Replaced old linker scripts with the ones from libopencm3.

This change forced the removal of the old vector table. This breaks
old interrupt handlers.

conf/Makefile.stm32

@@ -107,7 +107,7 @@ AOBJ    = $(ASRC:%.S=$(OBJDIR)/%.o)
 #   if not, use the default STM32f103re_flash.ld
 ifndef LDSCRIPT
 ifndef $(TARGET).LDSCRIPT
-LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
+LDSCRIPT = $(SRC_ARCH)/stm32default.ld
 else
 LDSCRIPT = $($(TARGET).LDSCRIPT)
 endif

conf/airframes/Poine/beth.xml

@@ -105,8 +105,7 @@ main_stm32.ARCHDIR = stm32
 main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_LISA_ARCH) -DPERIPHERALS_AUTO_INIT
 main_stm32.CFLAGS += -DBOARD_CONFIG=\"boards/lisa_l_1.0.h\"
 main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
-                  $(SRC_ARCH)/stm32_exceptions.c   \
+                  $(SRC_ARCH)/stm32_exceptions.c
-                  $(SRC_ARCH)/stm32_vector_table.c
 main_stm32.CFLAGS += -DUSE_LED
 main_stm32.srcs += $(SRC_ARCH)/led_hw.c
 main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -177,8 +176,7 @@ main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/beth.h\"
 
 main_coders.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 main_coders.srcs = $(SRC_BETH)/main_coders.c \
-                   $(SRC_ARCH)/stm32_exceptions.c   \
+                   $(SRC_ARCH)/stm32_exceptions.c
-                   $(SRC_ARCH)/stm32_vector_table.c
 main_coders.CFLAGS += -DUSE_LED
 main_coders.srcs += $(SRC_ARCH)/led_hw.c
 main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7

conf/autopilot/lisa_passthrough.makefile

@@ -24,8 +24,7 @@ stm_passthrough.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$
 stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
 stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
-                       $(SRC_ARCH)/stm32_exceptions.c          \
+                       $(SRC_ARCH)/stm32_exceptions.c
-                       $(SRC_ARCH)/stm32_vector_table.c
 
 # Leds
 stm_passthrough.CFLAGS += -DUSE_LED

conf/autopilot/lisa_test_progs.makefile

@@ -67,8 +67,7 @@ COMMON_TEST_CFLAGS  = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 COMMON_TEST_CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 COMMON_TEST_SRCS    = $(SRC_AIRBORNE)/mcu.c            \
                       $(SRC_ARCH)/mcu_arch.c           \
-                      $(SRC_ARCH)/stm32_exceptions.c   \
+                      $(SRC_ARCH)/stm32_exceptions.c
-                      $(SRC_ARCH)/stm32_vector_table.c
 COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
 ifneq ($(SYS_TIME_LED),none)
   COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)

conf/autopilot/rotorcraft.makefile

@@ -62,7 +62,6 @@ ifeq ($(ARCH), lpc21)
 ap.srcs += $(SRC_ARCH)/armVIC.c
 else ifeq ($(ARCH), stm32)
 ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
-ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
 endif
 
 #

conf/autopilot/setup.makefile

@@ -26,8 +26,7 @@ tunnel.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 tunnel.srcs   += mcu.c \
                  $(SRC_ARCH)/mcu_arch.c \
                  $(SRC_LISA)/tunnel_hw.c          \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
+                 $(SRC_ARCH)/stm32_exceptions.c
-                 $(SRC_ARCH)/stm32_vector_table.c
 tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs   += $(SRC_ARCH)/led_hw.c
 ifneq ($(SYS_TIME_LED),none)

