From 63135b087da2932dff4dd7671cf24325c048101f Mon Sep 17 00:00:00 2001
From: albertonoys <albertonoys@gmail.com>
Date: Thu, 21 Mar 2024 20:07:58 +0100
Subject: [PATCH 01/27] Fix out-of-bounds bootAnimation check

Compare against BOOT_ANIMATION_COUNT instead of using byte size of array (which I think it would resolve to 90)
---
 LCM/Code/App/task.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/LCM/Code/App/task.c b/LCM/Code/App/task.c
index 39e56f6a..3cc5495c 100644
--- a/LCM/Code/App/task.c
+++ b/LCM/Code/App/task.c
@@ -229,7 +229,7 @@ void WS2812_Boot(void)
 		{{30,0,0}, {30,30,30}, {0,0,30}, {30,0,0}, {30,30,30}, {0,0,30}, {30,0,0}, {30,30,30}, {0,0,30}, {30,0,0}}
 };
 
-	if (lcmConfig.bootAnimation >= sizeof(bootAnims)) {
+	if (lcmConfig.bootAnimation < 0 || lcmConfig.bootAnimation >= BOOT_ANIMATION_COUNT) {
 		// Invalid boot animation
 		lcmConfig.bootAnimation = 0;
 	}

From eb529a44d95237489fb9d0a7718bdb2de9a056a9 Mon Sep 17 00:00:00 2001
From: Jack Rosenthal <jack@rosenth.al>
Date: Sun, 3 Mar 2024 12:07:08 -0700
Subject: [PATCH 02/27] vesc_uasrt: Fix compile error

Missing semicolon :O
---
 LCM/Code/App/vesc_uasrt.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/LCM/Code/App/vesc_uasrt.c b/LCM/Code/App/vesc_uasrt.c
index 0b009e76..00aeb447 100644
--- a/LCM/Code/App/vesc_uasrt.c
+++ b/LCM/Code/App/vesc_uasrt.c
@@ -357,7 +357,7 @@ uint8_t Protocol_Parse(uint8_t * message)
 	if (data.rpm < -100)
 		data.isForward = data.state == RUNNING_UPSIDEDOWN;
 	if (data.state > RUNNING_FLYWHEEL)
-		data.isForward = true
+		data.isForward = true;
 
 	return 0;
 }

From eeadc8b24e5e2a32e30f754de791c2e05603411d Mon Sep 17 00:00:00 2001
From: Floris Romeijn <floris.romeijn@evalan.com>
Date: Tue, 31 Oct 2023 20:12:43 +0100
Subject: [PATCH 03/27] able to build with gcc

---
 .gitignore                                    |   1 +
 .../Source/GCC/startup_hk32f030mf4p6.s        | 245 ++++++++++++++++++
 LCM/Library/LDScripts/hk32f030mf4p6.ld        | 163 ++++++++++++
 LCM/Makefile                                  |  75 ++++++
 LCM/Readme/Readme.txt                         |   6 -
 LCM/rules.mk                                  | 124 +++++++++
 README.md                                     |  71 +++++
 7 files changed, 679 insertions(+), 6 deletions(-)
 create mode 100644 LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source/GCC/startup_hk32f030mf4p6.s
 create mode 100644 LCM/Library/LDScripts/hk32f030mf4p6.ld
 create mode 100644 LCM/Makefile
 delete mode 100644 LCM/Readme/Readme.txt
 create mode 100644 LCM/rules.mk
 create mode 100644 README.md

