first workingish cut

41 files changed, 3285 insertions, 0 deletions

diff --git a/stm32/.gitignore b/stm32/.gitignore
new file mode 100644
index 0000000..ac9bbcd
--- /dev/null
+++ b/stm32/.gitignore
@@ -0,0 +1,10 @@
+*.o
+*.a
+*.d
+*.elf
+*.map
+*.hex
+*~
+*.dfu
+*.bin
+*.orig
diff --git a/stm32/Makefile.include b/stm32/Makefile.include
new file mode 100644
index 0000000..389aa68
--- /dev/null
+++ b/stm32/Makefile.include
@@ -0,0 +1,45 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+## Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+LIBNAME		= opencm3_stm32f1
+DEFS		= -DSTM32F1
+
+FP_FLAGS	?= -msoft-float
+ARCH_FLAGS	= -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
+
+################################################################################
+# OpenOCD specific variables
+
+OOCD            ?= openocd
+OOCD_INTERFACE  ?= ../oocd/interface/stlink-v2.cfg
+#OOCD_INTERFACE  ?= ../oocd/interface/j-link.cfg
+OOCD_BOARD      ?= ../oocd/board/STM32F103R_BOARD.cfg
+
+################################################################################
+# Black Magic Probe specific variables
+# Set the BMP_PORT to a serial port and then BMP is used for flashing
+BMP_PORT	?=
+
+################################################################################
+# texane/stlink specific variables
+#STLINK_PORT	?= :4242
+
+
+include ../Makefile.rules
diff --git a/stm32/Makefile.rules b/stm32/Makefile.rules
new file mode 100644
index 0000000..6e9fe6c
--- /dev/null
+++ b/stm32/Makefile.rules
@@ -0,0 +1,251 @@
+#
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+## Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+## Copyright (C) 2013 Frantisek Burian <BuFran@seznam.cz>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+# Be silent per default, but 'make V=1' will show all compiler calls.
+ifneq ($(V),1)
+Q		:= @
+NULL		:= 2>/dev/null
+endif
+
+###############################################################################
+# Executables
+
+PREFIX		?= arm-none-eabi
+
+CC		:= $(PREFIX)-gcc
+CXX		:= $(PREFIX)-g++
+LD		:= $(PREFIX)-gcc
+AR		:= $(PREFIX)-ar
+AS		:= $(PREFIX)-as
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB		:= $(PREFIX)-gdb
+STFLASH		= $(shell which st-flash)
+STYLECHECK	:= /checkpatch.pl
+STYLECHECKFLAGS	:= --no-tree -f --terse --mailback
+STYLECHECKFILES	:= $(shell find . -name '*.[ch]')
+
+
+###############################################################################
+# Source files
+
+LDSCRIPT	?= $(BINARY).ld
+
+#OBJS		+= $(BINARY).o
+
+
+ifeq ($(strip $(OPENCM3_DIR)),)
+# user has not specified the library path, so we try to detect it
+
+# where we search for the library
+LIBPATHS := ./libopencm3 ../libopencm3 
+
+OPENCM3_DIR := $(wildcard $(LIBPATHS:=/locm3.sublime-project))
+OPENCM3_DIR := $(firstword $(dir $(OPENCM3_DIR)))
+
+ifeq ($(strip $(OPENCM3_DIR)),)
+$(warning Cannot find libopencm3 library in the standard search paths.)
+$(error Please specify it through OPENCM3_DIR variable!)