conf/autopilot/subsystems/fixedwing/autopilot.makefile

@@ -101,7 +101,6 @@ ifeq ($(ARCH), lpc21)
   ns_srcs 		+= $(SRC_ARCH)/armVIC.c
 else ifeq ($(ARCH), stm32)
   ns_srcs 		+= $(SRC_ARCH)/stm32_exceptions.c
-  ns_srcs 		+= $(SRC_ARCH)/stm32_vector_table.c
 #  ns_CFLAGS 		+= -DPERIPHERALS_AUTO_INIT
 endif
 

conf/boards/lisa_m_1.0.makefile

@@ -13,6 +13,7 @@ $(TARGET).ARCHDIR = $(ARCH)
 # not needed?
 $(TARGET).OOCD_INTERFACE=flossjtag
 #$(TARGET).OOCD_INTERFACE=jtagkey-tiny
+$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-m.ld
 
 # -----------------------------------------------------------------------
 

sw/airborne/arch/stm32/lisa-l.ld

@@ -1,7 +1,7 @@
 /*
- * $Id$
+ * Hey Emacs, this is a -*- makefile -*-
- *
+ *  
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
  *
  * This file is part of Paparazzi.
  *
@@ -18,11 +18,19 @@
  * You should have received a copy of the GNU General Public License
  * along with Paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA. 
  */
 
-#ifndef STM32_VECTOR_TABLE_H
+/* Linker script for Lisa-L (STM32F103RET6, 512K flash, 64K RAM). */
-#define STM32_VECTOR_TABLE_H
 
+/* Define memory regions. */
+MEMORY
+{
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+	/* Leaving 2k of space at the end of rom for stored settings */
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 510K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
 
-#endif /* STM32_VECTOR_TABLE_H */

sw/airborne/arch/stm32/lisa-m.ld

@@ -0,0 +1,36 @@
+/*
+ * Hey Emacs, this is a -*- makefile -*-
+ *  
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+/* Linker script for Lisa-M (STM32F105RCT6, 256K flash, 64K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+	/* Leaving 2k of space at the end of rom for stored settings */
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 254K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c

@@ -28,7 +28,6 @@
 
 #include "mcu_periph/sys_time.h"
 
