	33448,	33734,	34021,	34309,	34597,	34885,	35175,	35464,
+	35754,	36045,	36337,	36628,	36921,	37214,	37507,	37801,
+	38096,	38391,	38686,	38982,	39279,	39576,	39874,	40172,
+	40471,	40770,	41070,	41370,	41670,	41972,	42273,	42576,
+	42878,	43181,	43485,	43789,	44094,	44399,	44705,	45011,
+	45317,	45625,	45932,	46240,	46549,	46858,	47167,	47477,
+	47787,	48098,	48409,	48721,	49034,	49346,	49659,	49973,
+	50287,	50602,	50917,	51232,	51548,	51864,	52181,	52498,
+	52816,	53134,	53452,	53771,	54091,	54411,	54731,	55052,
+	55373,	55694,	56016,	56339,	56662,	56985,	57309,	57633,
+	57957,	58282,	58608,	58933,	59260,	59586,	59913,	60241,
+	60569,	60897,	61226,	61555,	61884,	62214,	62545,	62875,
+	63206,	63538,	63870,	64202,	64535,	64868,	65201,	65535,
+};
+#endif
+
+#ifdef GAMMA_2_2
+static const u16 gamma_table_2_2[] = {
+	0,	0,	2,	4,	7,	11,	17,	24,
+	32,	42,	53,	65,	79,	94,	111,	129,
+	148,	169,	192,	216,	242,	270,	299,	330,
+	362,	396,	432,	469,	508,	549,	591,	635,
+	681,	729,	779,	830,	883,	938,	995,	1053,
+	1113,	1175,	1239,	1305,	1373,	1443,	1514,	1587,
+	1663,	1740,	1819,	1900,	1983,	2068,	2155,	2243,
+	2334,	2427,	2521,	2618,	2717,	2817,	2920,	3024,
+	3131,	3240,	3350,	3463,	3578,	3694,	3813,	3934,
+	4057,	4182,	4309,	4438,	4570,	4703,	4838,	4976,
+	5115,	5257,	5401,	5547,	5695,	5845,	5998,	6152,
+	6309,	6468,	6629,	6792,	6957,	7124,	7294,	7466,
+	7640,	7816,	7994,	8175,	8358,	8543,	8730,	8919,
+	9111,	9305,	9501,	9699,	9900,	10102,	10307,	10515,
+	10724,	10936,	11150,	11366,	11585,	11806,	12029,	12254,
+	12482,	12712,	12944,	13179,	13416,	13655,	13896,	14140,
+	14386,	14635,	14885,	15138,	15394,	15652,	15912,	16174,
+	16439,	16706,	16975,	17247,	17521,	17798,	18077,	18358,
+	18642,	18928,	19216,	19507,	19800,	20095,	20393,	20694,
+	20996,	21301,	21609,	21919,	22231,	22546,	22863,	23182,
+	23504,	23829,	24156,	24485,	24817,	25151,	25487,	25826,
+	26168,	26512,	26858,	27207,	27558,	27912,	28268,	28627,
+	28988,	29351,	29717,	30086,	30457,	30830,	31206,	31585,
+	31966,	32349,	32735,	33124,	33514,	33908,	34304,	34702,
+	35103,	35507,	35913,	36321,	36732,	37146,	37562,	37981,
+	38402,	38825,	39252,	39680,	40112,	40546,	40982,	41421,
+	41862,	42306,	42753,	43202,	43654,	44108,	44565,	45025,
+	45487,	45951,	46418,	46888,	47360,	47835,	48313,	48793,
+	49275,	49761,	50249,	50739,	51232,	51728,	52226,	52727,
+	53230,	53736,	54245,	54756,	55270,	55787,	56306,	56828,
+	57352,	57879,	58409,	58941,	59476,	60014,	60554,	61097,
+	61642,	62190,	62741,	63295,	63851,	64410,	64971,	65535,
+};
+#endif
+
+#ifdef GAMMA_2_5
+static const u16 gamma_table_2_5[] = {
+	/* gamma = 2.5 */
+	0,	0,	0,	1,	2,	4,	6,	8,
+	11,	15,	20,	25,	31,	38,	46,	55,
+	65,	75,	87,	99,	113,	128,	143,	160,
+	178,	197,	218,	239,	262,	286,	311,	338,
+	366,	395,	425,	457,	491,	526,	562,	599,
+	639,	679,	722,	765,	811,	857,	906,	956,
+	1007,	1061,	1116,	1172,	1231,	1291,	1352,	1416,
+	1481,	1548,	1617,	1688,	1760,	1834,	1910,	1988,
+	2068,	2150,	2233,	2319,	2407,	2496,	2587,	2681,
+	2776,	2874,	2973,	3075,	3178,	3284,	3391,	3501,
+	3613,	3727,	3843,	3961,	4082,	4204,	4329,	4456,
+	4585,	4716,	4850,	4986,	5124,	5264,	5407,	5552,
+	5699,	5849,	6001,	6155,	6311,	6470,	6632,	6795,
+	6962,	7130,	7301,	7475,	7650,	7829,	8009,	8193,
+	8379,	8567,	8758,	8951,	9147,	9345,	9546,	9750,
+	9956,	10165,	10376,	10590,	10806,	11025,	11247,	11472,
+	11699,	11929,	12161,	12397,	12634,	12875,	13119,	13365,
+	13614,	13865,	14120,	14377,	14637,	14899,	15165,	15433,
+	15705,	15979,	16256,	16535,	16818,	17104,	17392,	17683,
+	17978,	18275,	18575,	18878,	19184,	19493,	19805,	20119,
+	20437,	20758,	21082,	21409,	21739,	22072,	22407,	22746,
+	23089,	23434,	23782,	24133,	24487,	24845,	25206,	25569,
+	25936,	26306,	26679,	27055,	27435,	27818,	28203,	28592,
+	28985,	29380,	29779,	30181,	30586,	30994,	31406,	31820,
+	32239,	32660,	33085,	33513,	33944,	34379,	34817,	35258,
+	35702,	36150,	36602,	37056,	37514,	37976,	38441,	38909,
+	39380,	39856,	40334,	40816,	41301,	41790,	42282,	42778,
+	43277,	43780,	44286,	44795,	45308,	45825,	46345,	46869,
+	47396,	47927,	48461,	48999,	49540,	50085,	50634,	51186,
+	51742,	52301,	52864,	53431,	54001,	54575,	55153,	55734,
+	56318,	56907,	57499,	58095,	58695,	59298,	59905,	60515,
+	61130,	61748,	62370,	62995,	63624,	64258,	64894,	65535,
+};
+#endif
+
+#ifdef GAMMA_3_0
+static const u16 gamma_table_3_0[] = {
+	/* gamma = 3.0 */
+	0,	0,	0,	0,	0,	0,	1,	1,
+	2,	3,	4,	5,	7,	9,	11,	13,
+	16,	19,	23,	27,	32,	37,	42,	48,
+	55,	62,	69,	78,	87,	96,	107,	118,
+	130,	142,	155,	169,	184,	200,	217,	234,
+	253,	272,	293,	314,	337,	360,	385,	410,
+	437,	465,	494,	524,	556,	588,	622,	658,
+	694,	732,	771,	812,	854,	897,	942,	988,
+	1036,	1085,	1136,	1189,	1243,	1298,	1356,	1415,
+	1475,	1538,	1602,	1667,	1735,	1804,	1876,	1949,
+	2024,	2100,	2179,	2260,	2343,	2427,	2514,	2603,
+	2693,	2786,	2881,	2978,	3078,	3179,	3283,	3389,
+	3497,	3607,	3720,	3835,	3952,	4072,	4194,	4319,
+	4446,	4575,	4707,	4842,	4979,	5118,	5261,	5405,
+	5553,	5703,	5856,	6011,	6169,	6330,	6494,	6660,
+	6830,	7002,	7177,	7355,	7536,	7719,	7906,	8096,
+	8289,	8484,	8683,	8885,	9090,	9298,	9510,	9724,
+	9942,	10163,	10387,	10614,	10845,	11079,	11317,	11557,
+	11802,	12049,	12300,	12555,	12813,	13074,	13339,	13608,
+	13880,	14156,	14435,	14718,	15005,	15295,	15589,	15887,
+	16189,	16494,	16803,	17117,	17433,	17754,	18079,	18408,
