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>

4 files changed, 324 insertions, 0 deletions

diff --git a/wirish/stm32f2/boards_setup.cpp b/wirish/stm32f2/boards_setup.cpp
new file mode 100644
index 0000000..5764dd0
--- /dev/null
+++ b/wirish/stm32f2/boards_setup.cpp
@@ -0,0 +1,120 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2012 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/**
+ * @file wirish/stm32f2/boards_setup.cpp
+ * @author Marti Bolivar <mbolivar@leaflabs.com>
+ * @brief STM32F2 chip setup.
+ *
+ * This file controls how init() behaves on the STM32F2. Be very
+ * careful when changing anything here. Many of these values depend
+ * upon each other.
+ */
+
+#include "boards_private.h"
+
+#include <libmaple/gpio.h>
+#include <libmaple/syscfg.h>
+#include <libmaple/libmaple_types.h>
+#include <wirish/wirish_types.h>
+#include <board/board.h>
+
+// PLL config for 25 MHz external crystal --> 120 MHz SYSCLK, with
+// 48 MHz PLL48CK.
+#ifndef BOARD_PLL_Q
+#define BOARD_PLL_Q 5
+#endif
+#ifndef BOARD_PLL_P
+#define BOARD_PLL_P 2
+#endif
+#ifndef BOARD_PLL_N
+#define BOARD_PLL_N 240
+#endif
+#ifndef BOARD_PLL_M
+#define BOARD_PLL_M 25
+#endif
+
+static stm32f2_rcc_pll_data pll_data = {BOARD_PLL_Q,
+                                        BOARD_PLL_P,
+                                        BOARD_PLL_N,
+                                        BOARD_PLL_M};
+
+namespace wirish {
+    namespace priv {
+        // PLL clocked off of HSE, with above configuration data.
+        __weak rcc_pll_cfg w_board_pll_cfg = {RCC_PLLSRC_HSE, &pll_data};
+
+        // Global ADC prescaler
+        //
+        // On F2, with f_APB2 = 60 MHz, we need f_ADC = f_PCLK2 / 2 to
+        // get the (maximum) f_ADC = 30 MHz.
+        __weak adc_prescaler w_adc_pre = ADC_PRE_PCLK2_DIV_2;
+
+        // Conservative ADC sample rate. Goal is error less than 1/4
+        // LSB with 50 KOhm input impedance.
+        //
+        // On F2, with f_ADC = 30 MHz, error is acceptable assuming an
+        // internal sample and hold capacitance C_ADC at most 8.8 pF
+        // (ST doesn't specify the maximum C_ADC, so we had to take a
+        // guess). See Equation 1 and Table 61 in the F2 datasheet for
+        // more details.
+        __weak adc_smp_rate w_adc_smp = ADC_SMPR_144;
+
+        __weak void board_reset_pll(void) {
+            // Set PLLCFGR to its reset value.
+            RCC_BASE->PLLCFGR = 0x24003010; // FIXME lose the magic number.
+        }
+
+        __weak void board_setup_clock_prescalers(void) {
+            // On F2, with f_SYSCLK = 120 MHz (as determined by
+            // board_pll_cfg),
+            //
+            // f_AHB  = f_SYSCLK / 1 = 120 MHz
+            // f_APB1 = f_AHB / 4    =  30 MHz
+            // f_APB2 = f_AHB / 2    =  60 MHz
+            rcc_set_prescaler(RCC_PRESCALER_AHB, RCC_AHB_SYSCLK_DIV_1);
+            rcc_set_prescaler(RCC_PRESCALER_APB1, RCC_APB1_HCLK_DIV_4);
+            rcc_set_prescaler(RCC_PRESCALER_APB2, RCC_APB2_HCLK_DIV_2);
+        }
+
+        __weak void board_setup_gpio(void) {
+            gpio_init_all();
+        }
+
+        __weak void board_setup_usb(void) {
+            // Nothing to do.
+        }
+
+        __weak void series_init(void) {
+            // We need SYSCFG for external interrupts
+            syscfg_init();
+            // Turn on the I/O compensation cell, since we drive the
+            // GPIOs quickly by default.
+            syscfg_enable_io_compensation();
+        }
+
+    }
+}
diff --git a/wirish/stm32f2/util_hooks.c b/wirish/stm32f2/util_hooks.c
new file mode 100644
index 0000000..1b519ab
--- /dev/null
+++ b/wirish/stm32f2/util_hooks.c
@@ -0,0 +1,45 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2012 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/*
+ * STM32F2 implementations for libmaple util.c hooks
+ * FIXME these are just minimal stubs
+ */
+
+#include <libmaple/nvic.h>
+
+/*
+ * Disables all peripheral interrupts. Called by __error() with global
+ * interrupts disabled.
+ */
+void __lm_error(void) {
+    nvic_irq_disable_all();
+}
+
+/*
+ * Enable the error USART for writing.