diff --git a/.gitignore b/.gitignore
index e4961bac..2629c4ea 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,4 @@
 LCM/Project/MDK5/Objects/
 LCM/Project/MDK5/LCM_Light_Control_IO_WS2812_New.uvguix.*
 LCM/Project/MDK5/Listings/
+LCM/Build/
diff --git a/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source/GCC/startup_hk32f030mf4p6.s b/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source/GCC/startup_hk32f030mf4p6.s
new file mode 100644
index 00000000..822b0749
--- /dev/null
+++ b/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source/GCC/startup_hk32f030mf4p6.s
@@ -0,0 +1,245 @@
+/**
+  ******************************************************************************
+  * @file      startup_hk32f030mf4p6.s
+  * @brief     HK32F030MF4P6 devices vector table for GCC toolchain.
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually calls main()).
+  *            After Reset the Cortex-M0 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  */
+
+  .syntax unified
+  .cpu cortex-m0
+  .fpu softvfp
+  .thumb
+
+.global g_pfnVectors
+.global Default_Handler
+
+/* start address for the initialization values of the .data section.
+defined in linker script */
+.word _sidata
+/* start address for the .data section. defined in linker script */
+.word _sdata
+/* end address for the .data section. defined in linker script */
+.word _edata
+/* start address for the .bss section. defined in linker script */
+.word _sbss
+/* end address for the .bss section. defined in linker script */
+.word _ebss
+
+  .section .text.Reset_Handler
+  .weak Reset_Handler
+  .type Reset_Handler, %function
+Reset_Handler:
+  ldr   r0, =_estack
+  mov   sp, r0          /* set stack pointer */
+
+/* Copy the data segment initializers from flash to SRAM */
+  ldr r0, =_sdata
+  ldr r1, =_edata
+  ldr r2, =_sidata
+  movs r3, #0
+  b LoopCopyDataInit
+
+CopyDataInit:
+  ldr r4, [r2, r3]
+  str r4, [r0, r3]
+  adds r3, r3, #4
+
+LoopCopyDataInit:
+  adds r4, r0, r3
+  cmp r4, r1
+  bcc CopyDataInit
+  
+/* Zero fill the bss segment. */
+  ldr r2, =_sbss
+  ldr r4, =_ebss
+  movs r3, #0
+  b LoopFillZerobss
+
+FillZerobss:
+  str  r3, [r2]
+  adds r2, r2, #4
+
+LoopFillZerobss:
+  cmp r2, r4
+  bcc FillZerobss
+
+/* Call the clock system intitialization function.*/
+  bl  SystemInit
+/* Call static constructors. Remove this line if compile with `-nostartfiles` reports error */
+  bl __libc_init_array
+/* Call the application's entry point.*/
+  bl main
+
+LoopForever:
+    b LoopForever
+
+
+.size Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ *
+ * @param  None
+ * @retval : None
+*/
+    .section .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b Infinite_Loop
+  .size Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M0.  Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+*
+******************************************************************************/
+   .section .isr_vector,"a",%progbits
+  .type g_pfnVectors, %object
+  .size g_pfnVectors, .-g_pfnVectors
+
+
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  0
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler  
+  .word  WWDG_IRQHandler                   /* Window WatchDog              */
+  .word  0                                 /* Reserved                     */
+  .word  EXTI11_IRQHandler                 /* EXTI Line 11 interrupt(AWU_WKP) */
+  .word  FLASH_IRQHandler                  /* FLASH                        */
+  .word  RCC_IRQHandler                    /* RCC                          */
+  .word  EXTI0_IRQHandler                  /* EXTI Line 0                  */
+  .word  EXTI1_IRQHandler                  /* EXTI Line 1                  */
+  .word  EXTI2_IRQHandler                  /* EXTI Line 2                  */
+  .word  EXTI3_IRQHandler                  /* EXTI Line 3                  */
+  .word  EXTI4_IRQHandler                  /* EXTI Line 4                  */
+  .word  EXTI5_IRQHandler                  /* EXTI Line 5                  */
+  .word  TIM1_BRK_IRQHandler               /* TIM1 break interrupt         */
+  .word  ADC1_IRQHandler                   /* ADC1 interrupt, combined with EXTI line 8 */
+  .word  TIM1_UP_TRG_COM_IRQHandler        /* TIM1 Update, Trigger and Commutation */
+  .word  TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */
+  .word  TIM2_IRQHandler                   /* TIM2                         */
+  .word  0                                 /* Reserved                     */
+  .word  TIM6_IRQHandler                   /* TIM6                         */
+  .word  0                                 /* Reserved                     */
+  .word  0                                 /* Reserved                     */
+  .word  0                                 /* Reserved                     */
+  .word  EXTI6_IRQHandler                  /* EXTI Line 6                  */
+  .word  EXTI7_IRQHandler                  /* EXTI Line 7                  */
+  .word  I2C1_IRQHandler                   /* I2C1 global interrupt, combined with EXTI Line 10 */
+  .word  0                                 /* Reserved                     */
+  .word  SPI1_IRQHandler                   /* SPI1                         */
+  .word  0                                 /* Reserved                     */
+  .word  USART1_IRQHandler                 /* USART1 global interrupt, combined with EXTI Line 9 */
+  .word  0                                 /* Reserved                     */
+  .word  0                                 /* Reserved                     */
+  .word  0                                 /* Reserved                     */
+  .word  0                                 /* Reserved                     */
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
+* this definition.
+*
+*******************************************************************************/
+
+  .weak      NMI_Handler
+  .thumb_set NMI_Handler,Default_Handler
+
+  .weak      HardFault_Handler
+  .thumb_set HardFault_Handler,Default_Handler
+
+  .weak      SVC_Handler
+  .thumb_set SVC_Handler,Default_Handler
+
+  .weak      PendSV_Handler
+  .thumb_set PendSV_Handler,Default_Handler
+
+  .weak      SysTick_Handler
+  .thumb_set SysTick_Handler,Default_Handler
+
+  .weak      WWDG_IRQHandler
+  .thumb_set WWDG_IRQHandler,Default_Handler
+
+  .weak      EXTI11_IRQHandler