+	18740,	19077,	19418,	19762,	20111,	20464,	20821,	21182,
+	21547,	21917,	22290,	22668,	23050,	23436,	23827,	24222,
+	24621,	25025,	25433,	25845,	26262,	26683,	27109,	27539,
+	27974,	28413,	28857,	29306,	29759,	30217,	30680,	31147,
+	31619,	32095,	32577,	33063,	33554,	34050,	34551,	35056,
+	35567,	36082,	36602,	37128,	37658,	38194,	38734,	39280,
+	39830,	40386,	40947,	41513,	42084,	42661,	43243,	43830,
+	44422,	45019,	45622,	46231,	46844,	47463,	48088,	48718,
+	49353,	49994,	50641,	51293,	51950,	52614,	53282,	53957,
+	54637,	55323,	56014,	56712,	57415,	58123,	58838,	59558,
+	60285,	61017,	61755,	62499,	63249,	64005,	64767,	65535,
+};
+#endif
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable TIM1 clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_TIM1EN);
+
+	/* Enable GPIOC, Alternate Function clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+			RCC_APB2ENR_IOPAEN | RCC_APB2ENR_AFIOEN);
+}
+
+static void gpio_setup(void)
+{
+	/*
+	 * Set GPIO_TIM1_CH1/2/3/4 (in GPIO port A) to
+	 * 'output alternate function push-pull'.
+	 */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+		      GPIO_TIM1_CH1 | GPIO_TIM1_CH2 |
+		      GPIO_TIM1_CH3 | GPIO_TIM1_CH4);
+
+	/*
+	 * Remap TIM1:
+	 * CH1 -> PC6
+	 * CH2 -> PC7
+	 * CH3 -> PC8
+	 * CH4 -> PC9
+	 */
+	// AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP;
+}
+
+static void tim_setup(void)
+{
+#if 0
+	TIM1_CR1 = TIM_CR1_CMS_CENTER_1 | TIM_CR1_ARPE;
+	TIM1_CCMR1 = TIM_CCMR1_OC1M_PWM1 | TIM_CCMR1_OC1PE |
+		     TIM_CCMR1_OC2M_PWM1 | TIM_CCMR1_OC2PE;
+	TIM1_CCMR2 = TIM_CCMR2_OC3M_PWM1 | TIM_CCMR2_OC3PE;
+
+	TIM1_CCER &= ~TIM_CCER_CC1P;
+#endif
+#if 1
+	TIM1_SMCR &= ~TIM_SMCR_SMS_MASK;
+	TIM1_CR1 &= ~TIM_CR1_CEN;
+
+	/* Clock division and mode */
+	TIM1_CR1 = TIM_CR1_CKD_CK_INT | TIM_CR1_CMS_EDGE;
+	/* Period */
+	TIM1_ARR = 65535;
+	/* Prescaler */
+	TIM1_PSC = 2;
+	TIM1_EGR = TIM_EGR_UG;
+
+	/* ---- */
+	/* Output compare 1 mode and preload */
+	TIM1_CCMR1 |= TIM_CCMR1_OC1M_PWM1 | TIM_CCMR1_OC1PE;
+
+	/* Polarity and state */
+	// TIM1_CCER = TIM_CCER_CC1P | TIM_CCER_CC1E;
+	TIM1_CCER |= TIM_CCER_CC1E;
+
+	/* Capture compare value */
+	TIM1_CCR1 = 1000;
+
+	/* ---- */
+	/* Output compare 2 mode and preload */
+	TIM1_CCMR1 |= TIM_CCMR1_OC2M_PWM1 | TIM_CCMR1_OC2PE;
+
+	/* Polarity and state */
+	// TIM1_CCER = TIM_CCER_CC1P | TIM_CCER_CC1E;
+	TIM1_CCER |= TIM_CCER_CC2E;
+
+	/* Capture compare value */
+	TIM1_CCR2 = 1000;
+
+	/* ---- */
+	/* Output compare 3 mode and preload */
+	TIM1_CCMR2 |= TIM_CCMR2_OC3M_PWM1 | TIM_CCMR2_OC3PE;
+
+	/* Polarity and state */
+	// TIM1_CCER = TIM_CCER_CC1P | TIM_CCER_CC1E;
+	TIM1_CCER |= TIM_CCER_CC3E;
+
+	/* Capture compare value */
+	TIM1_CCR3 = 1000;
+
+	/* ---- */
+	/* Output compare 4 mode and preload */
+	TIM1_CCMR2 |= TIM_CCMR2_OC4M_PWM1 | TIM_CCMR2_OC4PE;
+
+	/* Polarity and state */
+	// TIM1_CCER = TIM_CCER_CC1P | TIM_CCER_CC1E;
+	TIM1_CCER |= TIM_CCER_CC4E;
+
+	/* Capture compare value */
+	TIM1_CCR4 = 1000;
+
+	/* ---- */
+	/* ARR reload enable */
+	TIM1_CR1 |= TIM_CR1_ARPE;
+
+	TIM1_BDTR |= TIM_BDTR_MOE;
+
+	/* Counter enable */
+	TIM1_CR1 |= TIM_CR1_CEN;
+#endif
+}
+
+int main(void)
+{
+	int i, j0, j1, j2, j3, d0, d1, d2, d3, j, k, kd;
+
+	clock_setup();
+	gpio_setup();
+	tim_setup();
+
+#ifdef COMPARE
+	j0 = 0;
+	d0 = 1;
+	j1 = 0;
+	d1 = 1;
+	j2 = 0;
+	d2 = 1;
+	j3 = 0;
+	d3 = 1;
+	while (1) {
+		TIM1_CCR1 = gamma_table_linear[j0];
+		j0 += d0;
+		if (j0 == 255)
+			d0 = -1;
+		if (j0 == 0)
+			d0 = 1;
+		TIM1_CCR2 = gamma_table_1_3[j1];
+		j1 += d1;
+		if (j1 == 255)
+			d1 = -1;
+		if (j1 == 0)
+			d1 = 1;
+		TIM1_CCR3 = gamma_table_2_5[j2];
+		j2 += d2;
+		if (j2 == 255)
+			d2 = -1;
+		if (j2 == 0)
+			d2 = 1;
+		TIM1_CCR4 = gamma_table_3_0[j3];
+		j3 += d3;
+		if (j3 == 255)
+			d3 = -1;
+		if (j3 == 0)
+			d3 = 1;
+		for (i = 0; i < 50000; i++);
+	}
+#endif
+
+#ifdef MOVING_FADE
+	j0 = 0;
+	d0 = 1;
+	j1 = 128;
+	d1 = 1;
+	j2 = 255;
+	d2 = -1;
+	j3 = 128;
+	d3 = -1;
+	while (1) {
+		TIM1_CCR1 = GAMMA_TABLE[j0];
+		j0 += d0;
+		if (j0 == 255)
+			d0 = -1;
+		if (j0 == 0)
+			d0 = 1;
+		TIM1_CCR2 = GAMMA_TABLE[j1];
+		j1 += d1;
+		if (j1 == 255)
+			d1 = - 1;
+		if (j1 == 0)
+			d1 = 1;
+		TIM1_CCR3 = GAMMA_TABLE[j2];
+		j2 += d2;
+		if (j2 == 255)
+			d2 = -1;
+		if (j2 == 0)
+			d2 = 1;
+		TIM1_CCR4 = GAMMA_TABLE[j3];
+		j3 += d3;
+		if (j3 == 255)
+			d3 = -1;
+		if (j3 == 0)
+			d3 = 1;
+		for (i = 0; i < 10000; i++);
+	}
+#endif
+
+#ifdef KITT
+	j0 = 255;
+	d0 = -1;
+	j1 = 20;
+	d1 = -1;
+	j2 = 20;
+	d2 = -1;
+	j3 = 20;
+	d3 = -1;
+	j = 0;
+	k = 0;
+	kd = 1;
+	while (1) {
+		TIM1_CCR1 = GAMMA_TABLE[j0];
+		j0 += d0;
+		if (j0 == 255)
+			d0 = -1;
+		if (j0 == 19)
+			j0 = 20;
+		TIM1_CCR2 = GAMMA_TABLE[j1];
+		j1 += d1;
+		if (j1 == 255)
+			d1 = -1;
+		if (j1 == 19)
+			j1 = 20;
+		TIM1_CCR3 = GAMMA_TABLE[j2];
+		j2 += d2;
+		if (j2 == 255)
+			d2 = -1;
+		if (j2 == 19)
+			j2 = 20;
+		TIM1_CCR4 = GAMMA_TABLE[j3];
+		j3 += d3;
+		if (j3 == 255)
+			d3 = -1;
+		if (j3 == 19)
+			j3 = 20;
+		for (i = 0; i < 5000; i++);
+		j++;
+		if (j == 100) {
+			j = 0;
+			switch (k += kd) {
+			case 0:
+				j0 = 255;
+				break;
+			case 1:
+				j1 = 255;
+				break;
+			case 2:
+				j2 = 255;
+				break;
+			case 3:
+				j3 = 255;
+				break;
+			}
+			if (k == 3)
+				kd = -1;
+			if (k == 0)
+				kd = 1;
+		}
+	}
+#endif
+
+	return 0;
+}