+endif
+endif
+
+ifeq ($(V),1)
+$(info Using $(OPENCM3_DIR) path to library)
+endif
+
+INCLUDE_DIR	= $(OPENCM3_DIR)/include
+LIB_DIR		= $(OPENCM3_DIR)/lib
+SCRIPT_DIR	= $(OPENCM3_DIR)/scripts
+
+###############################################################################
+# C flags
+
+CFLAGS		+= -Os -g
+CFLAGS		+= -Wextra -Wimplicit-function-declaration
+CFLAGS		+= -Wmissing-prototypes -Wstrict-prototypes
+CFLAGS		+= -fno-common -ffunction-sections -fdata-sections
+
+###############################################################################
+# C++ flags
+
+CXXFLAGS	+= -Os -g
+CXXFLAGS	+= -Wextra -Wshadow -Wredundant-decls  -Weffc++
+CXXFLAGS	+= -fno-common -ffunction-sections -fdata-sections
+
+###############################################################################
+# C & C++ preprocessor common flags
+
+CPPFLAGS	+= -MD
+CPPFLAGS	+= -Wall -Wundef
+
+INCLUDES	= -I$(INCLUDE_DIR) 
+DEFINES		= $(DEFS)
+
+CPPFLAGS 	+= $(INCLUDES) $(DEFINES)
+
+###############################################################################
+# Linker flags
+
+LDFLAGS		+= --static -nostartfiles
+LDFLAGS		+= -L$(LIB_DIR)
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -Wl,-Map=$(*).map
+LDFLAGS		+= -Wl,--gc-sections
+ifeq ($(V),99)
+LDFLAGS		+= -Wl,--print-gc-sections
+endif
+
+###############################################################################
+# Used libraries
+
+LDLIBS		+= -l$(LIBNAME)
+LDLIBS		+= -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
+
+###############################################################################
+###############################################################################
+###############################################################################
+
+.SUFFIXES: .elf .bin .hex .srec .list .map .images .dfu
+.SECONDEXPANSION:
+.SECONDARY:
+
+all: elf
+
+elf: $(BINARY).elf
+bin: $(BINARY).bin
+hex: $(BINARY).hex
+srec: $(BINARY).srec
+list: $(BINARY).list
+
+images: $(BINARY).images
+flash: $(BINARY).flash
+
+%.images: %.bin %.hex %.srec %.list %.map %.dfu
+	@#printf "*** $* images generated ***\n"
+
+%.bin: %.elf
+	@#printf "  OBJCOPY $(*).bin\n"
+	$(Q)$(OBJCOPY) -Obinary $(*).elf $(*).bin
+
+%.hex: %.elf
+	@#printf "  OBJCOPY $(*).hex\n"
+	$(Q)$(OBJCOPY) -Oihex $(*).elf $(*).hex
+
+#%.dfu: %.elf
+#	@#printf "  OBJCOPY $(*).dfu\n"
+#	$(Q)$(OBJCOPY) -Obinary $(*).elf $(*).dfu
+
+%.srec: %.elf
+	@#printf "  OBJCOPY $(*).srec\n"
+	$(Q)$(OBJCOPY) -Osrec $(*).elf $(*).srec
+
+%.list: %.elf
+	@#printf "  OBJDUMP $(*).list\n"
+	$(Q)$(OBJDUMP) -S $(*).elf > $(*).list
+
+fish:
+	echo %.elf %.map: $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
+	echo $(BINARY).elf
+
+%.elf %.map: $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
+	@#printf "  LD      $(*).elf\n"
+	$(Q)$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(*).elf
+
+%.o: %.c
+	@#printf "  CC      $(*).c\n"
+	$(Q)$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $(*).o -c $(*).c
+
+%.o: %.cxx
+	@#printf "  CXX     $(*).cxx\n"
+	$(Q)$(CXX) $(CXXFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $(*).o -c $(*).cxx
+
+%.o: %.cpp
+	@#printf "  CXX     $(*).cpp\n"
+	$(Q)$(CXX) $(CXXFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $(*).o -c $(*).cpp
+
+clean:
+	@#printf "  CLEAN\n"
+	$(Q)$(RM) *.o *.d *.elf *.bin *.hex *.srec *.list *.map *~ *.dfu *.orig
+
+stylecheck: $(STYLECHECKFILES:=.stylecheck)
+styleclean: $(STYLECHECKFILES:=.styleclean)
+
+# the cat is due to multithreaded nature - we like to have consistent chunks of text on the output
+%.stylecheck: %
+	$(Q)$(SCRIPT_DIR)$(STYLECHECK) $(STYLECHECKFLAGS) $* > $*.stylecheck; \
+		if [ -s $*.stylecheck ]; then \
+			cat $*.stylecheck; \
+		else \
+			rm -f $*.stylecheck; \
+		fi;
+
+%.styleclean:
+	$(Q)rm -f $*.stylecheck;
+
+
+%.stlink-flash: %.bin
+	@printf "  FLASH  $<\n"
+	$(Q)$(STFLASH) write $(*).bin 0x8000000
+
+ifeq ($(STLINK_PORT),)
+ifeq ($(BMP_PORT),)
+ifeq ($(OOCD_SERIAL),)
+%.flash: %.hex
+	@printf "  FLASH   $<\n"
+	@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
+	$(Q)$(OOCD) -f $(OOCD_INTERFACE) \
+		    -f $(OOCD_BOARD) \
+		    -c "init" -c "reset init" \
+		    -c "flash write_image erase $(*).hex" \
+		    -c "reset" \
+		    -c "shutdown" $(NULL)
+else
+%.flash: %.hex
+	@printf "  FLASH   $<\n"
+	@# IMPORTANT: Don't use "resume", only "reset" will work correctly!