+  .thumb_set EXTI11_IRQHandler,Default_Handler
+
+  .weak      FLASH_IRQHandler
+  .thumb_set FLASH_IRQHandler,Default_Handler
+
+  .weak      RCC_IRQHandler
+  .thumb_set RCC_IRQHandler,Default_Handler
+
+  .weak      EXTI0_IRQHandler
+  .thumb_set EXTI0_IRQHandler,Default_Handler
+
+  .weak      EXTI1_IRQHandler
+  .thumb_set EXTI1_IRQHandler,Default_Handler
+
+  .weak      EXTI2_IRQHandler
+  .thumb_set EXTI2_IRQHandler,Default_Handler
+
+  .weak      EXTI3_IRQHandler
+  .thumb_set EXTI3_IRQHandler,Default_Handler
+
+  .weak      EXTI4_IRQHandler
+  .thumb_set EXTI4_IRQHandler,Default_Handler
+
+  .weak      EXTI5_IRQHandler
+  .thumb_set EXTI5_IRQHandler,Default_Handler
+
+  .weak      TIM1_BRK_IRQHandler
+  .thumb_set TIM1_BRK_IRQHandler,Default_Handler
+
+  .weak      ADC1_IRQHandler
+  .thumb_set ADC1_IRQHandler,Default_Handler
+
+  .weak      TIM1_UP_TRG_COM_IRQHandler
+  .thumb_set TIM1_UP_TRG_COM_IRQHandler,Default_Handler
+
+  .weak      TIM1_CC_IRQHandler
+  .thumb_set TIM1_CC_IRQHandler,Default_Handler
+
+  .weak      TIM2_IRQHandler
+  .thumb_set TIM2_IRQHandler,Default_Handler
+
+  .weak      TIM6_IRQHandler
+  .thumb_set TIM6_IRQHandler,Default_Handler
+
+  .weak      EXTI6_IRQHandler
+  .thumb_set EXTI6_IRQHandler,Default_Handler
+
+  .weak      EXTI7_IRQHandler
+  .thumb_set EXTI7_IRQHandler,Default_Handler
+
+  .weak      I2C1_IRQHandler
+  .thumb_set I2C1_IRQHandler,Default_Handler
+
+  .weak      SPI1_IRQHandler
+  .thumb_set SPI1_IRQHandler,Default_Handler
+
+  .weak      USART1_IRQHandler
+  .thumb_set USART1_IRQHandler,Default_Handler
diff --git a/LCM/Library/LDScripts/hk32f030mf4p6.ld b/LCM/Library/LDScripts/hk32f030mf4p6.ld
new file mode 100644
index 00000000..f619651d
--- /dev/null
+++ b/LCM/Library/LDScripts/hk32f030mf4p6.ld
@@ -0,0 +1,163 @@
+/*
+******************************************************************************
+**
+**  File        : LinkerScript.ld
+**
+**  Abstract    : Linker script for HK32F030Mx series
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**                Set memory bank area and size if external memory is used.
+**
+**  Distribution: The file is distributed “as is,” without any warranty
+**                of any kind.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM */
+/*
+  Generate a link error if heap and stack don't fit into RAM.
+  These numbers affect the USED size of RAM
+*/
+_Min_Heap_Size = 0x200;   /* required amount of heap: 512 bytes */
+_Min_Stack_Size = 0x400;  /* required amount of stack: 1024 bytes */
+
+/* Specify the memory areas */
+MEMORY
+{
+  RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 4K
+  FLASH (rx)     : ORIGIN = 0x08000000, LENGTH = 16K
+  EEPROM (rx)    : ORIGIN = 0x0C000000, LENGTH = 448
+}
+
+/* Define output sections */
+SECTIONS
+{
+  .eeprom :
+  {
+    . = ALIGN(4);
+    KEEP(*(.eeprom))	/* .eeprom section */
+    . = ALIGN(4);
+  } >EEPROM
+  
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : 
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM AT> FLASH
+
+  
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
+
+
diff --git a/LCM/Makefile b/LCM/Makefile
new file mode 100644
index 00000000..6e1b33e1
--- /dev/null
+++ b/LCM/Makefile
@@ -0,0 +1,75 @@
+# Based on https://github.com/IOsetting/hk32f030m-template/blob/master/Makefile
+##### Project #####
+
+PROJECT 		?= app
+# The path for generated files
+BUILD_DIR 		= Build
+
+
+##### Options #####
+
+# Enable printf float %f support, y:yes, n:no
+ENABLE_PRINTF_FLOAT	?= n
+# Build with FreeRTOS, y:yes, n:no
+USE_FREERTOS	?= n
+# Programmer, jlink or pyocd
+FLASH_PROGRM	?= jlink
+
+
+##### Toolchains #######
+
+# path to gcc arm
+# ARM_TOOCHAIN 	?= /opt/gcc-arm/arm-gnu-toolchain-12.2.mpacbti-rel1-x86_64-arm-none-eabi/bin
+# path to JLinkExe
+JLINKEXE		?= /opt/SEGGER/JLink/JLinkExe
+# JLink device type: HK32F030MD4P6, HK32F030MF4U6, HK32F030MF4P6 or HK32F030MJ4M6
+JLINK_DEVICE	?= HK32F030MF4P6
+# path to PyOCD
+PYOCD_EXE		?= pyocd
+# PyOCD device type: hk32f030md4p6, hk32f030mf4p6, hk32f030mf4u6, hk32f030mj4m6
+PYOCD_DEVICE	?= hk32f030mf4p6
+
+
+##### Paths ############
+
+# Link descript file
+LDSCRIPT		= Library/LDScripts/hk32f030mf4p6.ld
+# Library build flags
+LIB_FLAGS       = HK32F030MF4P6
+
+# C source folders
+CDIRS	:= Code/App \
+		Code/Drive \
+		Code/User \
+		Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source/GCC \
+		Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source \
+		Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/src/
+
+# C source files (if there are any single ones)
+CFILES :=
+
+# ASM source folders
+ADIRS	:= Code/User
+# ASM single files
+AFILES	:= Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Source/GCC/startup_hk32f030mf4p6.s
+
+# Include paths
+INCLUDES	:= Code/App \
+			Code/Drive \
+			Code/User \
+			Libraries/CMSIS/HK32F030M/Source/ \
+			Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/HK32F030M/Include \
+			Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/CMSIS/CM0/Core/ \
+			Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc
+
+ifeq ($(USE_FREERTOS),y)
+CDIRS		+= Libraries/FreeRTOS \
+			Libraries/FreeRTOS/portable/GCC/ARM_CM0
+
+CFILES		+= Libraries/FreeRTOS/portable/MemMang/heap_4.c
+
+INCLUDES	+= Libraries/FreeRTOS/include \
+			Libraries/FreeRTOS/portable/GCC/ARM_CM0
+endif
+
+include ./rules.mk
diff --git a/LCM/Readme/Readme.txt b/LCM/Readme/Readme.txt
deleted file mode 100644
index e4a77164..00000000
--- a/LCM/Readme/Readme.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-This code is a continuation of the stock Floatwheel LCM (Light Control Module). This version offers added features. On the side off the LCM an expended messaging structure was added (to work in combination with the Comm bridge that was created in a custom Float Package).
-EEPROM writes and reads, store settings on the LCM without having to flash again. This brings some features such as changing the preset lighting profiles, remembering which profile was last used, changing boot animation and cell type and more.
-
-TODO:
-Include Float package buzzer support (let the vesc controll the buzzer).
-
diff --git a/LCM/rules.mk b/LCM/rules.mk
new file mode 100644
index 00000000..047b80dd
--- /dev/null
+++ b/LCM/rules.mk
@@ -0,0 +1,124 @@
+# 'make V=1' will show all compiler calls.
+V		?= 0
+ifeq ($(V),0)
+Q		:= @
+NULL	:= 2>/dev/null
+endif
+