examples/stm32/f1/obldc-strip/can/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = can
+
+LDSCRIPT = ../obldc-strip.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc-strip/can/README

@@ -0,0 +1,4 @@
+This test sets up the CAN interface on Lisa/M and transmits 8 bites every
+100ms. The first byte is being incremented in each cycle. The demo also
+receives messages and is displaing the first 4 bits of the first byte on the
+board LEDs.

examples/stm32/f1/obldc-strip/can/can.c

@@ -0,0 +1,205 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+static void gpio_setup(void)
+{
+        /* Enable Alternate Function clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Preconfigure LEDs. */
+	gpio_set(GPIOB, GPIO4);  /* LED green off */
+	gpio_set(GPIOB, GPIO5);  /* LED red off */
+
+	/* Configure LED GPIOs. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+}
+
+static void systick_setup(void)
+{
+	/* 64MHz / 8 => 8000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 8000000/8000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(7999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+static void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CAN1EN);
+
+	AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init.
+	 * Setting the bitrate to 1MBit. APB1 = 32MHz, 
+	 * prescaler = 2 -> 16MHz time quanta frequency.
+	 * 1tq sync + 9tq bit segment1 (TS1) + 6tq bit segment2 (TS2) = 
+	 * 16time quanto per bit period, therefor 16MHz/16 = 1MHz
+	 */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_9TQ,
+		     CAN_BTR_TS2_6TQ,
+		     2,
+		     false,
+		     false))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_clear(GPIOB, GPIO4); /* LED green on */
+		gpio_set(GPIOB, GPIO5);   /* LED red off */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so every 1ms = 0.001s
+	 * resulting in 1000Hz message rate.
+	 */
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOB, GPIO4);   /* LED green off */
+		gpio_clear(GPIOB, GPIO5); /* LED red on */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 0x40)
+		gpio_clear(GPIOB, GPIO4);
+	else
+		gpio_set(GPIOB, GPIO4);
+
+	if (data[0] & 0x80)
+		gpio_clear(GPIOB, GPIO5);
+	else
+		gpio_set(GPIOB, GPIO5);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hsi_out_64mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/obldc-strip/can/can.c~

@@ -0,0 +1,232 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+void gpio_setup(void)
+{
+        /* Enable Alternate Function clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Enable GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Preconfigure LEDs. */
+	gpio_set(GPIOA, GPIO8);  /* LED0 off */
+	gpio_set(GPIOB, GPIO4);  /* LED1 off */
+	gpio_set(GPIOC, GPIO15); /* LED2 off */
+	gpio_set(GPIOC, GPIO2);  /* LED3 off */
+	gpio_set(GPIOC, GPIO5);  /* LED4 off */
+
+	/* Configure LED GPIOOs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+}
+
+void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	systick_set_reload(9000);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
+
+	AFIO_MAPR = AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIOB, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_clear(GPIOC, GPIO2);       /* LED3 on */
+		gpio_set(GPIOC, GPIO5);	        /* LED4 off */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (++temp32 != 1000)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_set(GPIOC, GPIO2);         /* LED3 off */
+		gpio_clear(GPIOC, GPIO5);	/* LED4 on */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO8);
+	else
+		gpio_set(GPIOA, GPIO8);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOB, GPIO4);
+	else
+		gpio_set(GPIOB, GPIO4);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOC, GPIO15);
+	else
+		gpio_set(GPIOC, GPIO15);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOC, GPIO2);
+	else
+		gpio_set(GPIOC, GPIO2);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/obldc-strip/led/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = led
+
+LDSCRIPT = ../obldc-strip.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc-strip/led/led.c

@@ -0,0 +1,65 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+
+static void clock_setup(void)
+{
+	/* Set STM32 to 64 MHz. */
+	rcc_clock_setup_in_hsi_out_64mhz();
+
+	/* Enable alternate function peripheral clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+}
+
+static void gpio_setup(void)
+{
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+	
+	/* Set GPIO4 and 5 (in GPIO port B) to 'output push-pull'. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4 | GPIO5);
+	
+}
+
+int main(void)
+{
+	int i;
+
+	clock_setup();
+	gpio_setup();
+
+	/* Blink the LEDs on the board. */
+	while (1) {
+		gpio_toggle(GPIOB, GPIO4);	/* LED on/off */
+		for (i = 0; i < 8000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOB, GPIO5);	/* LED on/off */
+		for (i = 0; i < 8000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/obldc-strip/obldc-strip.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for Open-BLDC (STM32F103CBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

examples/stm32/f1/obldc-strip/systick/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = systick
+
+LDSCRIPT = ../obldc-strip.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc-strip/systick/systick.c

@@ -0,0 +1,82 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+
+u32 temp32;
+
+static void gpio_setup(void)
+{
+	/* Enable alternate function peripheral clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	gpio_clear(GPIOB, GPIO4); /* LED green on */
+	gpio_set(GPIOB, GPIO5);   /* LED red off */
+
+	/* Set GPIO4/5 (in GPIO port B) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+}
+
+void sys_tick_handler(void)
+{
+	temp32++;
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (temp32 == 1000) {
+		gpio_toggle(GPIOB, GPIO4); /* LED green on/off */
+		gpio_toggle(GPIOB, GPIO5); /* LED red on/off */
+		temp32 = 0;
+	}
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hsi_out_64mhz();
+	gpio_setup();
+
+	temp32 = 0;
+
+	/* 64MHz / 8 => 8000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 8000000/8000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(7999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/obldc-strip/usart/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart
+
+LDSCRIPT = ../obldc-strip.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc-strip/usart/usart.c

@@ -0,0 +1,87 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hsi_out_64mhz();
+
+	/* Enable clocks for GPIO port B (for GPIO_USART1_TX and LED) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO6 (in GPIO port A) to 'output push-pull' for LED use. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	AFIO_MAPR |= AFIO_MAPR_USART1_REMAP;
+
+	/* Setup GPIO pin GPIO_USART3_TX/GPIO10 on GPIO port B for transmit. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_RE_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART1, 230400);
+	usart_set_databits(USART1, 8);
+	usart_set_stopbits(USART1, USART_STOPBITS_1);
+	usart_set_mode(USART1, USART_MODE_TX);
+	usart_set_parity(USART1, USART_PARITY_NONE);
+	usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART1);
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO5 (in GPIO port B) to 'output push-pull'. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+}
+
+int main(void)
+{
+	int i, j = 0, c = 0;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/* Blink the LED (PA6) on the board with every transmitted byte. */
+	while (1) {
+		gpio_toggle(GPIOB, GPIO5);	/* LED red on/off */
+		usart_send_blocking(USART1, c + '0');	/* Send a byte. */
+		c = (c == 9) ? 0 : c + 1;	/* Increment c. */
+		if ((j++ % 80) == 0) {		/* Newline after line full. */
+			usart_send_blocking(USART1, '\r');
+			usart_send_blocking(USART1, '\n');
+		}
+		for (i = 0; i < 800000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/obldc/can/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = can
+
+LDSCRIPT = ../obldc.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc/can/can.c

