From 41105cd29fa0193903a4ba5c04a7f97317180026 Mon Sep 17 00:00:00 2001
From: rusefillc <48498823+rusefillc@users.noreply.github.com>
Date: Mon, 27 Dec 2021 23:39:02 -0500
Subject: [PATCH] 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  |  8 ++++++--
 .../boards/f0_module/bootloader/bootloader.cpp | 18 +++++++-----------
 firmware/boards/f0_module/port.cpp             |  6 ------
 firmware/boards/f0_module/port_shared.cpp      |  9 +++++++++
 firmware/boards/port.h                         |  2 +-
 firmware/boards/port_shared.h                  |  4 ++++
 .../f0_module/bootloader => shared}/crc.cpp    |  0
 7 files changed, 27 insertions(+), 20 deletions(-)
 create mode 100644 firmware/boards/f0_module/port_shared.cpp
 create mode 100644 firmware/boards/port_shared.h
 rename firmware/{boards/f0_module/bootloader => shared}/crc.cpp (100%)

diff --git a/firmware/boards/f0_module/bootloader/Makefile b/firmware/boards/f0_module/bootloader/Makefile
index 7c2ec31..0996f78 100644
--- a/firmware/boards/f0_module/bootloader/Makefile
+++ b/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
diff --git a/firmware/boards/f0_module/bootloader/bootloader.cpp b/firmware/boards/f0_module/bootloader/bootloader.cpp
index 6ce5993..f274105 100644
--- a/firmware/boards/f0_module/bootloader/bootloader.cpp
+++ b/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)
 {
diff --git a/firmware/boards/f0_module/port.cpp b/firmware/boards/f0_module/port.cpp
index 63c5bf6..61097a5 100644
--- a/firmware/boards/f0_module/port.cpp
+++ b/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),
-};
diff --git a/firmware/boards/f0_module/port_shared.cpp b/firmware/boards/f0_module/port_shared.cpp
new file mode 100644
index 0000000..6642113
--- /dev/null
+++ b/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),
+};
diff --git a/firmware/boards/port.h b/firmware/boards/port.h
index e9b4b78..064c022 100644
--- a/firmware/boards/port.h
+++ b/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;
diff --git a/firmware/boards/port_shared.h b/firmware/boards/port_shared.h
new file mode 100644
index 0000000..e04aa74
--- /dev/null
+++ b/firmware/boards/port_shared.h
@@ -0,0 +1,4 @@
+#include "ch.h"
+#include "hal.h"
+
+extern const CANConfig canConfig500;
\ No newline at end of file
diff --git a/firmware/boards/f0_module/bootloader/crc.cpp b/firmware/shared/crc.cpp
similarity index 100%
rename from firmware/boards/f0_module/bootloader/crc.cpp
rename to firmware/shared/crc.cpp