-#include "stm32_vector_table.h"
 #ifdef SYS_TIME_LED
 #include "led.h"
 #endif

sw/airborne/arch/stm32/stm32_vector_table.c

@@ -1,321 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi 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 2, or (at your option)
- * any later version.
- *
- * Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#include "stm32_vector_table.h"
-
-#include <cmsis/stm32.h>
-
-#include "stm32_exceptions.h"
-
-#ifdef USE_SYS_TIME
-#include "mcu_periph/sys_time.h"
-#define SYS_TICK_IRQ_HANDLER sys_tick_irq_handler
-#else
-#define SYS_TICK_IRQ_HANDLER null_handler
-#endif
-
-#if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER
-#include "mcu_periph/uart.h"
-#define USART1_IRQ_HANDLER usart1_irq_handler
-#else
-#define USART1_IRQ_HANDLER null_handler
-#endif
-
-#if defined USE_UART2 || OVERRIDE_UART2_IRQ_HANDLER
-#include "mcu_periph/uart.h"
-#define USART2_IRQ_HANDLER usart2_irq_handler
-#else
-#define USART2_IRQ_HANDLER null_handler
-#endif
-
-#if defined USE_UART3 || OVERRIDE_UART3_IRQ_HANDLER
-#include "mcu_periph/uart.h"
-#define USART3_IRQ_HANDLER usart3_irq_handler
-#else
-#define USART3_IRQ_HANDLER null_handler
-#endif
-
-#if defined USE_UART5 || OVERRIDE_UART5_IRQ_HANDLER
-#include "mcu_periph/uart.h"
-#define USART5_IRQ_HANDLER usart5_irq_handler
-#else
-#define USART5_IRQ_HANDLER null_handler
-#endif
-
-
-#ifdef USE_I2C1
-#include "mcu_periph/i2c_arch.h"
-#define I2C1_EV_IRQ_HANDLER i2c1_ev_irq_handler
-#define I2C1_ER_IRQ_HANDLER i2c1_er_irq_handler
-#else
-#define I2C1_EV_IRQ_HANDLER null_handler
-#define I2C1_ER_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_I2C2
-#include "mcu_periph/i2c_arch.h"
-#define I2C2_EV_IRQ_HANDLER i2c2_ev_irq_handler
-#define I2C2_ER_IRQ_HANDLER i2c2_er_irq_handler
-#else
-#define I2C2_EV_IRQ_HANDLER null_handler
-#define I2C2_ER_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_SPI1_IRQ
-extern void spi1_irq_handler(void);
-#define SPI1_IRQ_HANDLER spi1_irq_handler
-#else
-#define SPI1_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_SPI2_IRQ
-extern void spi2_irq_handler(void);
-#define SPI2_IRQ_HANDLER spi2_irq_handler
-#else
-#define SPI2_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_EXTI0_IRQ
-extern void exti0_irq_handler(void);
-#define EXTI0_IRQ_HANDLER exti0_irq_handler
-#else
-#define EXTI0_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_EXTI2_IRQ
-extern void exti2_irq_handler(void);
-#define EXTI2_IRQ_HANDLER exti2_irq_handler
-#else
-#define EXTI2_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_EXTI3_IRQ
-extern void exti3_irq_handler(void);
-#define EXTI3_IRQ_HANDLER exti3_irq_handler
-#else
-#define EXTI3_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_EXTI4_IRQ
-extern void exti4_irq_handler(void);
-#define EXTI4_IRQ_HANDLER exti4_irq_handler
-#else
-#define EXTI4_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_EXTI9_5_IRQ
-extern void exti9_5_irq_handler(void);
-#define EXTI9_5_IRQ_HANDLER exti9_5_irq_handler
-#else
-#define EXTI9_5_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_EXTI15_10_IRQ
-extern void exti15_10_irq_handler(void);
-#define EXTI15_10_IRQ_HANDLER exti15_10_irq_handler
-#else
-#define EXTI15_10_IRQ_HANDLER null_handler
-#endif
-
-
-#ifdef USE_DMA1_C2_IRQ
-extern void dma1_c2_irq_handler(void);
-#define DMA1_C2_IRQ_HANDLER dma1_c2_irq_handler
-#else