@@ -0,0 +1,219 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+static void gpio_setup(void)
+{
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	gpio_set(GPIOA, GPIO6); /* LED0 off */
+	gpio_set(GPIOA, GPIO7); /* LED1 off */
+	gpio_set(GPIOB, GPIO0); /* LED2 off */
+	gpio_set(GPIOB, GPIO1); /* LED3 off */
+
+	/* Set GPIO6/7 (in GPIO port A) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO7);
+
+	/* Set GPIO0/1 (in GPIO port B) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO0);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
+}
+
+static void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(8999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+static void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN_RX);
+	gpio_set(GPIOA, GPIO_CAN_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12,
+		     false,
+		     false))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_set(GPIOA, GPIO6);		/* LED0 off */
+		gpio_set(GPIOA, GPIO7);		/* LED1 off */
+		gpio_set(GPIOB, GPIO0);		/* LED2 off */
+		gpio_clear(GPIOB, GPIO1);	/* LED3 on */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (++temp32 != 1000)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO6);		/* LED0 off */
+		gpio_set(GPIOA, GPIO7);		/* LED1 off */
+		gpio_clear(GPIOB, GPIO0);	/* LED2 on */
+		gpio_set(GPIOB, GPIO1);		/* LED3 off */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO6);
+	else
+		gpio_set(GPIOA, GPIO6);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOA, GPIO7);
+	else
+		gpio_set(GPIOA, GPIO7);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOB, GPIO0);
+	else
+		gpio_set(GPIOB, GPIO0);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOB, GPIO1);
+	else
+		gpio_set(GPIOB, GPIO1);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/obldc/can/can.c~

@@ -0,0 +1,232 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/can.h>
+
+struct can_tx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+};
+
+struct can_rx_msg {
+	u32 std_id;
+	u32 ext_id;
+	u8 ide;
+	u8 rtr;
+	u8 dlc;
+	u8 data[8];
+	u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+void gpio_setup(void)
+{
+        /* Enable Alternate Function clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Enable GPIOC clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+
+	/* Preconfigure LEDs. */
+	gpio_set(GPIOA, GPIO8);  /* LED0 off */
+	gpio_set(GPIOB, GPIO4);  /* LED1 off */
+	gpio_set(GPIOC, GPIO15); /* LED2 off */
+	gpio_set(GPIOC, GPIO2);  /* LED3 off */
+	gpio_set(GPIOC, GPIO5);  /* LED4 off */
+
+	/* Configure LED GPIOOs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
+	gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
+
+	/* Configure PB4 as GPIO. */
+	AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
+
+}
+
+void systick_setup(void)
+{
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	systick_set_reload(9000);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+}
+
+void can_setup(void)
+{
+	/* Enable peripheral clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
+
+	AFIO_MAPR = AFIO_MAPR_CAN1_REMAP_PORTB;
+
+	/* Configure CAN pin: RX (input pull-up). */
+	gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
+	gpio_set(GPIOB, GPIO_CAN1_PB_RX);
+
+	/* Configure CAN pin: TX. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
+
+	/* NVIC setup. */
+	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+	/* Reset CAN. */
+	can_reset(CAN1);
+
+	/* CAN cell init. */
+	if (can_init(CAN1,
+		     false,           /* TTCM: Time triggered comm mode? */
+		     true,            /* ABOM: Automatic bus-off management? */
+		     false,           /* AWUM: Automatic wakeup mode? */
+		     false,           /* NART: No automatic retransmission? */
+		     false,           /* RFLM: Receive FIFO locked mode? */
+		     false,           /* TXFP: Transmit FIFO priority? */
+		     CAN_BTR_SJW_1TQ,
+		     CAN_BTR_TS1_3TQ,
+		     CAN_BTR_TS2_4TQ,
+		     12))             /* BRP+1: Baud rate prescaler */
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_clear(GPIOC, GPIO2);       /* LED3 on */
+		gpio_set(GPIOC, GPIO5);	        /* LED4 off */
+
+		/* Die because we failed to initialize. */
+		while (1)
+			__asm__("nop");
+	}
+
+	/* CAN filter 0 init. */
+	can_filter_id_mask_32bit_init(CAN1,
+				0,     /* Filter ID */
+				0,     /* CAN ID */
+				0,     /* CAN ID mask */
+				0,     /* FIFO assignment (here: FIFO0) */
+				true); /* Enable the filter. */
+
+	/* Enable CAN RX interrupt. */
+	can_enable_irq(CAN1, CAN_IER_FMPIE0);
+}
+
+void sys_tick_handler(void)
+{
+	static int temp32 = 0;
+	static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (++temp32 != 1000)
+		return;
+
+	temp32 = 0;
+
+	/* Transmit CAN frame. */
+	data[0]++;
+	if (can_transmit(CAN1,
+			 0,     /* (EX/ST)ID: CAN ID */
+			 false, /* IDE: CAN ID extended? */
+			 false, /* RTR: Request transmit? */
+			 8,     /* DLC: Data length */
+			 data) == -1)
+	{
+		gpio_set(GPIOA, GPIO8);		/* LED0 off */
+		gpio_set(GPIOB, GPIO4);		/* LED1 off */
+		gpio_set(GPIOC, GPIO15);       	/* LED2 off */
+		gpio_set(GPIOC, GPIO2);         /* LED3 off */
+		gpio_clear(GPIOC, GPIO5);	/* LED4 on */
+	}
+}
+
+void usb_lp_can_rx0_isr(void)
+{
+	u32 id, fmi;
+	bool ext, rtr;
+	u8 length, data[8];
+
+	can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
+
+	if (data[0] & 1)
+		gpio_clear(GPIOA, GPIO8);
+	else
+		gpio_set(GPIOA, GPIO8);
+
+	if (data[0] & 2)
+		gpio_clear(GPIOB, GPIO4);
+	else
+		gpio_set(GPIOB, GPIO4);
+
+	if (data[0] & 4)
+		gpio_clear(GPIOC, GPIO15);
+	else
+		gpio_set(GPIOC, GPIO15);
+
+	if (data[0] & 8)
+		gpio_clear(GPIOC, GPIO2);
+	else
+		gpio_set(GPIOC, GPIO2);
+
+	can_fifo_release(CAN1, 0);
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_12mhz_out_72mhz();
+	gpio_setup();
+	can_setup();
+	systick_setup();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/obldc/led/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = led
+
+LDSCRIPT = ../obldc.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc/led/led.c

@@ -0,0 +1,71 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+
+static void clock_setup(void)
+{
+	/* Set STM32 to 72 MHz. */
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO6 and 7 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6 | GPIO7);
+
+	/* Set GPIO0 and 1 (in GPIO port B) to 'output push-pull'. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO0 | GPIO1);
+}
+
+int main(void)
+{
+	int i;
+
+	clock_setup();
+	gpio_setup();
+
+	/* Blink the LEDs on the board. */
+	while (1) {
+		gpio_toggle(GPIOA, GPIO6);	/* LED on/off */
+		for (i = 0; i < 8000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOA, GPIO7);	/* LED on/off */
+		for (i = 0; i < 8000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOB, GPIO0);	/* LED on/off */
+		for (i = 0; i < 8000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+		gpio_toggle(GPIOB, GPIO1);	/* LED on/off */
+		for (i = 0; i < 8000000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/obldc/obldc.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for Open-BLDC (STM32F103CBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

examples/stm32/f1/obldc/pwmleds/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = pwmleds
+
+LDSCRIPT = ../obldc.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc/pwmleds/pwmleds.c

