Feat/improve linker script

CMakeLists.txt

@@ -10,7 +10,8 @@ if(BOARD_NAME STREQUAL "")
   message(FATAL_ERROR "BOARD_NAME cannot be empty")
 endif()
 set(STLIB_DIR ${CMAKE_CURRENT_LIST_DIR}/deps/ST-LIB)
-set(LD_SCRIPT ${STLIB_DIR}/STM32H723ZGTX_FLASH.ld)
+set(LD_SCRIPT_INPUT ${STLIB_DIR}/LinkerScript.ld)
+set(LD_SCRIPT ${CMAKE_BINARY_DIR}/LinkerScript.ld)
 
 find_package(Python3 COMPONENTS Interpreter REQUIRED)
 
@@ -30,6 +31,8 @@ endif()
 option(USE_ETHERNET "Enable ethernet peripheral" OFF)
 option(TARGET_NUCLEO "Targets the STM32H723 Nucleo development board" OFF)
 option(BUILD_EXAMPLES "Build Core/Src/Examples sources" OFF)
+option(ITCM_BUILD "Build code in ITCM (fast execution, no wait states)" OFF)
+set(ITCM_SIZE "64K" CACHE STRING "ITCM size: 64K, 128K, 192K, or 256K")
 option(USE_CCACHE "Use ccache if available" ON)
 if(NOT DEFINED ENABLE_LTO)
   if(CMAKE_CROSSCOMPILING)
@@ -49,9 +52,26 @@ if(USE_CCACHE)
   endif()
 endif()
 
+# Preprocess linker script through C preprocessor
+add_custom_command(
+  OUTPUT ${LD_SCRIPT}
+  COMMAND ${CMAKE_C_COMPILER} -E -P -x c
+    -D__ITCM_BUILD=$<IF:$<BOOL:${ITCM_BUILD}>,1,0>
+    -D__ITCM_SIZE=${ITCM_SIZE}
+    -o ${LD_SCRIPT} ${LD_SCRIPT_INPUT}
+  DEPENDS ${LD_SCRIPT_INPUT}
+  COMMENT "Preprocessing linker script (ITCM_BUILD=${ITCM_BUILD}, ITCM_SIZE=${ITCM_SIZE})"
+)
+
+add_custom_target(preprocess_linker_script
+  DEPENDS ${LD_SCRIPT}
+)
+
 message(STATUS "Template project: CMAKE_CROSSCOMPILING = ${CMAKE_CROSSCOMPILING}")
 message(STATUS "Template project: USE_ETHERNET         = ${USE_ETHERNET}")
 message(STATUS "Template project: TARGET_NUCLEO        = ${TARGET_NUCLEO}")
+message(STATUS "Template project: ITCM_BUILD           = ${ITCM_BUILD}")
+message(STATUS "Template project: ITCM_SIZE            = ${ITCM_SIZE}")
 message(STATUS "Template project: BOARD_NAME           = ${BOARD_NAME}")
 
 add_subdirectory(${STLIB_DIR})
@@ -142,9 +162,11 @@ if(CMAKE_CROSSCOMPILING)
     ${SOURCE_H}
     ${SOURCE_HPP}
 
-    $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_DIR}/startup_stm32h723zgtx.s>
+    $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_DIR}/StartupCode.s>
   )
 
+  add_dependencies(${EXECUTABLE} preprocess_linker_script)
+
   target_link_libraries(${EXECUTABLE} PRIVATE
     ${STLIB_LIBRARY}
   )
@@ -154,13 +176,16 @@ if(CMAKE_CROSSCOMPILING)
     CXX_STANDARD_REQUIRED YES
     C_STANDARD 17
     C_STANDARD_REQUIRED YES
+    LINK_DEPENDS ${LD_SCRIPT}
   )
 
   target_compile_definitions(${EXECUTABLE} PRIVATE
     $<$<BOOL:${EXAMPLE_SELECTED}>:EXAMPLE_SELECTED>
     $<$<BOOL:${USE_ETHERNET}>:STLIB_ETH>
     $<IF:$<BOOL:${TARGET_NUCLEO}>,NUCLEO,BOARD>
     $<IF:$<BOOL:${TARGET_NUCLEO}>,HSE_VALUE=8000000,HSE_VALUE=25000000>
+    __ITCM_BUILD=$<IF:$<BOOL:${ITCM_BUILD}>,1,0>
+    __ITCM_SIZE=${ITCM_SIZE}
   )
 