-#define DMA1_C2_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_DMA1_C4_IRQ
-extern void dma1_c4_irq_handler(void);
-#define DMA1_C4_IRQ_HANDLER dma1_c4_irq_handler
-#else
-#define DMA1_C4_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_ADC1_2_IRQ_HANDLER
-extern void adc1_2_irq_handler(void);
-#define ADC1_2_IRQ_HANDLER adc1_2_irq_handler
-#else
-#define ADC1_2_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_TIM2_IRQ
-extern void tim2_irq_handler(void);
-#define TIM2_IRQ_HANDLER tim2_irq_handler
-#else
-#define TIM2_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_TIM6_IRQ
-extern void tim6_irq_handler(void);
-#define TIM6_IRQ_HANDLER tim6_irq_handler
-#else
-#define TIM6_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_USB_HP_CAN1_TX_IRQ
-extern void usb_hp_can1_tx_irq_handler(void);
-#define USB_HP_CAN1_TX_IRQ_HANDLER usb_hp_can1_tx_irq_handler
-#else
-#define USB_HP_CAN1_TX_IRQ_HANDLER null_handler
-#endif
-
-#ifdef USE_USB_LP_CAN1_RX0_IRQ
-extern void usb_lp_can1_rx0_irq_handler(void);
-#define USB_LP_CAN1_RX0_IRQ_HANDLER usb_lp_can1_rx0_irq_handler
-#else
-#define USB_LP_CAN1_RX0_IRQ_HANDLER null_handler
-#endif
-
-/* addresses defined in the linker script */
-extern unsigned long _etext;  /* end addr of .text section     */
-extern unsigned long _sidata; /* init values for .data section */
-extern unsigned long _sdata;  /* start addr of .data section   */
-extern unsigned long _edata;  /* end addr of .data section     */
-extern unsigned long _sbss;   /* start addr of .bss section    */
-extern unsigned long _ebss;   /* end addr of .bss section      */
-extern void _estack;          /* stack pointer init value      */
-
-void reset_handler_stage1(void) __attribute__((__interrupt__));
-void reset_handler_stage2(void);
-void null_handler(void);
-
-/* interrupt vector */
-__attribute__ ((section(".isr_vector")))
-void (* const vector_table[])(void) = {
-    &_estack,              /* stack pointer init value*/
-    reset_handler_stage1,  /* pc init value */
-    nmi_exception,
-    hard_fault_exception,
-    mem_manage_exception,
-    bus_fault_exception,
-    usage_fault_exception,
-    0, 0, 0, 0,               /* reserved */
-    null_handler,             /* svc_handler */
-    null_handler,             /* debug_monitor */
-    0,                        /* reserved */
-    null_handler,             /* pend_svc */
-    SYS_TICK_IRQ_HANDLER,     /* sys_tick_handler, */
-    null_handler,             /* wwdg_irq_handler */
-    null_handler,             /* pvd_irq_handler */
-    null_handler,             /* tamper_irq_handler */
-    null_handler,             /* rtc_irq_handler */
-    null_handler,             /* flash_irq_handler */
-    null_handler,             /* rcc_irq_handler */
-    EXTI0_IRQ_HANDLER,        /* exti0_irq_handler */
-    null_handler,             /* exti1_irq_handler */
-    EXTI2_IRQ_HANDLER,        /* exti2_irq_handler */
-    EXTI3_IRQ_HANDLER,        /* exti3_irq_handler */
-    EXTI4_IRQ_HANDLER,        /* exti4_irq_handler */
-    null_handler,             /* dma1_channel1_irq_handler */
-    DMA1_C2_IRQ_HANDLER,      /* dma1_channel2_irq_handler */
-    null_handler,             /* dma1_channel3_irq_handler */
-    DMA1_C4_IRQ_HANDLER,      /* dma1_channel4_irq_handler */
-    null_handler,             /* dma1_channel5_irq_handler */