+	$(Q)$(OOCD) -f $(OOCD_INTERFACE) \
+		    -f $(OOCD_BOARD) \
+		    -c "ft2232_serial $(OOCD_SERIAL)" \
+		    -c "init" -c "reset init" \
+		    -c "flash write_image erase $(*).hex" \
+		    -c "reset" \
+		    -c "shutdown" $(NULL)
+endif
+else
+%.flash: %.elf
+	@printf "  GDB   $(*).elf (flash)\n"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(BMP_PORT)' \
+		   -x $(SCRIPT_DIR)/black_magic_probe_flash.scr \
+		   $(*).elf
+endif
+else
+%.flash: %.elf
+	@printf "  GDB   $(*).elf (flash)\n"
+	$(Q)$(GDB) --batch \
+		   -ex 'target extended-remote $(STLINK_PORT)' \
+		   -x $(SCRIPT_DIR)/stlink_flash.scr \
+		   $(*).elf
+endif
+
+.PHONY: images clean stylecheck styleclean elf bin hex srec list
+
+-include $(OBJS:.o=.d)
diff --git a/stm32/app/Makefile b/stm32/app/Makefile
new file mode 100644
index 0000000..997011f
--- /dev/null
+++ b/stm32/app/Makefile
@@ -0,0 +1,80 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+CPROTO=cproto
+PROG=clock
+
+LDLIBS+=-lm
+
+V=1
+default: ${PROG}.elf
+
+CSRCS= main.c cdcacm.c dfu.c ring.c usart.c ticker.c dummy_kb.c usb.c rtc.c time_fn.c events.c hands.c motor.c
+HSRCS = project.h
+
+
+BINARY = ${PROG}
+OBJS = ${CSRCS:%.c=%.o}
+
+include ../Makefile.include
+
+DID=$(shell printf '\#include "id.h"\nID_PRODUCT' | ${CC} -I.. -E - | grep -v ^\# )
+VID=$(shell printf '\#include "id.h"\nID_VENDOR' | ${CC} -I.. -E - | grep -v ^\# )
+
+INCLUDES +=  -I..
+
+
+%.bin: %.elf
+	$(Q)$(OBJCOPY) -Obinary $(*).elf $(*).bin
+
+%.dfu:%.bin
+	../tools/dfuse-pack.py -D 0x483:0xff03 -b 0x08002000:$< $@
+
+dfu:${PROG}.bin
+	dfu-util -R -a 0 -d 0483:ff03,0483:df11 -s 0x08002000:leave -D $<
+
+program: ${PROG}.elf
+	echo halt | nc -t localhost 4444
+	echo flash write_image erase ${PWD}/$< 0x2000 | nc -t localhost 4444
+	echo reset run | nc -t localhost 4444
+
+ds:
+	$(Q)$(OOCD) -f $(OOCD_INTERFACE) \
+		    -f $(OOCD_BOARD) \
+
+debug: ${PROG}.elf
+	${PREFIX}-gdb -x gdb.script ${PROG}.elf 
+
+reset:
+	$(Q)$(OOCD) -f $(OOCD_INTERFACE) \
+		    -f $(OOCD_BOARD) \
+		-c "init" -c "reset run" \
+		-c shutdown
+
+
+
+
+protos:
+	echo -n > prototypes.h
+	${CPROTO} $(INCLUDES) $(DEFINES) -e -v ${CSRCS} > prototypes.h.tmp
+	mv -f prototypes.h.tmp prototypes.h
+
+
+tidy:
+	astyle -A3 -s2 --attach-extern-c -L -c -w -Y -m0 -f -p  -H -U -k3 -xj -xd ${CSRCS} ${HSRCS} || astyle -A3 -s2 -L -c -w -Y -m0 -f -p  -H -U -k3 -xj -xd ${CSRCS} ${HSRCS}
diff --git a/stm32/app/asm_fns.h b/stm32/app/asm_fns.h
new file mode 100644
index 0000000..b0d10d9
--- /dev/null
+++ b/stm32/app/asm_fns.h
@@ -0,0 +1,4 @@
+static inline void compiler_mb(void) {
+asm volatile (""); 
+}
+
diff --git a/stm32/app/board.h b/stm32/app/board.h
new file mode 100644
index 0000000..41eeafc
--- /dev/null
+++ b/stm32/app/board.h
@@ -0,0 +1,15 @@
+
+#define LED1      GPIO8
+#define LED1_PORT GPIOB
+
+#define LED2      GPIO9
+#define LED2_PORT GPIOB
+
+
+#define USART1_TX GPIO_USART1_TX
+#define USART1_TX_PORT GPIOA
+
+#define USART1_RX GPIO_USART1_RX
+#define USART1_RX_PORT GPIOA
+
+
diff --git a/stm32/app/cdcacm.c b/stm32/app/cdcacm.c
new file mode 100644
index 0000000..0b4a4e3
--- /dev/null
+++ b/stm32/app/cdcacm.c
@@ -0,0 +1,221 @@
+#include "project.h"
+
+
+#define BUFFER_SIZE 512
+
+ring_t cdcacm_rx_ring;
+static uint8_t cdcacm_rx_ring_buf[BUFFER_SIZE];
+
+ring_t cdcacm_tx_ring;
+static uint8_t cdcacm_tx_ring_buf[BUFFER_SIZE];
+
+static int cdcacm_ready = 0;
+