@@ -0,0 +1,484 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/timer.h>
+
+// #define COMPARE
+// #define MOVING_FADE
+#define KITT
+
+#ifdef COMPARE
+#define GAMMA_LINEAR
+#define GAMMA_1_3
+#define GAMMA_2_5
+#define GAMMA_3_0
+#endif
+
+#ifdef MOVING_FADE
+#define GAMMA_2_2
+#define GAMMA_TABLE gamma_table_2_2
+#endif
+
+#ifdef KITT
+#define GAMMA_2_5
+#define GAMMA_TABLE gamma_table_2_5
+#endif
+
+/*
+ * Gamma correction table
+ *
+ * The nonlinear tables are calculating with the function:
+ * Iout = Iin ** gamma
+ */
+#ifdef GAMMA_LINEAR
+static const u16 gamma_table_linear[] = {
+	1,	4,	9,	17,	26,	37,	51,	67,
+	84,	104,	126,	149,	175,	203,	233,	265,
+	299,	334,	372,	412,	454,	499,	545,	593,
+	643,	695,	749,	805,	864,	924,	986,	1050,
+	1116,	1185,	1255,	1327,	1402,	1478,	1556,	1637,
+	1719,	1803,	1890,	1978,	2068,	2161,	2255,	2352,
+	2450,	2550,	2653,	2757,	2864,	2972,	3082,	3195,
+	3309,	3426,	3544,	3664,	3787,	3911,	4038,	4166,
+	4296,	4429,	4563,	4700,	4838,	4978,	5121,	5265,
+	5411,	5560,	5710,	5862,	6017,	6173,	6331,	6492,
+	6654,	6818,	6985,	7153,	7323,	7495,	7670,	7846,
+	8024,	8204,	8387,	8571,	8757,	8945,	9135,	9327,
+	9521,	9718,	9916,	10116,	10318,	10522,	10728,	10936,
+	11146,	11358,	11572,	11788,	12006,	12226,	12448,	12672,
+	12897,	13125,	13355,	13587,	13821,	14057,	14294,	14534,
+	14776,	15020,	15265,	15513,	15763,	16014,	16268,	16524,
+	16781,	17041,	17302,	17566,	17831,	18099,	18368,	18640,
+	18913,	19189,	19466,	19745,	20027,	20310,	20595,	20883,
+	21172,	21463,	21756,	22051,	22349,	22648,	22949,	23252,
+	23557,	23864,	24173,	24484,	24797,	25112,	25429,	25748,
+	26069,	26391,	26716,	27043,	27372,	27702,	28035,	28370,
+	28707,	29045,	29386,	29728,	30073,	30419,	30768,	31118,
+	31471,	31825,	32182,	32540,	32900,	33263,	33627,	33993,
+	34361,	34731,	35104,	35478,	35854,	36232,	36612,	36994,
+	37378,	37764,	38152,	38542,	38933,	39327,	39723,	40121,
+	40521,	40922,	41326,	41732,	42139,	42549,	42960,	43374,
+	43789,	44207,	44626,	45048,	45471,	45896,	46324,	46753,
+	47184,	47617,	48052,	48490,	48929,	49370,	49813,	50258,
+	50705,	51154,	51604,	52057,	52512,	52969,	53428,	53888,
+	54351,	54816,	55282,	55751,	56222,	56694,	57169,	57645,
+	58123,	58604,	59086,	59570,	60057,	60545,	61035,	61527,
+	62021,	62517,	63016,	63516,	64018,	64521,	65027,	65535,
+};
+#endif
+
+#ifdef GAMMA_1_3
+static const u16 gamma_table_1_3[] = {
+	/* Gamma 1.3 */
+	0,	49,	120,	203,	296,	395,	501,	612,
+	728,	848,	973,	1101,	1233,	1368,	1506,	1648,
+	1792,	1939,	2088,	2241,	2395,	2552,	2711,	2872,
+	3036,	3201,	3369,	3538,	3709,	3882,	4057,	4234,
+	4412,	4592,	4774,	4957,	5142,	5329,	5517,	5706,
+	5897,	6090,	6283,	6479,	6675,	6873,	7072,	7273,
+	7475,	7678,	7882,	8088,	8294,	8502,	8711,	8922,
+	9133,	9346,	9559,	9774,	9990,	10207,	10425,	10644,
+	10864,	11086,	11308,	11531,	11755,	11981,	12207,	12434,
+	12662,	12891,	13121,	13352,	13584,	13817,	14051,	14285,
+	14521,	14757,	14994,	15233,	15472,	15712,	15952,	16194,
+	16436,	16679,	16923,	17168,	17414,	17660,	17908,	18156,
+	18405,	18654,	18905,	19156,	19408,	19660,	19914,	20168,
+	20423,	20679,	20935,	21192,	21450,	21708,	21968,	22228,
+	22488,	22750,	23012,	23275,	23538,	23802,	24067,	24332,
+	24599,	24865,	25133,	25401,	25670,	25939,	26209,	26480,
+	26751,	27023,	27296,	27569,	27843,	28118,	28393,	28669,
+	28945,	29222,	29500,	29778,	30057,	30336,	30616,	30897,
+	31178,	31460,	31742,	32025,	32308,	32592,	32877,	33162,
+	33448,	33734,	34021,	34309,	34597,	34885,	35175,	35464,
+	35754,	36045,	36337,	36628,	36921,	37214,	37507,	37801,
+	38096,	38391,	38686,	38982,	39279,	39576,	39874,	40172,
+	40471,	40770,	41070,	41370,	41670,	41972,	42273,	42576,
+	42878,	43181,	43485,	43789,	44094,	44399,	44705,	45011,
+	45317,	45625,	45932,	46240,	46549,	46858,	47167,	47477,
+	47787,	48098,	48409,	48721,	49034,	49346,	49659,	49973,
+	50287,	50602,	50917,	51232,	51548,	51864,	52181,	52498,
+	52816,	53134,	53452,	53771,	54091,	54411,	54731,	55052,
+	55373,	55694,	56016,	56339,	56662,	56985,	57309,	57633,
+	57957,	58282,	58608,	58933,	59260,	59586,	59913,	60241,
+	60569,	60897,	61226,	61555,	61884,	62214,	62545,	62875,
+	63206,	63538,	63870,	64202,	64535,	64868,	65201,	65535,
+};
+#endif
+
+#ifdef GAMMA_2_2
+static const u16 gamma_table_2_2[] = {
+	0,	0,	2,	4,	7,	11,	17,	24,
+	32,	42,	53,	65,	79,	94,	111,	129,
+	148,	169,	192,	216,	242,	270,	299,	330,
+	362,	396,	432,	469,	508,	549,	591,	635,
+	681,	729,	779,	830,	883,	938,	995,	1053,
+	1113,	1175,	1239,	1305,	1373,	1443,	1514,	1587,
+	1663,	1740,	1819,	1900,	1983,	2068,	2155,	2243,
+	2334,	2427,	2521,	2618,	2717,	2817,	2920,	3024,
+	3131,	3240,	3350,	3463,	3578,	3694,	3813,	3934,
+	4057,	4182,	4309,	4438,	4570,	4703,	4838,	4976,
+	5115,	5257,	5401,	5547,	5695,	5845,	5998,	6152,
+	6309,	6468,	6629,	6792,	6957,	7124,	7294,	7466,
+	7640,	7816,	7994,	8175,	8358,	8543,	8730,	8919,
+	9111,	9305,	9501,	9699,	9900,	10102,	10307,	10515,
+	10724,	10936,	11150,	11366,	11585,	11806,	12029,	12254,
+	12482,	12712,	12944,	13179,	13416,	13655,	13896,	14140,
+	14386,	14635,	14885,	15138,	15394,	15652,	15912,	16174,
+	16439,	16706,	16975,	17247,	17521,	17798,	18077,	18358,
+	18642,	18928,	19216,	19507,	19800,	20095,	20393,	20694,
+	20996,	21301,	21609,	21919,	22231,	22546,	22863,	23182,
+	23504,	23829,	24156,	24485,	24817,	25151,	25487,	25826,
+	26168,	26512,	26858,	27207,	27558,	27912,	28268,	28627,
+	28988,	29351,	29717,	30086,	30457,	30830,	31206,	31585,
+	31966,	32349,	32735,	33124,	33514,	33908,	34304,	34702,
+	35103,	35507,	35913,	36321,	36732,	37146,	37562,	37981,
+	38402,	38825,	39252,	39680,	40112,	40546,	40982,	41421,
+	41862,	42306,	42753,	43202,	43654,	44108,	44565,	45025,
+	45487,	45951,	46418,	46888,	47360,	47835,	48313,	48793,
+	49275,	49761,	50249,	50739,	51232,	51728,	52226,	52727,
+	53230,	53736,	54245,	54756,	55270,	55787,	56306,	56828,
+	57352,	57879,	58409,	58941,	59476,	60014,	60554,	61097,
+	61642,	62190,	62741,	63295,	63851,	64410,	64971,	65535,
+};
+#endif
+
+#ifdef GAMMA_2_5
+static const u16 gamma_table_2_5[] = {
+	/* gamma = 2.5 */
+	0,	0,	0,	1,	2,	4,	6,	8,
+	11,	15,	20,	25,	31,	38,	46,	55,
+	65,	75,	87,	99,	113,	128,	143,	160,
+	178,	197,	218,	239,	262,	286,	311,	338,
+	366,	395,	425,	457,	491,	526,	562,	599,
+	639,	679,	722,	765,	811,	857,	906,	956,
+	1007,	1061,	1116,	1172,	1231,	1291,	1352,	1416,
+	1481,	1548,	1617,	1688,	1760,	1834,	1910,	1988,
+	2068,	2150,	2233,	2319,	2407,	2496,	2587,	2681,
+	2776,	2874,	2973,	3075,	3178,	3284,	3391,	3501,
+	3613,	3727,	3843,	3961,	4082,	4204,	4329,	4456,
+	4585,	4716,	4850,	4986,	5124,	5264,	5407,	5552,
+	5699,	5849,	6001,	6155,	6311,	6470,	6632,	6795,
+	6962,	7130,	7301,	7475,	7650,	7829,	8009,	8193,
+	8379,	8567,	8758,	8951,	9147,	9345,	9546,	9750,
+	9956,	10165,	10376,	10590,	10806,	11025,	11247,	11472,
+	11699,	11929,	12161,	12397,	12634,	12875,	13119,	13365,
+	13614,	13865,	14120,	14377,	14637,	14899,	15165,	15433,