-    null_handler,             /* dma1_channel6_irq_handler */
-    null_handler,             /* dma1_channel7_irq_handler */
-    ADC1_2_IRQ_HANDLER,       /* adc1_2_irq_handler */
-    USB_HP_CAN1_TX_IRQ_HANDLER, /* usb_hp_can_tx_irq_handler */
-    USB_LP_CAN1_RX0_IRQ_HANDLER, /* usb_lp_can_rx0_irq_handler */
-    null_handler,             /* can_rx1_irq_handler */
-    null_handler,             /* can_sce_irq_handler */
-    EXTI9_5_IRQ_HANDLER,      /* exti9_5_irq_handler */
-    null_handler,             /* tim1_brk_irq_handler */
-    null_handler,             /* tim1_up_irq_handler */
-    null_handler,             /* tim1_trg_com_irq_handler */
-    null_handler,             /* tim1_cc_irq_handler */
-    TIM2_IRQ_HANDLER,         /* tim2_irq_handler */
-    null_handler,             /* tim3_irq_handler */
-    null_handler,             /* tim4_irq_handler */
-    I2C1_EV_IRQ_HANDLER,      /* i2c1_ev_irq_handler */
-    I2C1_ER_IRQ_HANDLER,      /* i2c1_er_irq_handler */
-    I2C2_EV_IRQ_HANDLER,      /* i2c2_ev_irq_handler */
-    I2C2_ER_IRQ_HANDLER,      /* i2c2_er_irq_handler */
-    SPI1_IRQ_HANDLER,         /* spi1_irq_handler */
-    SPI2_IRQ_HANDLER,         /* spi2_irq_handler */
-    USART1_IRQ_HANDLER,       /* usart1_irq_handler */
-    USART2_IRQ_HANDLER,       /* usart2_irq_handler */
-    USART3_IRQ_HANDLER,       /* usart3_irq_handler */
-    EXTI15_10_IRQ_HANDLER,    /* exti15_10_irq_handler */
-    null_handler,             /* rtc_alarm_irq_handler */
-    null_handler,             /* usb_wake_up_irq_handler */
-    null_handler,             /* tim8_brk_irq_handler */
-    null_handler,             /* tim8_up_irq_handler */
-    null_handler,             /* tim8_trg_com_irq_handler */
-    null_handler,             /* tim8_cc_irq_handler */
-    null_handler,             /* adc3_irq_handler */
-    null_handler,             /* fsmc_irq_handler */
-    null_handler,             /* sdio_irq_handler */
-    null_handler,             /* tim5_irq_handler */
-    null_handler,             /* spi3_irq_handler */
-    null_handler,             /* uart4_irq_handler */
-    USART5_IRQ_HANDLER,       /* uart5_irq_handler */
-    TIM6_IRQ_HANDLER,         /* tim6_irq_handler */
-    null_handler,             /* tim7_irq_handler */
-    null_handler,             /* dma2_channel1_irq_handler */
-    null_handler,             /* dma2_channel2_irq_handler */
-    null_handler,             /* dma2_channel3_irq_handler */
-    null_handler,             /* dma2_channel4_5_irq_handler */
-};
-
-/* Get's called directly after mcu reset */
-void reset_handler_stage1(void){
-    /* set stack align */
-    SCB->CCR = SCB->CCR | SCB_CCR_STKALIGN;
-
-    reset_handler_stage2();
-}
-
-//extern int main(int argc, char** argv);
-extern void main( void);
-
-void reset_handler_stage2(void){
-    unsigned long *pul_src, *pul_dest;
-
-    /* Copy the data segment initializers from flash to SRAM */
-    pul_src = &_sidata;
-    for(pul_dest = &_sdata; pul_dest < &_edata; ){
-        *(pul_dest++) = *(pul_src++);
-    }
-    /* Zero fill the bss segment.  */
-    for(pul_dest = &_sbss; pul_dest < &_ebss; ){
-        *(pul_dest++) = 0;
-    }
-
-    /* Call the application's entry point.*/
-    main();
-}
-
-void null_handler(void){
-}
-
-/* FIXME: look deeper into what that is doing
- *
- */
-
-void assert_param(void);
-
-void assert_param(void){
-
-}
-