+ifdef ARM_TOOCHAIN
+PREFIX		?= $(ARM_TOOCHAIN)/arm-none-eabi-
+else
+PREFIX		= arm-none-eabi-
+endif
+CC			= $(PREFIX)gcc
+AS			= $(PREFIX)as
+LD			= $(PREFIX)ld
+OBJCOPY		= $(PREFIX)objcopy
+# `$(shell pwd)` or `.`, both works
+TOP			= .
+BDIR		= $(TOP)/$(BUILD_DIR)
+
+# For each direcotry, add it to csources
+CSOURCES := $(foreach dir, $(CDIRS), $(shell find $(TOP)/$(dir) -maxdepth 1 -name '*.c'))
+# Add single c source files to csources
+CSOURCES += $(addprefix $(TOP)/, $(CFILES))
+# Then assembly source folders and files
+ASOURCES := $(foreach dir, $(ADIRS), $(shell find $(TOP)/$(dir) -maxdepth 1 -name '*.s'))
+ASOURCES += $(addprefix $(TOP)/, $(AFILES))
+
+# Fill object files with c and asm files (keep source directory structure)
+OBJS = $(CSOURCES:$(TOP)/%.c=$(BDIR)/%.o)
+OBJS += $(ASOURCES:$(TOP)/%.s=$(BDIR)/%.o)
+# d files for detecting h file changes
+DEPS=$(CSOURCES:$(TOP)/%.c=$(BDIR)/%.d)
+
+# Arch and target specified flags
+ARCH_FLAGS	:= -mthumb -mcpu=cortex-m0 -fno-common
+# Debug options, -gdwarf-2 for debug, -g0 for release 
+# https://gcc.gnu.org/onlinedocs/gcc-12.2.0/gcc/Debugging-Options.html
+#  -g: system’s native format, -g0:off, -g/g1,-g2,-g3 -> more verbosely
+#  -ggdb: for gdb, -ggdb0:off, -ggdb/ggdb1,-ggdb2,-ggdb3 -> more verbosely
+#  -gdwarf: in DWARF format, -gdwarf-2,-gdwarf-3,-gdwarf-4,-gdwarf-5
+DEBUG_FLAGS ?= -gdwarf-3
+
+# c flags
+OPT			?= -Os
+CSTD		?= -std=c99
+TGT_CFLAGS 	+= $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) $(CSTD) $(addprefix -D, $(LIB_FLAGS)) \
+ -Wall -ffunction-sections -fdata-sections -ffreestanding -flto \
+ -fsingle-precision-constant
+
+# asm flags
+TGT_ASFLAGS += $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) -Wa,--warn
+
+# ld flags
+TGT_LDFLAGS += $(ARCH_FLAGS) -specs=nano.specs -specs=nosys.specs -static -lc -lm \
+				-Wl,-Map=$(BDIR)/$(PROJECT).map \
+				-Wl,--gc-sections \
+				-Wl,--print-memory-usage \
+				-Wl,--cref
+# Exclude standard initialization actions, when __libc_init_array exists, this should be omit, \
+   otherwise it will generate "undefined reference to `_init'" error. \
+   **Remove** `bl __libc_init_array` from startup.s if you want to enable this.
+# TGT_LDFLAGS += -nostartfiles
+
+ifeq ($(ENABLE_PRINTF_FLOAT),y)
+TGT_LDFLAGS	+= -u _printf_float
+endif
+
+### included paths ###
+TGT_INCFLAGS := $(addprefix -I $(TOP)/, $(INCLUDES))
+
+
+.PHONY: all clean flash echo
+
+all: $(BDIR)/$(PROJECT).elf $(BDIR)/$(PROJECT).bin $(BDIR)/$(PROJECT).hex
+
+# for debug
+echo:
+	$(info 1. $(AFILES))
+	$(info 2. $(ASOURCES))
+	$(info 3. $(CSOURCES))
+	$(info 4. $(OBJS))
+	$(info 5. $(TGT_INCFLAGS))
+
+# include d files without non-exist warning
+-include $(DEPS)
+
+# Compile c to obj -- should be `$(BDIR)/%.o: $(TOP)/%.c`, but since $(TOP) is base folder so non-path also works
+$(BDIR)/%.o: %.c
+	@printf "  CC\t$<\n"
+	@mkdir -p $(dir $@)
+	$(Q)$(CC) $(TGT_CFLAGS) $(TGT_INCFLAGS) -o $@ -c $< -MD -MF $(BDIR)/$*.d -MP
+
+# Compile asm to obj
+$(BDIR)/%.o: %.s
+	@printf "  AS\t$<\n"
+	@mkdir -p $(dir $@)
+	$(Q)$(CC) $(TGT_ASFLAGS) -o $@ -c $<
+
+# Link object files to elf
+$(BDIR)/$(PROJECT).elf: $(OBJS) $(TOP)/$(LDSCRIPT)
+	@printf "  LD\t$@\n"
+	$(Q)$(CC) $(TGT_LDFLAGS) -T$(TOP)/$(LDSCRIPT) $(OBJS) -o $@
+
+# Convert elf to bin
+%.bin: %.elf
+	@printf "  OBJCP BIN\t$@\n"
+	$(Q)$(OBJCOPY) -I elf32-littlearm -O binary  $< $@
+
+# Convert elf to hex
+%.hex: %.elf
+	@printf "  OBJCP HEX\t$@\n"
+	$(Q)$(OBJCOPY) -I elf32-littlearm -O ihex  $< $@
+
+clean:
+	rm -rf $(BDIR)/*
+
+flash:
+ifeq ($(FLASH_PROGRM),jlink)
+	$(JLINKEXE) -device $(JLINK_DEVICE) -if swd -speed 4000 -JLinkScriptFile $(TOP)/Misc/jlink-script -CommanderScript $(TOP)/Misc/jlink-command
+else ifeq ($(FLASH_PROGRM),pyocd)
+	$(PYOCD_EXE) erase -c -t $(PYOCD_DEVICE) --config $(TOP)/Misc/pyocd.yaml
+	$(PYOCD_EXE) load $(BDIR)/$(PROJECT).hex -t $(PYOCD_DEVICE) --config $(TOP)/Misc/pyocd.yaml
+endif
diff --git a/README.md b/README.md
new file mode 100644
index 00000000..4f2d2d85
--- /dev/null
+++ b/README.md
@@ -0,0 +1,71 @@
+# Floatwheel Light Control Module
+
+This code is a continuation of the stock Floatwheel LCM (Light Control Module). This version offers added features. On the side off the LCM an expended messaging structure was added (to work in combination with the Comm bridge that was created in a custom Float Package).
+EEPROM writes and reads, store settings on the LCM without having to flash again. This brings some features such as changing the preset lighting profiles, remembering which profile was last used, changing boot animation and cell type and more.
+
+TODO:
+Include Float package buzzer support (let the vesc control the buzzer).
+
+## Building with GCC / Makefile (Linux)
+
+### Requirements
+
+* Programmer
+  * PyOCD: DAPLink, J-Link or ST-LINK
+* PyOCD [https://pyocd.io/](https://pyocd.io/)
+* GNU Arm Embedded Toolchain
+
+### Building
+
+#### 1. Install GNU Arm Embedded Toolchain
+
+On debian based systems simply use
+
+```bash
+sudo apt install gcc-arm-none-eabi
+```
+
+or
+
+Download the toolchain from [Arm GNU Toolchain Downloads](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads) according to your pc architecture, extract the files
+
+```bash
+cd ~/Downloads
+curl  https://developer.arm.com/-/media/Files/downloads/gnu/12.2.mpacbti-rel1/binrel/arm-gnu-toolchain-12.2.mpacbti-rel1-x86_64-arm-none-eabi.tar.xz -L -o arm-gnu-toolchain-12.2.mpacbti-rel1-x86_64-arm-none-eabi.tar.xz
+tar xvf arm-gnu-toolchain-12.2.mpacbti-rel1-x86_64-arm-none-eabi.tar.xz
+sudo mkdir -p /opt/gcc-arm 
+cd /opt/gcc-arm/
+sudo mv ~/Downloads/arm-gnu-toolchain-12.2.mpacbti-rel1-x86_64-arm-none-eabi/ .
+sudo chown -R root:root arm-gnu-toolchain-12.2.mpacbti-rel1-x86_64-arm-none-eabi/
+```
+
+add /opt/gcc-arm/arm-gnu-toolchain-12.2.rel1-x86_64-arm-none-eabi/bin to you `PATH` or define `ARM_TOOCHAIN` in `Makefile`
+
+#### 2. Install PyOCD
+
+Install from pip instead of apt repository because the version is 0.13.1+dfsg-1, which is too low to recognize J-Link probe
+
+```bash
+pip install pyocd
+```
+
+#### 3. Clone This Repository
+
+Clone this repository to local workspace
+
+#### 4. Compiling And Flashing
+
+```bash
+# clean source code
+make clean
+# build
+make
+# or make with verbose output
+V=1 make
+# flash
+make flash
+```
+
+#### 5. Troubleshooting
+
+* Image is too big, make sure you are not using double functions