+	15705,	15979,	16256,	16535,	16818,	17104,	17392,	17683,
+	17978,	18275,	18575,	18878,	19184,	19493,	19805,	20119,
+	20437,	20758,	21082,	21409,	21739,	22072,	22407,	22746,
+	23089,	23434,	23782,	24133,	24487,	24845,	25206,	25569,
+	25936,	26306,	26679,	27055,	27435,	27818,	28203,	28592,
+	28985,	29380,	29779,	30181,	30586,	30994,	31406,	31820,
+	32239,	32660,	33085,	33513,	33944,	34379,	34817,	35258,
+	35702,	36150,	36602,	37056,	37514,	37976,	38441,	38909,
+	39380,	39856,	40334,	40816,	41301,	41790,	42282,	42778,
+	43277,	43780,	44286,	44795,	45308,	45825,	46345,	46869,
+	47396,	47927,	48461,	48999,	49540,	50085,	50634,	51186,
+	51742,	52301,	52864,	53431,	54001,	54575,	55153,	55734,
+	56318,	56907,	57499,	58095,	58695,	59298,	59905,	60515,
+	61130,	61748,	62370,	62995,	63624,	64258,	64894,	65535,
+};
+#endif
+
+#ifdef GAMMA_3_0
+static const u16 gamma_table_3_0[] = {
+	/* gamma = 3.0 */
+	0,	0,	0,	0,	0,	0,	1,	1,
+	2,	3,	4,	5,	7,	9,	11,	13,
+	16,	19,	23,	27,	32,	37,	42,	48,
+	55,	62,	69,	78,	87,	96,	107,	118,
+	130,	142,	155,	169,	184,	200,	217,	234,
+	253,	272,	293,	314,	337,	360,	385,	410,
+	437,	465,	494,	524,	556,	588,	622,	658,
+	694,	732,	771,	812,	854,	897,	942,	988,
+	1036,	1085,	1136,	1189,	1243,	1298,	1356,	1415,
+	1475,	1538,	1602,	1667,	1735,	1804,	1876,	1949,
+	2024,	2100,	2179,	2260,	2343,	2427,	2514,	2603,
+	2693,	2786,	2881,	2978,	3078,	3179,	3283,	3389,
+	3497,	3607,	3720,	3835,	3952,	4072,	4194,	4319,
+	4446,	4575,	4707,	4842,	4979,	5118,	5261,	5405,
+	5553,	5703,	5856,	6011,	6169,	6330,	6494,	6660,
+	6830,	7002,	7177,	7355,	7536,	7719,	7906,	8096,
+	8289,	8484,	8683,	8885,	9090,	9298,	9510,	9724,
+	9942,	10163,	10387,	10614,	10845,	11079,	11317,	11557,
+	11802,	12049,	12300,	12555,	12813,	13074,	13339,	13608,
+	13880,	14156,	14435,	14718,	15005,	15295,	15589,	15887,
+	16189,	16494,	16803,	17117,	17433,	17754,	18079,	18408,
+	18740,	19077,	19418,	19762,	20111,	20464,	20821,	21182,
+	21547,	21917,	22290,	22668,	23050,	23436,	23827,	24222,
+	24621,	25025,	25433,	25845,	26262,	26683,	27109,	27539,
+	27974,	28413,	28857,	29306,	29759,	30217,	30680,	31147,
+	31619,	32095,	32577,	33063,	33554,	34050,	34551,	35056,
+	35567,	36082,	36602,	37128,	37658,	38194,	38734,	39280,
+	39830,	40386,	40947,	41513,	42084,	42661,	43243,	43830,
+	44422,	45019,	45622,	46231,	46844,	47463,	48088,	48718,
+	49353,	49994,	50641,	51293,	51950,	52614,	53282,	53957,
+	54637,	55323,	56014,	56712,	57415,	58123,	58838,	59558,
+	60285,	61017,	61755,	62499,	63249,	64005,	64767,	65535,
+};
+#endif
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable TIM3 clock. */
+	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_TIM3EN);
+
+	/* Enable GPIOC, Alternate Function clocks. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR,
+				    RCC_APB2ENR_IOPAEN |
+				    RCC_APB2ENR_IOPBEN |
+				    RCC_APB2ENR_AFIOEN);
+}
+
+static void gpio_setup(void)
+{
+	/*
+	 * Set GPIO6 and 7 (in GPIO port A) to
+	 * 'output alternate function push-pull'.
+	 */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+		      GPIO_TIM3_CH1 | GPIO_TIM3_CH2);
+
+	/*
+	 * Set GPIO0 and 1 (in GPIO port B) to
+	 * 'output alternate function push-pull'.
+	 */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
+		      GPIO_TIM3_CH3 | GPIO_TIM3_CH4);
+
+}
+
+static void tim_setup(void)
+{
+	/* Clock division and mode */
+	TIM3_CR1 = TIM_CR1_CKD_CK_INT | TIM_CR1_CMS_EDGE;
+	/* Period */
+	TIM3_ARR = 65535;
+	/* Prescaler */
+	TIM3_PSC = 0;
+	TIM3_EGR = TIM_EGR_UG;
+
+	/* ---- */
+	/* Output compare 1 mode and preload */
+	TIM3_CCMR1 |= TIM_CCMR1_OC1M_PWM1 | TIM_CCMR1_OC1PE;
+
+	/* Polarity and state */
+	TIM3_CCER |= TIM_CCER_CC1P | TIM_CCER_CC1E;
+	//TIM3_CCER |= TIM_CCER_CC1E;
+
+	/* Capture compare value */
+	TIM3_CCR1 = 0;
+
+	/* ---- */
+	/* Output compare 2 mode and preload */
+	TIM3_CCMR1 |= TIM_CCMR1_OC2M_PWM1 | TIM_CCMR1_OC2PE;
+
+	/* Polarity and state */
+	TIM3_CCER |= TIM_CCER_CC2P | TIM_CCER_CC2E;
+	//TIM3_CCER |= TIM_CCER_CC2E;
+
+	/* Capture compare value */
+	TIM3_CCR2 = 0;
+
+	/* ---- */
+	/* Output compare 3 mode and preload */
+	TIM3_CCMR2 |= TIM_CCMR2_OC3M_PWM1 | TIM_CCMR2_OC3PE;
+
+	/* Polarity and state */
+	TIM3_CCER |= TIM_CCER_CC3P | TIM_CCER_CC3E;
+	//TIM3_CCER |= TIM_CCER_CC3E;
+
+	/* Capture compare value */
+	TIM3_CCR3 = 0;
+
+	/* ---- */
+	/* Output compare 4 mode and preload */
+	TIM3_CCMR2 |= TIM_CCMR2_OC4M_PWM1 | TIM_CCMR2_OC4PE;
+
+	/* Polarity and state */
+	TIM3_CCER |= TIM_CCER_CC4P | TIM_CCER_CC4E;
+	//TIM3_CCER |= TIM_CCER_CC4E;
+
+	/* Capture compare value */
+	TIM3_CCR4 = 0;
+
+	/* ---- */
+	/* ARR reload enable */
+	TIM3_CR1 |= TIM_CR1_ARPE;
+
+	/* Counter enable */
+	TIM3_CR1 |= TIM_CR1_CEN;
+}
+
+int main(void)
+{
+	int i, j0, j1, j2, j3, d0, d1, d2, d3, j, k, kd;
+
+	clock_setup();
+	gpio_setup();
+	tim_setup();
+
+#ifdef COMPARE
+	j0 = 0;
+	d0 = 1;
+	j1 = 0;
+	d1 = 1;
+	j2 = 0;
+	d2 = 1;
+	j3 = 0;
+	d3 = 1;
+	while (1) {
+		TIM3_CCR1 = gamma_table_linear[j0];
+		j0 += d0;
+		if (j0 == 255)
+			d0 = -1;
+		if (j0 == 0)
+			d0 = 1;
+		TIM3_CCR2 = gamma_table_1_3[j1];
+		j1 += d1;
+		if (j1 == 255)
+			d1 = -1;
+		if (j1 == 0)
+			d1 = 1;
+		TIM3_CCR3 = gamma_table_2_5[j2];
+		j2 += d2;
+		if (j2 == 255)
+			d2 = -1;
+		if (j2 == 0)
+			d2 = 1;
+		TIM3_CCR4 = gamma_table_3_0[j3];
+		j3 += d3;
+		if (j3 == 255)
+			d3 = -1;
+		if (j3 == 0)
+			d3 = 1;
+		for (i = 0; i < 50000; i++);
+	}
+#endif
+
+#ifdef MOVING_FADE
+	j0 = 0;
+	d0 = 1;
+	j1 = 128;
+	d1 = 1;
+	j2 = 255;
+	d2 = -1;
+	j3 = 128;
+	d3 = -1;
+	while (1) {
+		TIM3_CCR1 = GAMMA_TABLE[j0];
+		j0 += d0;
+		if (j0 == 255)
+			d0 = -1;
+		if (j0 == 0)
+			d0 = 1;
+		TIM3_CCR2 = GAMMA_TABLE[j1];
+		j1 += d1;
+		if (j1 == 255)
+			d1 = -1;
+		if (j1 == 0)
+			d1 = 1;
+		TIM3_CCR3 = GAMMA_TABLE[j2];
+		j2 += d2;
+		if (j2 == 255)
+			d2 = -1;
+		if (j2 == 0)
+			d2 = 1;
+		TIM3_CCR4 = GAMMA_TABLE[j3];
+		j3 += d3;
+		if (j3 == 255)
+			d3 = -1;
+		if (j3 == 0)
+			d3 = 1;
+		for (i = 0; i < 10000; i++);
+	}
+#endif
+
+#ifdef KITT
+	j0 = 255;
+	d0 = -1;
+	j1 = 20;
+	d1 = -1;
+	j2 = 20;
+	d2 = -1;
+	j3 = 20;
+	d3 = -1;
+	j = 0;
+	k = 0;
+	kd = 1;
+	while (1) {
+		TIM3_CCR1 = GAMMA_TABLE[j0];
+		j0 += d0;
+		if (j0 == 255)
+			d0 = -1;
+		if (j0 == 19)
+			j0 = 20;
+		TIM3_CCR2 = GAMMA_TABLE[j1];
+		j1 += d1;
+		if (j1 == 255)
+			d1 = -1;
+		if (j1 == 19)
+			j1 = 20;
+		TIM3_CCR3 = GAMMA_TABLE[j2];
+		j2 += d2;
+		if (j2 == 255)
+			d2 = -1;
+		if (j2 == 19)
+			j2 = 20;
+		TIM3_CCR4 = GAMMA_TABLE[j3];
+		j3 += d3;
+		if (j3 == 255)
+			d3 = -1;
+		if (j3 == 19)
+			j3 = 20;
+		for (i = 0; i < 15000; i++)
+			__asm__("nop");
+		j++;
+		if (j == 100) {
+			j = 0;
+			switch (k += kd) {
+			case 0:
+				j0 = 255;
+				break;
+			case 1:
+				j1 = 255;
+				break;
+			case 2:
+				j2 = 255;
+				break;
+			case 3:
+				j3 = 255;
+				break;
+			}
+			if (k == 3)
+				kd = -1;
+			if (k == 0)
+				kd = 1;
+		}
+	}
+#endif
+
+	return 0;
+}