sw/airborne/arch/stm32/stm32default.ld

@@ -0,0 +1,37 @@
+/*
+ * Hey Emacs, this is a -*- makefile -*-
+ *  
+ * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+/* Linker script for "default" stm32 architecture */
+/* Assuming the least mean denominator to be 128K flash and 20K ram. */
+
+/* Define memory regions. */
+MEMORY
+{
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+	/* Leaving 1k of space at the end of rom for stored settings */
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 127K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

sw/airborne/arch/stm32/stm32f103rb_flash.ld

@@ -1,201 +0,0 @@
-/*
- * $Id$
- *  
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi 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 2, or (at your option)
- * any later version.
- *
- * Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
- */
-
-/* Memory Spaces Definitions */
-MEMORY
-{                        
-  RAM     (xrw): ORIGIN = 0x20000000, LENGTH = 20K
-  /* last page (1k) flash for persistent settings */
-  FLASH   (rx) : ORIGIN = 0x8000000,  LENGTH = 127K
-  FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-}
-
-ENTRY(reset_handler_stage1);
-
-/* User mode stack top */
-_estack = 0x20005000;
-
-/* Stack size and address definitions */
-__Stack_Size = 0x1000 ;
-
-PROVIDE ( _Stack_Size = __Stack_Size ) ;
-
-__Stack_Init = _estack  - __Stack_Size ;
-
-PROVIDE ( _Stack_Init = __Stack_Init ) ;
-
-/* Enforce a linker error if there is not enough space left in ram for the stack */
-_Minimum_Stack_Size = 0x800 ;
-
-/* Check valid alignment for VTOR */
-ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
-
-/* Sections Definitions */
-
-SECTIONS
-{
-    /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
-    .isr_vector :
-    {
-        . = ALIGN(4);
-        KEEP(*(.isr_vector)) /* Startup code */
-	. = ALIGN(4);
-    } >FLASH
-
-    /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
-    .flashtext :
-    {
-	. = ALIGN(4);
-        *(.flashtext)        /* Startup code */
-	. = ALIGN(4);
-    } >FLASH
-
-
-    /* the program code is stored in the .text section, which goes to Flash */
-    .text :
-    {
-        . = ALIGN(4);
-
-        *(.text)             /* remaining code */
-        *(.text.*)           /* remaining code */
-        *(.rodata)           /* read-only data (constants) */
-        *(.rodata*)
-        *(.glue_7)
-        *(.glue_7t)
-
-        . = ALIGN(4);
-   	_etext = .;
-	/* This is used by the startup in order to initialize the .data secion */
-   	_sidata = _etext;
-    } >FLASH
-
-
-
-    /* This is the initialized data section
-    The program executes knowing that the data is in the RAM
-    but the loader puts the initial values in the FLASH (inidata).
-    It is one task of the startup to copy the initial values from FLASH to RAM. */
-    .data  : AT ( _sidata )
-    {
-        . = ALIGN(4);
-        /* This is used by the startup in order to initialize the .data secion */
