Merge branch 'wip-family-support'

Merge the long-lived (too long; future changes like these will need to
proceed more incrementally) development branch of libmaple, containing
experimental STM32F2 and STM32F1 value line support, into master.

This required many changes to the structure of the library. The most
important structural reorganizations occurred in:

- 954f9e5: moves public headers to include directories
- 3efa313: uses "series" instead of "family"
- c0d60e3: adds board files to the build system, to make it easier to
  add new boards
- 096d86c: adds build logic for targeting different STM32 series
  (e.g. STM32F1, STM32F2)

This last commit in particular (096d86c) is the basis for the
repartitioning of libmaple into portable sections, which work on all
supported MCUs, and nonportable sections, which are segregated into
separate directories and contain all series-specific code. Moving
existing STM32F1-only code into libmaple/stm32f1 and wirish/stm32f1,
along with adding equivalents under .../stm32f2 directories, was the
principal project of this branch.

Important API changes occur in several places. Existing code is still
expected to work on STM32F1 targets, but there have been many
deprecations. A detailed changelog explaining the situation needs to
be prepared.

F2 and F1 value line support is not complete; the merge is proceeding
prematurely in this respect. We've been getting more libmaple patches
from the community lately, and I'm worried that the merge conflicts
with the old tree structure will become painful to manage.

Conflicts:
	Makefile

Resolved Makefile conflicts manually; this required propagating
-Xlinker usage into support/make/target-config.mk.

Signed-off-by: Marti Bolivar <mbolivar@leaflabs.com>

1 files changed, 46 insertions, 77 deletions

diff --git a/libmaple/util.c b/libmaple/util.c
index b15d658..2ee5ede 100644
--- a/libmaple/util.c
+++ b/libmaple/util.c
@@ -25,26 +25,18 @@
  *****************************************************************************/
 
 /**
- * @file util.c
- * @brief Utility procedures for debugging, mostly an error LED fade
- * and messages dumped over a UART for failed asserts.
+ * @file libmaple/util.c
+ * @brief Utility procedures for debugging
  */
 
-#include "libmaple.h"
-#include "usart.h"
-#include "gpio.h"
-#include "nvic.h"
-#include "adc.h"
-#include "timer.h"
+#include <libmaple/libmaple.h>
+#include <libmaple/usart.h>
+#include <libmaple/gpio.h>
+#include <libmaple/nvic.h>
 
-/* Failed ASSERT()s send out a message using this USART config. */
-#ifndef ERROR_USART
-#define ERROR_USART            USART2
-#define ERROR_USART_CLK_SPEED  STM32_PCLK1
-#define ERROR_USART_BAUD       9600
-#define ERROR_TX_PORT          GPIOA
-#define ERROR_TX_PIN           2
-#endif
+/* (Undocumented) hooks used by Wirish to direct our behavior here */
+extern __weak void __lm_error(void);
+extern __weak usart_dev* __lm_enable_error_usart(void);
 
 /* If you define ERROR_LED_PORT and ERROR_LED_PIN, then a failed
  * ASSERT() will also throb() an LED connected to that port and pin.
@@ -53,105 +45,82 @@
 #define HAVE_ERROR_LED
 #endif
 
-/**
- * @brief Disables all peripheral interrupts except USB and fades the
- *        error LED.
- */
 /* (Called from exc.S with global interrupts disabled.) */
-void __error(void) {
-    /* Turn off peripheral interrupts */
-    nvic_irq_disable_all();
-
-    /* Turn off timers */
-    timer_disable_all();
-
-    /* Turn off ADC */
-    adc_disable_all();
-
-    /* Turn off all USARTs */
-    usart_disable_all();
-
-    /* Turn the USB interrupt back on so the bootloader keeps on functioning */
-    nvic_irq_enable(NVIC_USB_HP_CAN_TX);
-    nvic_irq_enable(NVIC_USB_LP_CAN_RX0);
-
+__attribute__((noreturn)) void __error(void) {
+    if (__lm_error) {
+        __lm_error();
+    }
     /* Reenable global interrupts */
     nvic_globalirq_enable();
     throb();
 }
 