examples/stm32/f1/obldc/systick/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = systick
+
+LDSCRIPT = ../obldc.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc/systick/systick.c

@@ -0,0 +1,91 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+
+u32 temp32;
+
+static void gpio_setup(void)
+{
+	/* Enable GPIOA clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	gpio_set(GPIOA, GPIO6); /* LED0 off */
+	gpio_set(GPIOA, GPIO7); /* LED1 off */
+	gpio_set(GPIOB, GPIO0); /* LED2 off */
+	gpio_set(GPIOB, GPIO1); /* LED3 off */
+
+	/* Set GPIO6/7 (in GPIO port A) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO7);
+	
+	/* Set GPIO0/1 (in GPIO port B) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO0);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
+}
+
+void sys_tick_handler(void)
+{
+	temp32++;
+
+	/* We call this handler every 1ms so 1000ms = 1s on/off. */
+	if (temp32 == 1000) {
+		gpio_toggle(GPIOA, GPIO6); /* LED2 on/off */
+		temp32 = 0;
+	}
+}
+
+int main(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+	gpio_setup();
+
+	gpio_clear(GPIOA, GPIO7);	/* LED1 on */
+	gpio_set(GPIOA, GPIO6);		/* LED2 off */
+
+	temp32 = 0;
+
+	/* 72MHz / 8 => 9000000 counts per second */
+	systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+	/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+	/* SysTick interrupt every N clock pulses: set reload to N-1 */
+	systick_set_reload(8999);
+
+	systick_interrupt_enable();
+
+	/* Start counting. */
+	systick_counter_enable();
+
+	while (1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/obldc/usart/Makefile

@@ -0,0 +1,25 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart
+
+LDSCRIPT = ../obldc.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc/usart/usart.c

@@ -0,0 +1,90 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable GPIOA clock (for LED GPIOs). */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable clocks for GPIO port B (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
+}
+
+static void usart_setup(void)
+{
+	/* Setup GPIO6 (in GPIO port A) to 'output push-pull' for LED use. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+
+	AFIO_MAPR |= AFIO_MAPR_USART1_REMAP;
+
+	/* Setup GPIO pin GPIO_USART3_TX/GPIO10 on GPIO port B for transmit. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_RE_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART1, 230400);
+	usart_set_databits(USART1, 8);
+	usart_set_stopbits(USART1, USART_STOPBITS_1);
+	usart_set_mode(USART1, USART_MODE_TX);
+	usart_set_parity(USART1, USART_PARITY_NONE);
+	usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART1);
+}
+
+static void gpio_setup(void)
+{
+	/* Set GPIO6 (in GPIO port A) to 'output push-pull'. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+}
+
+int main(void)
+{
+	int i, j = 0, c = 0;
+
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/* Blink the LED (PA6) on the board with every transmitted byte. */
+	while (1) {
+		gpio_toggle(GPIOA, GPIO6);	/* LED on/off */
+		usart_send_blocking(USART1, c + '0');	/* Send a byte. */
+		c = (c == 9) ? 0 : c + 1;	/* Increment c. */
+		if ((j++ % 80) == 0) {		/* Newline after line full. */
+			usart_send_blocking(USART1, '\r');
+			usart_send_blocking(USART1, '\n');
+		}
+		for (i = 0; i < 800000; i++)	/* Wait a bit. */
+			__asm__("nop");
+	}
+
+	return 0;
+}

examples/stm32/f1/obldc/usart_irq/Makefile

@@ -0,0 +1,27 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = usart_irq
+
+OOCD_BOARD = open-bldc
+
+LDSCRIPT = ../obldc.ld
+
+include ../../Makefile.include
+