-        _sdata = . ;
-
-        *(.data)
-        *(.data.*)
-
-        . = ALIGN(4);
-	/* This is used by the startup in order to initialize the .data secion */
-   	_edata = . ;
-    } >RAM
-
-
-
-    /* This is the uninitialized data section */
-    .bss :
-    {
-        . = ALIGN(4);
-        /* This is used by the startup in order to initialize the .bss secion */
-        _sbss = .;
-
-        *(.dynbss)
-        *(.bss .bss.* .gnu.linkonce.b.*)
-	  /*        *(.bss) */
-        *(COMMON)
-
-        . = ALIGN(4);
-	/* This is used by the startup in order to initialize the .bss secion */
-   	_ebss = . ;
-    } >RAM
-
-    PROVIDE ( end = _ebss );
-    PROVIDE ( _end = _ebss );
-
-    /* This is the user stack section
-    This is just to check that there is enough RAM left for the User mode stack
-    It should generate an error if it's full.
-     */
-    ._usrstack :
-    {
-        . = ALIGN(4);
-        _susrstack = . ;
-        . = . + _Minimum_Stack_Size ;
-        . = ALIGN(4);
-        _eusrstack = . ;
-    } >RAM
-
-   .b1text :
-    {
-        *(.b1text)                   /* remaining code */
-        *(.b1rodata)                 /* read-only data (constants) */
-        *(.b1rodata*)
-    } >FLASHB1
-
-    __exidx_start = .;
-    .ARM.exidx   : { *(.ARM.exidx* .gnu.linkonce.armexidx.*) }
-   __exidx_end = .;
-
-    /* after that it's only debugging information. */
-
-    /* remove the debugging information from the standard libraries */
-    /DISCARD/ :
-    {
-     libc.a ( * )
-     libm.a ( * )
-     libgcc.a ( * )
-     }
-
-    /* Stabs debugging sections.  */
-    .stab          0 : { *(.stab) }
-    .stabstr       0 : { *(.stabstr) }
-    .stab.excl     0 : { *(.stab.excl) }
-    .stab.exclstr  0 : { *(.stab.exclstr) }
-    .stab.index    0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment       0 : { *(.comment) }
-    /* DWARF debug sections.
-       Symbols in the DWARF debugging sections are relative to the beginning
-       of the section so we begin them at 0.*/
-    /* DWARF 1 */
-    .debug          0 : { *(.debug) }
-    .line           0 : { *(.line) }
-    /* GNU DWARF 1 extensions */
-    .debug_srcinfo  0 : { *(.debug_srcinfo) }
-    .debug_sfnames  0 : { *(.debug_sfnames) }
-    /* DWARF 1.1 and DWARF 2 */
-    .debug_aranges  0 : { *(.debug_aranges) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    /* DWARF 2 */
-    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
-    .debug_abbrev   0 : { *(.debug_abbrev) }
-    .debug_line     0 : { *(.debug_line) }
-    .debug_frame    0 : { *(.debug_frame) }
-    .debug_str      0 : { *(.debug_str) }
-    .debug_loc      0 : { *(.debug_loc) }
-    .debug_macinfo  0 : { *(.debug_macinfo) }
-    /* SGI/MIPS DWARF 2 extensions */
-    .debug_weaknames 0 : { *(.debug_weaknames) }
-    .debug_funcnames 0 : { *(.debug_funcnames) }
-    .debug_typenames 0 : { *(.debug_typenames) }
-    .debug_varnames  0 : { *(.debug_varnames) }
-}