From 3af549b7cbecf41a07e802643654d4111392e402 Mon Sep 17 00:00:00 2001
From: Floris Romeijn <floris.romeijn@evalan.com>
Date: Tue, 31 Oct 2023 21:50:59 +0100
Subject: [PATCH 04/27] make flash

---
 LCM/Makefile | 2 +-
 LCM/rules.mk | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/LCM/Makefile b/LCM/Makefile
index 6e1b33e1..9c1bae89 100644
--- a/LCM/Makefile
+++ b/LCM/Makefile
@@ -13,7 +13,7 @@ ENABLE_PRINTF_FLOAT	?= n
 # Build with FreeRTOS, y:yes, n:no
 USE_FREERTOS	?= n
 # Programmer, jlink or pyocd
-FLASH_PROGRM	?= jlink
+FLASH_PROGRM	?= pyocd
 
 
 ##### Toolchains #######
diff --git a/LCM/rules.mk b/LCM/rules.mk
index 047b80dd..802a9dbc 100644
--- a/LCM/rules.mk
+++ b/LCM/rules.mk
@@ -119,6 +119,6 @@ flash:
 ifeq ($(FLASH_PROGRM),jlink)
 	$(JLINKEXE) -device $(JLINK_DEVICE) -if swd -speed 4000 -JLinkScriptFile $(TOP)/Misc/jlink-script -CommanderScript $(TOP)/Misc/jlink-command
 else ifeq ($(FLASH_PROGRM),pyocd)
-	$(PYOCD_EXE) erase -c -t $(PYOCD_DEVICE) --config $(TOP)/Misc/pyocd.yaml
-	$(PYOCD_EXE) load $(BDIR)/$(PROJECT).hex -t $(PYOCD_DEVICE) --config $(TOP)/Misc/pyocd.yaml
+	$(PYOCD_EXE) erase -c -t $(PYOCD_DEVICE) --config $(TOP)/pyocd.yaml
+	$(PYOCD_EXE) load $(BDIR)/$(PROJECT).hex -t $(PYOCD_DEVICE) --config $(TOP)/pyocd.yaml
 endif

From 7587a99c92bd0944e4c48d11c181d4350fdea863 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 14:05:44 +0100
Subject: [PATCH 05/27] Remove usage of floor

Based on 46c875c2089d04f19d692c104828f197cec75676, except it removes
completely the usage of floor() we don't need.
---
 LCM/Code/App/task.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/LCM/Code/App/task.c b/LCM/Code/App/task.c
index 3cc5495c..8c3491da 100644
--- a/LCM/Code/App/task.c
+++ b/LCM/Code/App/task.c
@@ -219,7 +219,7 @@ static void WS2812_VESC(void)
 void WS2812_Boot(void)
 {
 	uint8_t i;
-	uint8_t num = floor(Power_Time / 500) + 1;
+	uint8_t num = (Power_Time / 500) + 1;
 	uint8_t bootAnims[][10][3] = {
 		// Default (blue...green)
 		{{10,0,30}, {9,3,27}, {8,6,24}, {7,9,21}, {6,12,18}, {5,15,15}, {4,18,12}, {3,21,9}, {2,24,6}, {1,27,3}},
@@ -252,7 +252,7 @@ void WS2812_Boot(void)
 void WS2812_Shutdown(void)
 {
 	uint8_t brightness = 100;
-	int num = 10 - floor(Power_Time / 100);
+	int num = 10 - (Power_Time / 100);
 	if (num < 1) {
 		num = 1;
 	}

From 20b280d03ff56a05650d61fc55577b7f57edc895 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 14:14:51 +0100
Subject: [PATCH 06/27] Remove unused variables

---
 LCM/Code/App/task.c | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/LCM/Code/App/task.c b/LCM/Code/App/task.c
index 8c3491da..65a3117f 100644
--- a/LCM/Code/App/task.c
+++ b/LCM/Code/App/task.c
@@ -128,7 +128,6 @@ static void WS2812_Power_Display(uint8_t brightness)
  **************************************************/
 static void WS2812_VESC(void)
 {
-	uint8_t i;
 	uint8_t pos, red;
 	uint8_t green = 0;
 	uint8_t blue = WS2812_Measure;
@@ -367,8 +366,6 @@ static void WS2812_Handtest(void)
  **************************************************/
 void WS2812_Task(void)
 {
-	uint8_t i;
-
 	if(WS2812_Counter < 20) // 20ms refresh period
 	{
 		return;
@@ -700,7 +697,6 @@ static void Set_Headlights_Brightness(int brightness)
 void Headlights_Task(void)
 {
 	static uint8_t gear_position_last = 0;
-	static bool isForward = false;
 
 	if (Flashlight_Time < 10) {
 		return;

From 520ccdf2076d7af0a867a755575c9d5cf341ab1b Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 14:32:31 +0100
Subject: [PATCH 07/27] Remove duplicate/incorrect public declarations

TI*_Config are static to hk32f030m_tim.c
---
 .../HK32F030M/HK32F030M_Lib/inc/hk32f030m_tim.h          | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_tim.h b/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_tim.h
index 7f9bdaea..b55f4934 100644
--- a/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_tim.h
+++ b/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_tim.h
@@ -951,15 +951,6 @@ void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode,
                                 uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
 void TIM_SelectHallSensor(TIM_TypeDef* TIMx, FunctionalState NewState);
 
-static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
-                       uint16_t TIM_ICFilter);
-static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
-                       uint16_t TIM_ICFilter);
-static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
-                       uint16_t TIM_ICFilter);
-static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
-                       uint16_t TIM_ICFilter);
-
 
 #ifdef __cplusplus
 }

From 2e4e686e531c41add488c2abccd19a2344faa9d2 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 14:57:58 +0100
Subject: [PATCH 08/27] Fix gcc linker flags

- Remove unnecessary linker flags
- Pass -flto also as a linker flag
- Remove warning on RWX segments with gcc 13
---
 LCM/rules.mk | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/LCM/rules.mk b/LCM/rules.mk
index 802a9dbc..fe269ef5 100644
--- a/LCM/rules.mk
+++ b/LCM/rules.mk
@@ -52,9 +52,10 @@ TGT_CFLAGS 	+= $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) $(CSTD) $(addprefix -D, $(LIB
 TGT_ASFLAGS += $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) -Wa,--warn
 
