extracting hardware-specifc CAN from BL (#32)

* extracting hardware-specifc CAN from BL
reusing CAN settings between FW and BL
moving CRC into better location

* spelling M0 stuff as M0 stuff

Co-authored-by: rusefillc <sdfsdfqsf2334234234>

firmware/boards/f0_module/bootloader/Makefile

@@ -119,7 +119,11 @@ CSRC = $(ALLCSRC) cfg/board.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
-CPPSRC = $(ALLCPPSRC) bootloader.cpp $(SRCDIR)/shared/flash.cpp crc.cpp
+CPPSRC = $(ALLCPPSRC) \
+  bootloader.cpp \
+  ../port_shared.cpp \
+  $(SRCDIR)/shared/flash.cpp \
+  $(SRCDIR)/shared/crc.cpp
 
 # List ASM source files here.
 ASMSRC = $(ALLASMSRC)
@@ -129,7 +133,7 @@ ASMXSRC = $(ALLXASMSRC)
 
 # Inclusion directories.
 INCDIR = $(CONFDIR) $(ALLINC) $(SRCDIR)/shared/ \
-  ../io
+  ../io ../..
 
 # Define C warning options here.
 CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes

firmware/boards/f0_module/bootloader/bootloader.cpp

@@ -1,6 +1,5 @@
-#include "ch.h"
-#include "hal.h"
 
+#include "port_shared.h"
 #include "flash.h"
 #include "io_pins.h"
 
@@ -37,15 +36,18 @@ void boot_app() {
 
     const uint32_t* appFlash = __appflash_start__;
 
+    // The reset vector is at offset 4 (second uint32)
+    uint32_t reset_vector = appFlash[1];
+
+#ifdef STM32F0XX
     // copy vector table to sram
     // TODO: use __ram_vectors_size__
     memcpy(reinterpret_cast<char*>(&__ram_vectors_start__), appFlash, 256);
 
-    // The reset vector is at offset 4 (second uint32)
-    uint32_t reset_vector = appFlash[1];
-
+    // M0 core version, newer cores do same thing a bit nicer
     // switch to use vectors in ram
     SYSCFG->CFGR1 |= 3;
+#endif
 
     // TODO: is this necessary?
     //uint32_t app_msp = appLocation[0];
@@ -214,12 +216,6 @@ void RunBootloaderLoop()
     }
 }
 
-static const CANConfig canConfig500 =
-{
-    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
-    CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
-};
-
 THD_WORKING_AREA(waBootloaderThread, 512);
 THD_FUNCTION(BootloaderThread, arg)
 {

firmware/boards/f0_module/port.cpp

@@ -129,9 +129,3 @@ void SetConfiguration(const Configuration& newConfig)
         sizeof(Configuration)
     );
 }
-
-const CANConfig canConfig500 =
-{
-    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
-    CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
-};

firmware/boards/f0_module/port_shared.cpp

@@ -0,0 +1,9 @@
+#include "port_shared.h"
+
+// board-specific stuff shared between bootloader and firmware
+
+const CANConfig canConfig500 =
+{
+    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
+    CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
+};

firmware/boards/port.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "hal.h"
+#include "port_shared.h"
 
 struct AnalogResult
 {
@@ -33,4 +34,3 @@ public:
 Configuration GetConfiguration();
 void SetConfiguration(const Configuration& newConfig);
 
-extern const CANConfig canConfig500;

firmware/boards/port_shared.h

@@ -0,0 +1,4 @@
+#include "ch.h"
+#include "hal.h"
+
+extern const CANConfig canConfig500;