+ */
+/* usart_dev* __lm_enable_error_usart(void) { (TODO) } */
diff --git a/wirish/stm32f2/wirish_debug.cpp b/wirish/stm32f2/wirish_debug.cpp
new file mode 100644
index 0000000..af6c78b
--- /dev/null
+++ b/wirish/stm32f2/wirish_debug.cpp
@@ -0,0 +1,60 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2012 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/**
+ * @file wirish/stm32f2/wirish_debug.cpp
+ * @brief High level debug port configuration
+ */
+
+#include <wirish/wirish_debug.h>
+#include <libmaple/gpio.h>
+
+// TODO is it worth optimizing these into raw MODER and AFR[LH] writes?
+
+void disableDebugPorts(void) {
+    // PA13-PA15 and PB3-PB4 are in system alternate function mode on
+    // reset, to support JTAG. Just put them in input mode to release
+    // them.
+    gpio_set_mode(GPIOA, 13, GPIO_MODE_INPUT);
+    gpio_set_mode(GPIOA, 14, GPIO_MODE_INPUT);
+    gpio_set_mode(GPIOA, 15, GPIO_MODE_INPUT);
+    gpio_set_mode(GPIOB, 3, GPIO_MODE_INPUT);
+    gpio_set_mode(GPIOB, 4, GPIO_MODE_INPUT);
+}
+
+void enableDebugPorts(void) {
+    // Put PA13-PA15 and PB3-PB4 back in system AF mode.
+    gpio_set_mode(GPIOA, 13, GPIO_MODE_AF);
+    gpio_set_mode(GPIOA, 14, GPIO_MODE_AF);
+    gpio_set_mode(GPIOA, 15, GPIO_MODE_AF);
+    gpio_set_mode(GPIOB, 3, GPIO_MODE_AF);
+    gpio_set_mode(GPIOB, 4, GPIO_MODE_AF);
+    gpio_set_af(GPIOA, 13, GPIO_AF_SYS);
+    gpio_set_af(GPIOA, 14, GPIO_AF_SYS);
+    gpio_set_af(GPIOA, 15, GPIO_AF_SYS);
+    gpio_set_af(GPIOB, 3, GPIO_AF_SYS);
+    gpio_set_af(GPIOB, 4, GPIO_AF_SYS);
+}
diff --git a/wirish/stm32f2/wirish_digital.cpp b/wirish/stm32f2/wirish_digital.cpp
new file mode 100644
index 0000000..4d46f1c
--- /dev/null
+++ b/wirish/stm32f2/wirish_digital.cpp
@@ -0,0 +1,99 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2012 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/*
+ * STM32F2 implementations for basic GPIO functionality.
+ */
+
+#include <wirish/io.h>
+
+#include <libmaple/gpio.h>
+#include <libmaple/timer.h>
+
+#include <wirish/boards.h>
+
+void pinMode(uint8 pin, WiringPinMode w_mode) {
+    if (pin >= BOARD_NR_GPIO_PINS) {
+        return;
+    }
+
+    gpio_pin_mode mode;
+    // People always do the silly pin-toggle speed benchmark, so let's
+    // accomodate them:
+    unsigned flags = GPIO_MODEF_SPEED_HIGH;
+    bool pwm = false;
+    switch(w_mode) {
+    case OUTPUT:
+        mode = GPIO_MODE_OUTPUT;
+        break;
+    case OUTPUT_OPEN_DRAIN:
+        mode = GPIO_MODE_OUTPUT;
+        flags |= GPIO_MODEF_TYPE_OD;
+        break;
+    case INPUT:
+    case INPUT_FLOATING:
+        mode = GPIO_MODE_INPUT;
+        break;
+    case INPUT_ANALOG:
+        mode = GPIO_MODE_ANALOG;
+        break;
+    case INPUT_PULLUP:
+        mode = GPIO_MODE_INPUT;
+        flags |= GPIO_MODEF_PUPD_PU;
+        break;
+    case INPUT_PULLDOWN:
+        mode = GPIO_MODE_INPUT;
+        flags |= GPIO_MODEF_PUPD_PD;
+        break;
+    case PWM:
+        mode = GPIO_MODE_AF;
+        pwm = true;
+        break;
+    case PWM_OPEN_DRAIN:
+        mode = GPIO_MODE_AF;
+        flags |= GPIO_MODEF_TYPE_OD;
+        pwm = true;
+        break;
+    default:
+        ASSERT(0);              // Can't happen
+        return;
+    }
+
+    const stm32_pin_info *info = &PIN_MAP[pin];
+
+    if (pwm) {
+        /* If enabling PWM, tell the timer to do PWM, and tell the pin
+         * to listen to the right timer. */
+        ASSERT(info->timer_device != NULL);
+        if (info->timer_device == NULL) {
+            return;
+        }
+        gpio_af timer_af = timer_get_af(info->timer_device);
+        timer_set_mode(info->timer_device, info->timer_channel, TIMER_PWM);
+        gpio_set_af(info->gpio_device, info->gpio_bit, timer_af);
+    }
+    gpio_set_modef(info->gpio_device, info->gpio_bit, mode, flags);
+}