 # ld flags
-TGT_LDFLAGS += $(ARCH_FLAGS) -specs=nano.specs -specs=nosys.specs -static -lc -lm \
+TGT_LDFLAGS += $(ARCH_FLAGS) -specs=nano.specs -specs=nosys.specs -flto \
 				-Wl,-Map=$(BDIR)/$(PROJECT).map \
 				-Wl,--gc-sections \
+				-Wl,--no-warn-rwx-segments \
 				-Wl,--print-memory-usage \
 				-Wl,--cref
 # Exclude standard initialization actions, when __libc_init_array exists, this should be omit, \

From 6643f6334c51eda7db0e81e0cb65247e3a53c232 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 15:09:52 +0100
Subject: [PATCH 09/27] Mark implicit fall-thru

---
 LCM/Code/App/test.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/LCM/Code/App/test.c b/LCM/Code/App/test.c
index 05a35372..22fe0cc0 100644
--- a/LCM/Code/App/test.c
+++ b/LCM/Code/App/test.c
@@ -109,6 +109,7 @@ void Test_LED(void)
 					case 1:
 						led_pwm += 1;
 						pwm_st = 2;
+						/* FALLTHRU */
 					case 2:
 						led_pwm -= 500;
 						if(led_pwm == 0)

From f6ca53d0de9bdf49e89048a05a0662a3968e3c1e Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 16:52:29 +0100
Subject: [PATCH 10/27] No not use any stdlib on GCC

We're not using any libc function, so drop nano/nosys specs and use
nostdlib directly.

Stub _init() to get the default implementation of __libc_init_array.
---
 LCM/Code/User/main.c | 9 +++++----
 LCM/rules.mk         | 2 +-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/LCM/Code/User/main.c b/LCM/Code/User/main.c
index 6a567aee..9d3e2ff9 100644
--- a/LCM/Code/User/main.c
+++ b/LCM/Code/User/main.c
@@ -37,9 +37,10 @@
 
 //RCC_ClocksTypeDef RCC_Clock;
 
-/*
-										
-*/
+#ifdef __GNUC__
+// stub init (main is called explicitly during startup)
+void _init(void) {}
+#endif
 
 /**************************************************
  * @brie   :main()
@@ -47,7 +48,7 @@
  * @param  :��
  * @retval :��
  **************************************************/
-int main(void)
+void main(void)
 {	
 	//RCC_GetClocksFreq(&RCC_Clock);
 	LED_Init();
diff --git a/LCM/rules.mk b/LCM/rules.mk
index fe269ef5..12bcf02d 100644
--- a/LCM/rules.mk
+++ b/LCM/rules.mk
@@ -52,7 +52,7 @@ TGT_CFLAGS 	+= $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) $(CSTD) $(addprefix -D, $(LIB
 TGT_ASFLAGS += $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) -Wa,--warn
 
 # ld flags
-TGT_LDFLAGS += $(ARCH_FLAGS) -specs=nano.specs -specs=nosys.specs -flto \
+TGT_LDFLAGS += $(ARCH_FLAGS) -nostdlib -flto \
 				-Wl,-Map=$(BDIR)/$(PROJECT).map \
 				-Wl,--gc-sections \
 				-Wl,--no-warn-rwx-segments \

From 2cdaba07512cbd34771c3189082d4ee49e47d4ee Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 16:56:35 +0100
Subject: [PATCH 11/27] Do not include stdio globally

---
 .../HK32F030M/HK32F030M_Lib/inc/hk32f030m_def.h                  | 1 -
 1 file changed, 1 deletion(-)

diff --git a/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_def.h b/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_def.h
index 639f43c1..da53a7d1 100644
--- a/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_def.h
+++ b/LCM/Library/HK32F030Mxx_Library_V1.1.6/HK32F030M/HK32F030M_Lib/inc/hk32f030m_def.h
@@ -17,7 +17,6 @@ extern "C" {
 
 /* Includes ------------------------------------------------------------------*/
 #include "hk32f030m.h"
-#include <stdio.h>
 #define UNUSED(X) (void)X      /* To avoid gcc/g++ warnings */
 
 

From 55901f0e26bed052dcbc06c6d510b5fb351f1608 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 16:56:48 +0100
Subject: [PATCH 12/27] Reduce include pollution

---
 LCM/Code/App/vesc_uasrt.c | 1 +
 LCM/Code/App/vesc_uasrt.h | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/LCM/Code/App/vesc_uasrt.c b/LCM/Code/App/vesc_uasrt.c
index 00aeb447..a8cbbb9e 100644
--- a/LCM/Code/App/vesc_uasrt.c
+++ b/LCM/Code/App/vesc_uasrt.c
@@ -1,6 +1,7 @@
 #include "vesc_uasrt.h"
 #include "flag_bit.h"
 #include "eeprom.h"
+#include <string.h>
 
 uint8_t VESC_RX_Buff[256];
 uint8_t VESC_RX_Flag = 0;
diff --git a/LCM/Code/App/vesc_uasrt.h b/LCM/Code/App/vesc_uasrt.h
index d5c9d966..8303bd02 100644
--- a/LCM/Code/App/vesc_uasrt.h
+++ b/LCM/Code/App/vesc_uasrt.h
@@ -1,7 +1,6 @@
 #ifndef __VESC_USART_H
 #define __VESC_USART_H
 
-#include <string.h>
 #include "hk32f030m.h"
 #include "crc.h"
 #include "usart.h"

From b9e562bad1f9143a23bd972ff39120914adbc96e Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Sun, 24 Mar 2024 18:47:47 +0100
Subject: [PATCH 13/27] Fix statusbar with gcc

Prevent a few delay loops from being elided
---
 LCM/Code/App/ws2812.c      |  4 +++-
 LCM/Code/Drive/io_ws2812.c | 35 +++++++++++++----------------------
 2 files changed, 16 insertions(+), 23 deletions(-)

diff --git a/LCM/Code/App/ws2812.c b/LCM/Code/App/ws2812.c
index a652fda5..4dc72da8 100644
--- a/LCM/Code/App/ws2812.c
+++ b/LCM/Code/App/ws2812.c
@@ -157,7 +157,9 @@ void WS2812_Left(void)
 
 void delay(uint16_t i)
 {
-	while(i--);
+	while(i--) {
+		__ASM volatile("nop");
+	}
 }
 
 void WS2812_Refresh(void)
diff --git a/LCM/Code/Drive/io_ws2812.c b/LCM/Code/Drive/io_ws2812.c
index abc3d6d4..309c378b 100644
--- a/LCM/Code/Drive/io_ws2812.c
+++ b/LCM/Code/Drive/io_ws2812.c
@@ -39,34 +39,25 @@ void IO_WS2812_Init(void)
 	}
 	i=250 120us
 */
+
 void WS2812_0_Code(void)
 {
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4; //250ns
-	
+	//250ns
+	for(int i = 0; i != 3; ++i) {
+		GPIOD->BSRR = GPIO_Pin_4;
+		__ASM volatile("" ::: "memory");
+	}
+
 	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4; //750ns
 }
 
 void WS2812_1_Code(void)
 {
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4;
-	GPIOD->BSRR = GPIO_Pin_4; //750ns
-	
+	//750ns
+	for(int i = 0; i != 8; ++i) {
+		GPIOD->BSRR = GPIO_Pin_4;
+		__ASM volatile("" ::: "memory");
+	}
+
 	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;
-//	GPIOD->BRR = GPIO_Pin_4;  //250ns 
 }