examples/stm32/f1/obldc/usart_irq/usart_irq.c

@@ -0,0 +1,120 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+
+static void clock_setup(void)
+{
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	/* Enable GPIOA clock (for LED GPIOs). */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
+	/* Enable clocks for GPIO port B (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
+}
+
+static void usart_setup(void)
+{
+	/* Enable the USART1 interrupt. */
+	nvic_enable_irq(NVIC_USART1_IRQ);
+
+	/* Enable USART1 pin software remapping. */
+	AFIO_MAPR |= AFIO_MAPR_USART1_REMAP;
+
+	/* Setup GPIO pin GPIO_USART1_RE_TX on GPIO port B for transmit. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_RE_TX);
+
+	/* Setup GPIO pin GPIO_USART1_RE_RX on GPIO port B for receive. */
+	gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+		      GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RE_RX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART1, 230400);
+	usart_set_databits(USART1, 8);
+	usart_set_stopbits(USART1, USART_STOPBITS_1);
+	usart_set_parity(USART1, USART_PARITY_NONE);
+	usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
+	usart_set_mode(USART1, USART_MODE_TX_RX);
+
+	/* Enable USART1 Receive interrupt. */
+	USART_CR1(USART1) |= USART_CR1_RXNEIE;
+
+	/* Finally enable the USART. */
+	usart_enable(USART1);
+}
+
+static void gpio_setup(void)
+{
+	gpio_set(GPIOA, GPIO6 | GPIO7);
+
+	/* Setup GPIO6 and 7 (in GPIO port A) for LED use. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6 | GPIO7);
+}
+
+void usart1_isr(void)
+{
+	static u8 data = 'A';
+
+	/* Check if we were called because of RXNE. */
+	if (((USART_CR1(USART1) & USART_CR1_RXNEIE) != 0) &&
+		((USART_SR(USART1) & USART_SR_RXNE) != 0)) {
+		/* Indicate that we got data. */
+		gpio_toggle(GPIOA, GPIO6);
+
+		/* Retrieve the data from the peripheral. */
+		data = usart_recv(USART1);
+
+		/* Enable transmit interrupt so it sends back the data. */
+		USART_CR1(USART1) |= USART_CR1_TXEIE;
+	}
+
+	/* Check if we were called because of TXE. */
+	if (((USART_CR1(USART1) & USART_CR1_TXEIE) != 0) &&
+		((USART_SR(USART1) & USART_SR_TXE) != 0)) {
+		/* Indicate that we are sending out data. */
+		gpio_toggle(GPIOA, GPIO7);
+
+		/* Put data into the transmit register. */
+		usart_send(USART1, data);
+
+		/* Disable the TXE interrupt as we don't need it anymore. */
+		USART_CR1(USART1) &= ~USART_CR1_TXEIE;
+	}
+}
+
+int main(void)
+{
+	clock_setup();
+	gpio_setup();
+	usart_setup();
+
+	/* Wait forever and do nothing. */
+	while (1)
+		__asm__("nop");
+
+	return 0;
+}

examples/stm32/f1/other/adc_temperature_sensor/Makefile

@@ -0,0 +1,23 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = adc
+
+include ../../Makefile.include
+

examples/stm32/f1/other/adc_temperature_sensor/README

@@ -0,0 +1,10 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This example program sends some characters on USART1.
+Afterwards it read out the internal temperature sensor of the STM32 and
+sends the value read out from the ADC to the USART1.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+

examples/stm32/f1/other/adc_temperature_sensor/adc.c

@@ -0,0 +1,153 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopencm3/stm32/f1/rcc.h>
+#include <libopencm3/stm32/f1/flash.h>
+#include <libopencm3/stm32/f1/gpio.h>
+#include <libopencm3/stm32/f1/adc.h>
+#include <libopencm3/stm32/usart.h>
+
+static void usart_setup(void)
+{
+	/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
+
+	/* Setup GPIO pin GPIO_USART1_TX/GPIO9 on GPIO port A for transmit. */
+	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
+
+	/* Setup UART parameters. */
+	usart_set_baudrate(USART1, 115200);
+	usart_set_databits(USART1, 8);
+	usart_set_stopbits(USART1, USART_STOPBITS_1);
+	usart_set_mode(USART1, USART_MODE_TX_RX);
+	usart_set_parity(USART1, USART_PARITY_NONE);
+	usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
+
+	/* Finally enable the USART. */
+	usart_enable(USART1);
+}
+
+static void gpio_setup(void)
+{
+	/* Enable GPIOB clock. */
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+
+	/* Set GPIO6/7 (in GPIO port B) to 'output push-pull' for the LEDs. */
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_2_MHZ,
+		      GPIO_CNF_OUTPUT_PUSHPULL, GPIO7);
+}
+
+static void adc_setup(void)
+{
+	int i;
+
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
+
+	/* Make sure the ADC doesn't run during config. */
+	adc_off(ADC1);
+
+	/* We configure everything for one single conversion. */
+	adc_disable_scan_mode(ADC1);
+	adc_set_single_conversion_mode(ADC1);
+	adc_disable_external_trigger_regular(ADC1);
+	adc_set_right_aligned(ADC1);
+	/* We want to read the temperature sensor, so we have to enable it. */
+	adc_enable_temperature_sensor(ADC1);
+	adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
+
+	adc_power_on(ADC1);
+
+	/* Wait for ADC starting up. */
+	for (i = 0; i < 800000; i++)    /* Wait a bit. */
+		__asm__("nop");
+
+	adc_reset_calibration(ADC1);
+	adc_calibration(ADC1);
+}
+
+static void my_usart_print_int(u32 usart, int value)
+{
+	s8 i;
+	u8 nr_digits = 0;
+	char buffer[25];
+
+	if (value < 0) {
+		usart_send(usart, '-');
+		value = value * -1;
+	}
+
+	while (value > 0) {
+		buffer[nr_digits++] = "0123456789"[value % 10];
+		value /= 10;
+	}
+
+	for (i = nr_digits; i >= 0; i--)
+		usart_send(usart, buffer[i]);
+}
+
+int main(void)
+{
+	u8 channel_array[16];
+	u16 temperature;
+
+	rcc_clock_setup_in_hse_16mhz_out_72mhz();
+	gpio_setup();
+	usart_setup();
+	adc_setup();
+
+	gpio_clear(GPIOB, GPIO7);	/* LED1 on */
+	gpio_set(GPIOB, GPIO6);		/* LED2 off */
+
+	/* Send a message on USART1. */
+	usart_send(USART1, 's');
+	usart_send(USART1, 't');
+	usart_send(USART1, 'm');
+	usart_send(USART1, '\r');
+	usart_send(USART1, '\n');
+
+	/* Select the channel we want to convert. 16=temperature_sensor. */
+	channel_array[0] = 16;
+	adc_set_regular_sequence(ADC1, 1, channel_array);
+
+	/*
+	 * Start the conversion directly (not trigger mode).
+	 */
+	adc_start_conversion_direct(ADC1);
+
+	/* Wait for end of conversion. */
+	while (!(ADC_SR(ADC1) & ADC_SR_EOC));
+
+	temperature = ADC_DR(ADC1);
+
+	/*
+	 * That's actually not the real temperature - you have to compute it
+	 * as described in the datasheet.
+	 */
+	my_usart_print_int(USART1, temperature);
+
+	gpio_clear(GPIOB, GPIO6); /* LED2 on */
+
+	while(1); /* Halt. */
+
+	return 0;
+}

examples/stm32/f1/other/adc_temperature_sensor/adc.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for an STM32F103RBT6 board (128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

examples/stm32/f1/other/dma_mem2mem/Makefile

@@ -0,0 +1,23 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = dma
+
+include ../../Makefile.include
+

examples/stm32/f1/other/dma_mem2mem/README

@@ -0,0 +1,11 @@
+------------------------------------------------------------------------------
+README
+------------------------------------------------------------------------------
+
+This program demonstrates a little DMA MEM2MEM transfer. A string is sent out
+to USART1 and afterwards copied by DMA to another memory location. To check
+if the transfer was successful we send the destination string also out to
+USART1.
+
+The terminal settings for the receiving device/PC are 115200 8n1.
+