-/**
- * @brief Enable the error USART for writing.
- * @sideeffect Configures ERROR_USART appropriately for writing.
- */
-void _enable_error_usart() {
-    gpio_set_mode(ERROR_TX_PORT, ERROR_TX_PIN, GPIO_AF_OUTPUT_PP);
-    usart_init(ERROR_USART);
-    usart_set_baud_rate(ERROR_USART, ERROR_USART_CLK_SPEED, ERROR_USART_BAUD);
-}
-
-/**
- * @brief Print an error message on a UART upon a failed assertion
- *        and throb the error LED, if there is one defined.
+/*
+ * Print an error message on a UART upon a failed assertion (if one is
+ * available), and punt to __error().
+ *
  * @param file Source file of failed assertion
  * @param line Source line of failed assertion
  * @param exp String representation of failed assertion
  * @sideeffect Turns of all peripheral interrupts except USB.
  */
 void _fail(const char* file, int line, const char* exp) {
-    /* Initialize the error USART */
-    _enable_error_usart();
-
-    /* Print failed assert message */
-    usart_putstr(ERROR_USART, "ERROR: FAILED ASSERT(");
-    usart_putstr(ERROR_USART, exp);
-    usart_putstr(ERROR_USART, "): ");
-    usart_putstr(ERROR_USART, file);
-    usart_putstr(ERROR_USART, ": ");
-    usart_putudec(ERROR_USART, line);
-    usart_putc(ERROR_USART, '\n');
-    usart_putc(ERROR_USART, '\r');
-
+    if (__lm_enable_error_usart) {
+        /* Initialize the error USART */
+        usart_dev *err_usart = __lm_enable_error_usart();
+
+        /* Print failed assert message */
+        usart_putstr(err_usart, "ERROR: FAILED ASSERT(");
+        usart_putstr(err_usart, exp);
+        usart_putstr(err_usart, "): ");
+        usart_putstr(err_usart, file);
+        usart_putstr(err_usart, ": ");
+        usart_putudec(err_usart, line);
+        usart_putc(err_usart, '\n');
+        usart_putc(err_usart, '\r');
+    }
     /* Shutdown and error fade */
     __error();
 }
 
-/**
- * @brief Provide an __assert_func handler to libc so that calls to assert() get
- *        redirected to _fail.
+/*
+ * Provide an __assert_func handler to libc so that calls to assert()
+ * get redirected to _fail.
  */
 void __assert_func(const char* file, int line, const char* method,
                    const char* expression) {
     _fail(file, line, expression);
 }
 
-/**
- * @brief Provide an abort() implementation that aborts execution and enters an
- *        error state with the throbbing LED indicator.
+/*
+ * Provide an abort() implementation that aborts execution and punts
+ * to __error().
  */
 void abort() {
-    /* Initialize the error USART */
-    _enable_error_usart();
-
-    /* Print abort message. */
-    usart_putstr(ERROR_USART, "ERROR: PROGRAM ABORTED VIA abort()\n\r");
+    if (__lm_enable_error_usart) {
+        /* Initialize the error USART */
+        usart_dev *err_usart = __lm_enable_error_usart();
+        /* Print abort message. */
+        usart_putstr(err_usart, "ERROR: PROGRAM ABORTED VIA abort()\r\n");
+    }
 
     /* Shutdown and error fade */
     __error();
 }
 
+/* This was public as of v0.0.12, so we've got to keep it public. */
 /**
  * @brief Fades the error LED on and off
  * @sideeffect Sets output push-pull on ERROR_LED_PIN.
  */
-void throb(void) {
+__attribute__((noreturn)) void throb(void) {
 #ifdef HAVE_ERROR_LED
     int32  slope   = 1;
     uint32 CC      = 0x0000;
     uint32 TOP_CNT = 0x0200;
     uint32 i       = 0;
 
-    gpio_set_mode(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_OUTPUT_PP);
+    gpio_set_mode(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_MODE_OUTPUT);
     /* Error fade. */
     while (1) {
         if (CC == TOP_CNT)  {