From 0a533105ee719d54fa22f1de4992362dee763620 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 10:30:18 +0200
Subject: [PATCH 14/27] Try basic github actions build.

---
 .github/workflows/build.yml | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 .github/workflows/build.yml

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 00000000..0d70f10a
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,31 @@
+name: Build LCM
+
+on:
+  push:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest  # or another OS of your choice
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up GCC
+        uses: actions/setup-python@v2
+        with:
+          gcc-version: '11'  # Specify the GCC version you need
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y build-essential
+
+      - name: Navigate to LCM directory
+        run: cd LCM
+
+      - name: Build project
+        run: make
+
+      - name: Run tests
+        run: make test  # Assuming you have a 'test' target in your Makefile

From 338163a15a30f937230dae4e5ca2017c8234c73c Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 10:38:32 +0200
Subject: [PATCH 15/27] Make file not found?

---
 .github/workflows/build.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 0d70f10a..a29cf6d3 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -21,11 +21,11 @@ jobs:
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y build-essential
 
-      - name: Navigate to LCM directory
-        run: cd LCM
-
       - name: Build project
-        run: make
+        run: |
+          cd LCM
+          ls -la
+          make
 
-      - name: Run tests
-        run: make test  # Assuming you have a 'test' target in your Makefile
+#      - name: Run tests
+#          run: make test  # Assuming you have a 'test' target in your Makefile

From cb61b08f1031c0a53b97bf2388786f60a07dc088 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 10:49:27 +0200
Subject: [PATCH 16/27] Add gcc-arm-none-eabi.

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index a29cf6d3..edb6515e 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -19,7 +19,7 @@ jobs:
           gcc-version: '11'  # Specify the GCC version you need
 
       - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get install -y build-essential
+        run: sudo apt-get update && sudo apt-get install -y build-essential gcc-arm-none-eabi
 
       - name: Build project
         run: |

From 649b3b0046902b8b6dd5f9b69b7f2b0b2a9aa788 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 10:52:20 +0200
Subject: [PATCH 17/27] unrecognized option '--no-warn-rwx-segments'

---
 LCM/rules.mk | 1 -
 1 file changed, 1 deletion(-)

diff --git a/LCM/rules.mk b/LCM/rules.mk
index 12bcf02d..30611393 100644
--- a/LCM/rules.mk
+++ b/LCM/rules.mk
@@ -55,7 +55,6 @@ TGT_ASFLAGS += $(ARCH_FLAGS) $(DEBUG_FLAGS) $(OPT) -Wa,--warn
 TGT_LDFLAGS += $(ARCH_FLAGS) -nostdlib -flto \
 				-Wl,-Map=$(BDIR)/$(PROJECT).map \
 				-Wl,--gc-sections \
-				-Wl,--no-warn-rwx-segments \
 				-Wl,--print-memory-usage \
 				-Wl,--cref
 # Exclude standard initialization actions, when __libc_init_array exists, this should be omit, \

From 2b90b1e8814a51c8f85b0a969df6e647aef39dea Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 11:00:02 +0200
Subject: [PATCH 18/27] Updated workflow to include release creation and asset
 upload

---
 .github/workflows/build.yml | 27 ++++++++++++++++++++++++---
 1 file changed, 24 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index edb6515e..e3b273a6 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -4,10 +4,12 @@ on:
   push:
     branches:
       - '*'
+    tags:
+      - 'v*'  # This assumes that your version tags are prefixed with 'v'
 
 jobs:
   build:
-    runs-on: ubuntu-latest  # or another OS of your choice
+    runs-on: ubuntu-latest
 
     steps:
       - name: Checkout code
@@ -27,5 +29,24 @@ jobs:
           ls -la
           make
 
-#      - name: Run tests
-#          run: make test  # Assuming you have a 'test' target in your Makefile
+      # Additional steps to create a release and upload files
+      - name: Create Release
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: Release ${{ github.ref }}
+          draft: false
+          prerelease: false
+
+      - name: Upload app.hex
+        uses: actions/upload-release-asset@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          upload_url: ${{ steps.create_release.outputs.upload_url }}
+          asset_path: ./LCM/Build/app.hex
+          asset_name: app.hex
+          asset_content_type: application/octet-stream
\ No newline at end of file

From 2b4b00bcd6b485046205303d315cfdd64fdd1468 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 11:08:37 +0200
Subject: [PATCH 19/27] Upload files only if release is tagged.

---
 .github/workflows/build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index e3b273a6..2df73c36 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -31,6 +31,7 @@ jobs:
 
       # Additional steps to create a release and upload files
       - name: Create Release
+        if: startsWith(github.ref, 'refs/tags/')
         id: create_release
         uses: actions/create-release@v1
         env:
@@ -42,6 +43,7 @@ jobs:
           prerelease: false
 
       - name: Upload app.hex
+        if: startsWith(github.ref, 'refs/tags/')
         uses: actions/upload-release-asset@v1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From d0e195a25cdd72babb752eaa166b3a8ac74ed769 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 11:35:44 +0200
Subject: [PATCH 20/27] Build for both cell types.

---
 .github/workflows/build.yml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 2df73c36..f94b65a4 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -10,6 +10,9 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        cell_type: [P42A, DG40]
 
     steps:
       - name: Checkout code
@@ -26,8 +29,7 @@ jobs:
       - name: Build project
         run: |
           cd LCM
-          ls -la
-          make
+          make CELL_TYPE=${{ matrix.cell_type }}
 
       # Additional steps to create a release and upload files
       - name: Create Release
@@ -50,5 +52,5 @@ jobs:
         with:
           upload_url: ${{ steps.create_release.outputs.upload_url }}
           asset_path: ./LCM/Build/app.hex
-          asset_name: app.hex
+          asset_name: lcm-${{ matrix.cell_type }}.hex
           asset_content_type: application/octet-stream
\ No newline at end of file

From c6741485ab21e4c3a38bdc8f1db649fba873248f Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 11:42:04 +0200
Subject: [PATCH 21/27] Create release only once.