   target_compile_options(${EXECUTABLE} PRIVATE

Core/Src/Examples/ExampleADC.cpp

@@ -26,7 +26,7 @@ constexpr const char* kDualChannelWiringHint = "Connect PA0 and PC0 to two analo
 void start_terminal() {
 #ifdef HAL_UART_MODULE_ENABLED
     if (!UART::set_up_printf(UART::uart3)) {
-        ErrorHandler("Unable to set up UART printf for ADC example");
+        FAULT("Unable to set up UART printf for ADC example");
     }
     UART::start();
 #endif
@@ -51,14 +51,15 @@ constexpr auto adc = ADCDomain::ADC(
     ADCDomain::Resolution::BITS_12,
     ADCDomain::SampleTime::CYCLES_8_5
 );
+using ExampleADCBoard = ST_LIB::Board<ST_LIB::DefaultFaultPolicy, adc>;
+
+auto& adc_instance = ExampleADCBoard::instance_of<adc>();
+
+extern "C" void BoardInit() { ExampleADCBoard::init(); }
 
 int main(void) {
-    using ExampleADCBoard = ST_LIB::Board<adc>;
-    ExampleADCBoard::init();
     start_terminal();
 
-    auto& adc_instance = ExampleADCBoard::instance_of<adc>();
-
     print_banner("ADC single-channel example", kSingleChannelWiringHint, "t_ms raw voltage[V]");
     printf("Reading input: %s\n\r\n\r", adc_input.label);
 
@@ -103,14 +104,17 @@ constexpr auto adc_input_1 = ADCDomain::ADC(
     ADCDomain::SampleTime::CYCLES_8_5
 );
 
+using ExampleADCBoard = ST_LIB::Board<ST_LIB::DefaultFaultPolicy, adc_input_0, adc_input_1>;
+
+extern "C" void BoardInit() { ExampleADCBoard::init(); }
+
+auto& adc_input_0_instance = ExampleADCBoard::instance_of<adc_input_0>();
+auto& adc_input_1_instance = ExampleADCBoard::instance_of<adc_input_1>();
+
 int main(void) {
-    using ExampleADCBoard = ST_LIB::Board<adc_input_0, adc_input_1>;
     ExampleADCBoard::init();
     start_terminal();
 
-    auto& adc_input_0_instance = ExampleADCBoard::instance_of<adc_input_0>();
-    auto& adc_input_1_instance = ExampleADCBoard::instance_of<adc_input_1>();
-
     print_banner(
         "ADC dual-channel example",
         kDualChannelWiringHint,

Core/Src/Examples/ExampleEXTI.cpp

@@ -7,25 +7,23 @@
 // Press the nucleo user button (PC13) to toggle the LED (PB0)
 
 using namespace ST_LIB;
-constexpr auto led = ST_LIB::DigitalOutputDomain::DigitalOutput(ST_LIB::PB0);
-ST_LIB::DigitalOutputDomain::Instance* g_led;
+constexpr auto led_req = ST_LIB::DigitalOutputDomain::DigitalOutput(ST_LIB::PB0);
 
-void toggle_led() { g_led->toggle(); }
+void toggle_led();
 
 constexpr auto exti_req =
     ST_LIB::EXTIDomain::Device(ST_LIB::PC13, ST_LIB::EXTIDomain::Trigger::BOTH_EDGES, toggle_led);
-using MainBoard = ST_LIB::Board<led, exti_req>;
+using MainBoard = ST_LIB::Board<ST_LIB::DefaultFaultPolicy, led_req, exti_req>;
 
-int main(void) {
-    MainBoard::init();
+auto led_instance = MainBoard::instance_of<led_req>();
+
+void toggle_led() { led_instance.toggle(); }
 
-    static auto& led_instance = MainBoard::instance_of<led>();
-    g_led = &led_instance;
+extern "C" void BoardInit() { MainBoard::init(); }
 
-    while (1) {
-        // led_instance.toggle();
-        // HAL_Delay(200);
-    }
+int main(void) {
+    while (1)
+        ;
 }
 #endif