sw/airborne/arch/stm32/stm32f103re_flash.ld

@@ -1,201 +0,0 @@
-/*
- * $Id$
- *  
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi 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 2, or (at your option)
- * any later version.
- *
- * Paparazzi 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 Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
- */
-
-/* Memory Spaces Definitions */
-MEMORY
-{                        
-  RAM     (xrw): ORIGIN = 0x20000000, LENGTH = 64K
-  /* last page (2k) flash for persistent settings */
-  FLASH   (rx) : ORIGIN = 0x8000000,  LENGTH = 510K
-  FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-}
-
-ENTRY(reset_handler_stage1);
-
-/* User mode stack top */
-_estack = 0x20010000;
-
-/* Stack size and address definitions */
-__Stack_Size = 0x1000 ;
-
-PROVIDE ( _Stack_Size = __Stack_Size ) ;
-
-__Stack_Init = _estack  - __Stack_Size ;
-
-PROVIDE ( _Stack_Init = __Stack_Init ) ;
-
-/* Enforce a linker error if there is not enough space left in ram for the stack */
-_Minimum_Stack_Size = 0x800 ;
-
-/* Check valid alignment for VTOR */
-ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
-
-/* Sections Definitions */
-
-SECTIONS
-{
-    /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
-    .isr_vector :
-    {
-        . = ALIGN(4);
-        KEEP(*(.isr_vector)) /* Startup code */
-	. = ALIGN(4);
-    } >FLASH
-
-    /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
-    .flashtext :
-    {
-	. = ALIGN(4);
-        *(.flashtext)        /* Startup code */
-	. = ALIGN(4);
-    } >FLASH
-
-
-    /* the program code is stored in the .text section, which goes to Flash */
-    .text :
-    {
-        . = ALIGN(4);
-
-        *(.text)             /* remaining code */
-        *(.text.*)           /* remaining code */
-        *(.rodata)           /* read-only data (constants) */
-        *(.rodata*)
-        *(.glue_7)
-        *(.glue_7t)
-
-        . = ALIGN(4);
-   	_etext = .;
-	/* This is used by the startup in order to initialize the .data secion */
-   	_sidata = _etext;
-    } >FLASH
-
-
-
-    /* This is the initialized data section
-    The program executes knowing that the data is in the RAM
-    but the loader puts the initial values in the FLASH (inidata).
-    It is one task of the startup to copy the initial values from FLASH to RAM. */
-    .data  : AT ( _sidata )
-    {
-        . = ALIGN(4);
-        /* This is used by the startup in order to initialize the .data secion */
-        _sdata = . ;
-
-        *(.data)
-        *(.data.*)
-
-        . = ALIGN(4);
-	/* This is used by the startup in order to initialize the .data secion */
-   	_edata = . ;
-    } >RAM
-
-
-
-    /* This is the uninitialized data section */
-    .bss :
-    {
-        . = ALIGN(4);
-        /* This is used by the startup in order to initialize the .bss secion */
-        _sbss = .;
-
-        *(.dynbss)
-        *(.bss .bss.* .gnu.linkonce.b.*)
-	  /*        *(.bss) */
-        *(COMMON)
-
-        . = ALIGN(4);
-	/* This is used by the startup in order to initialize the .bss secion */
-   	_ebss = . ;
-    } >RAM
-
-    PROVIDE ( end = _ebss );
-    PROVIDE ( _end = _ebss );
-
-    /* This is the user stack section
-    This is just to check that there is enough RAM left for the User mode stack
-    It should generate an error if it's full.
-     */
-    ._usrstack :
-    {
-        . = ALIGN(4);
-        _susrstack = . ;
-        . = . + _Minimum_Stack_Size ;
-        . = ALIGN(4);
-        _eusrstack = . ;
-    } >RAM
-
-   .b1text :
-    {
-        *(.b1text)                   /* remaining code */
-        *(.b1rodata)                 /* read-only data (constants) */
-        *(.b1rodata*)
-    } >FLASHB1
-
-    __exidx_start = .;
-    .ARM.exidx   : { *(.ARM.exidx* .gnu.linkonce.armexidx.*) }
-   __exidx_end = .;
-
-    /* after that it's only debugging information. */
-
-    /* remove the debugging information from the standard libraries */
-    /DISCARD/ :
-    {
-     libc.a ( * )
-     libm.a ( * )
-     libgcc.a ( * )
-     }
-
-    /* Stabs debugging sections.  */
-    .stab          0 : { *(.stab) }
-    .stabstr       0 : { *(.stabstr) }
-    .stab.excl     0 : { *(.stab.excl) }
-    .stab.exclstr  0 : { *(.stab.exclstr) }
-    .stab.index    0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment       0 : { *(.comment) }
-    /* DWARF debug sections.
-       Symbols in the DWARF debugging sections are relative to the beginning
-       of the section so we begin them at 0.*/
-    /* DWARF 1 */
-    .debug          0 : { *(.debug) }
-    .line           0 : { *(.line) }
-    /* GNU DWARF 1 extensions */
-    .debug_srcinfo  0 : { *(.debug_srcinfo) }
-    .debug_sfnames  0 : { *(.debug_sfnames) }
-    /* DWARF 1.1 and DWARF 2 */
-    .debug_aranges  0 : { *(.debug_aranges) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    /* DWARF 2 */
-    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
-    .debug_abbrev   0 : { *(.debug_abbrev) }
-    .debug_line     0 : { *(.debug_line) }
-    .debug_frame    0 : { *(.debug_frame) }
-    .debug_str      0 : { *(.debug_str) }
-    .debug_loc      0 : { *(.debug_loc) }
-    .debug_macinfo  0 : { *(.debug_macinfo) }
-    /* SGI/MIPS DWARF 2 extensions */
-    .debug_weaknames 0 : { *(.debug_weaknames) }
-    .debug_funcnames 0 : { *(.debug_funcnames) }
-    .debug_typenames 0 : { *(.debug_typenames) }
-    .debug_varnames  0 : { *(.debug_varnames) }
-}

sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c

@@ -29,8 +29,6 @@
 #include <stm32/misc.h>
 #include <stm32/dma.h>
 
-#include "stm32_vector_table.h"
-
 static volatile uint8_t channel;
 static uint8_t buf_in[4];
 static uint8_t buf_out[4];