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f94b65a4..22355ffe 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -33,7 +33,7 @@ jobs:
 
       # Additional steps to create a release and upload files
       - name: Create Release
-        if: startsWith(github.ref, 'refs/tags/')
+        if: startsWith(github.ref, 'refs/tags/') && matrix.cell_type == 'P42A'
         id: create_release
         uses: actions/create-release@v1
         env:

From 465510a7acf2eb376252a8f8c72a690471bc97e5 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 11:47:44 +0200
Subject: [PATCH 22/27] Create release only once.

---
 .github/workflows/build.yml | 34 ++++++++++++++++++++--------------
 1 file changed, 20 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 22355ffe..2f7a164d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -8,8 +8,27 @@ on:
       - 'v*'  # This assumes that your version tags are prefixed with 'v'
 
 jobs:
-  build:
+  create_release:
     runs-on: ubuntu-latest
+    if: startsWith(github.ref, 'refs/tags/')
+    outputs:
+      upload_url: ${{ steps.create_release.outputs.upload_url }}
+    steps:
+      - name: Create Release
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: Release ${{ github.ref }}
+          draft: false
+          prerelease: false
+
+  build_release:
+    needs: create_release
+    runs-on: ubuntu-latest
+    if: startsWith(github.ref, 'refs/tags/')
     strategy:
       matrix:
         cell_type: [P42A, DG40]
@@ -31,19 +50,6 @@ jobs:
           cd LCM
           make CELL_TYPE=${{ matrix.cell_type }}
 
-      # Additional steps to create a release and upload files
-      - name: Create Release
-        if: startsWith(github.ref, 'refs/tags/') && matrix.cell_type == 'P42A'
-        id: create_release
-        uses: actions/create-release@v1
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        with:
-          tag_name: ${{ github.ref }}
-          release_name: Release ${{ github.ref }}
-          draft: false
-          prerelease: false
-
       - name: Upload app.hex
         if: startsWith(github.ref, 'refs/tags/')
         uses: actions/upload-release-asset@v1

From 8eb97019106f78f0bdae3581f0374ea9babf12e2 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 12:00:12 +0200
Subject: [PATCH 23/27] Create release only once.

---
 .github/workflows/build.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 2f7a164d..785f9544 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -28,7 +28,6 @@ jobs:
   build_release:
     needs: create_release
     runs-on: ubuntu-latest
-    if: startsWith(github.ref, 'refs/tags/')
     strategy:
       matrix:
         cell_type: [P42A, DG40]
@@ -51,12 +50,11 @@ jobs:
           make CELL_TYPE=${{ matrix.cell_type }}
 
       - name: Upload app.hex
-        if: startsWith(github.ref, 'refs/tags/')
         uses: actions/upload-release-asset@v1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:
-          upload_url: ${{ steps.create_release.outputs.upload_url }}
+          upload_url: ${{ needs.create_release.outputs.upload_url }}
           asset_path: ./LCM/Build/app.hex
           asset_name: lcm-${{ matrix.cell_type }}.hex
           asset_content_type: application/octet-stream
\ No newline at end of file

From b23640ce892eb8b42aee50cf826404b1007f6fb3 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 12:23:45 +0200
Subject: [PATCH 24/27] Publish Artifacts for every build too.

---
 .github/workflows/build.yml | 33 +++++++++++++++++++++++++++++++--
 1 file changed, 31 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 785f9544..048fc8f7 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -49,7 +49,7 @@ jobs:
           cd LCM
           make CELL_TYPE=${{ matrix.cell_type }}
 
-      - name: Upload app.hex
+      - name: Release app.hex
         uses: actions/upload-release-asset@v1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -57,4 +57,33 @@ jobs:
           upload_url: ${{ needs.create_release.outputs.upload_url }}
           asset_path: ./LCM/Build/app.hex
           asset_name: lcm-${{ matrix.cell_type }}.hex
-          asset_content_type: application/octet-stream
\ No newline at end of file
+          asset_content_type: application/octet-stream
+
+  build_artifact:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        cell_type: [P42A, DG40]
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up GCC
+        uses: actions/setup-python@v2
+        with:
+          gcc-version: '11'  # Specify the GCC version you need
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y build-essential gcc-arm-none-eabi
+
+      - name: Build project
+        run: |
+          cd LCM
+          make CELL_TYPE=${{ matrix.cell_type }}
+
+      - name: Publish Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: app-${{ matrix.cell_type }}
+          path: lcm-${{ matrix.cell_type }}.hex

From 5660f96e65c414bd7120e63b893a9aa43c934a3b Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 12:25:37 +0200
Subject: [PATCH 25/27] Fix artifact path.

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 048fc8f7..a350509d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -85,5 +85,5 @@ jobs:
       - name: Publish Artifacts
         uses: actions/download-artifact@v4
         with:
-          name: app-${{ matrix.cell_type }}
+          name: ./LCM/Build/app.hex
           path: lcm-${{ matrix.cell_type }}.hex

From a47e57ff6b459f87a943c1173066c6b47ad962fe Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 12:32:06 +0200
Subject: [PATCH 26/27] Publish Artifacts fix.

---
 .github/workflows/build.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index a350509d..8169d0d9 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -83,7 +83,7 @@ jobs:
           make CELL_TYPE=${{ matrix.cell_type }}
 
       - name: Publish Artifacts
-        uses: actions/download-artifact@v4
+        uses: actions/upload-artifact@v2
         with:
-          name: ./LCM/Build/app.hex
-          path: lcm-${{ matrix.cell_type }}.hex
+          name: lcm-${{ matrix.cell_type }}-app.hex
+          path: ./LCM/Build/app.hex

From 7222c608efcce1fded990ad185e9175f3dfc2108 Mon Sep 17 00:00:00 2001
From: Radim Klaska <radim@morpht.com>
Date: Sun, 28 Apr 2024 12:34:24 +0200
Subject: [PATCH 27/27] Fix artifacts name.

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 8169d0d9..5940f4d0 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -85,5 +85,5 @@ jobs:
       - name: Publish Artifacts
         uses: actions/upload-artifact@v2
         with:
-          name: lcm-${{ matrix.cell_type }}-app.hex
+          name: lcm-${{ matrix.cell_type }}.hex
           path: ./LCM/Build/app.hex