+#define COMM_EP 0x83
+#define DATA_IN 0x01
+#define DATA_OUT 0x82
+
+static const struct usb_endpoint_descriptor comm_endp[] = {
+  {
+    .bLength = USB_DT_ENDPOINT_SIZE,
+    .bDescriptorType = USB_DT_ENDPOINT,
+    .bEndpointAddress = COMM_EP,
+    .bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+    .wMaxPacketSize = 16,
+    .bInterval = 255,
+  }
+};
+
+static const struct usb_endpoint_descriptor data_endp[] = {
+  {
+    .bLength = USB_DT_ENDPOINT_SIZE,
+    .bDescriptorType = USB_DT_ENDPOINT,
+    .bEndpointAddress = DATA_IN,
+    .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+    .wMaxPacketSize = 64,
+    .bInterval = 1,
+  },
+  {
+    .bLength = USB_DT_ENDPOINT_SIZE,
+    .bDescriptorType = USB_DT_ENDPOINT,
+    .bEndpointAddress = DATA_OUT,
+    .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+    .wMaxPacketSize = 64,
+    .bInterval = 1,
+  }
+};
+
+static const struct {
+  struct usb_cdc_header_descriptor header;
+  struct usb_cdc_call_management_descriptor call_mgmt;
+  struct usb_cdc_acm_descriptor acm;
+  struct usb_cdc_union_descriptor cdc_union;
+} __attribute__ ((packed)) cdcacm_functional_descriptors = {
+  .header = {
+    .bFunctionLength = sizeof (struct usb_cdc_header_descriptor),
+    .bDescriptorType = CS_INTERFACE,
+    .bDescriptorSubtype = USB_CDC_TYPE_HEADER,
+    .bcdCDC = 0x0110,
+  },
+  .call_mgmt = {
+    .bFunctionLength =
+    sizeof (struct usb_cdc_call_management_descriptor),
+    .bDescriptorType = CS_INTERFACE,
+    .bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
+    .bmCapabilities = 0,
+    .bDataInterface = 3,
+  },
+  .acm = {
+    .bFunctionLength = sizeof (struct usb_cdc_acm_descriptor),
+    .bDescriptorType = CS_INTERFACE,
+    .bDescriptorSubtype = USB_CDC_TYPE_ACM,
+    .bmCapabilities = 0,
+  },
+  .cdc_union = {
+    .bFunctionLength = sizeof (struct usb_cdc_union_descriptor),
+    .bDescriptorType = CS_INTERFACE,
+    .bDescriptorSubtype = USB_CDC_TYPE_UNION,
+    .bControlInterface = 2,
+    .bSubordinateInterface0 = 3,
+  }
+};
+
+const struct usb_interface_descriptor comm_iface = {
+  .bLength = USB_DT_INTERFACE_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE,
+  .bInterfaceNumber = 2,
+  .bAlternateSetting = 0,
+  .bNumEndpoints = 1,
+  .bInterfaceClass = USB_CLASS_CDC,
+  .bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
+  .bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
+  .iInterface = 0,
+  .endpoint = comm_endp,
+  .extra = &cdcacm_functional_descriptors,
+  .extralen = sizeof (cdcacm_functional_descriptors)
+};
+
+const struct usb_interface_descriptor data_iface = {
+  .bLength = USB_DT_INTERFACE_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE,
+  .bInterfaceNumber = 3,
+  .bAlternateSetting = 0,
+  .bNumEndpoints = 2,
+  .bInterfaceClass = USB_CLASS_DATA,
+  .bInterfaceSubClass = 0,
+  .bInterfaceProtocol = 0,
+  .iInterface = 0,
+  .endpoint = data_endp,
+};
+
+
+const struct usb_iface_assoc_descriptor cdc_iface_assoc = {
+  .bLength = USB_DT_INTERFACE_ASSOCIATION_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE_ASSOCIATION,
+  .bFirstInterface = 2,
+  .bInterfaceCount = 2,
+  .bFunctionClass = USB_CLASS_CDC,
+  .bFunctionSubClass = USB_CDC_SUBCLASS_ACM,
+  .bFunctionProtocol = USB_CDC_PROTOCOL_AT,
+  .iFunction = 6,
+};
+
+
+
+enum usbd_request_return_codes
+cdcacm_control_request (usbd_device *usbd_dev,
+                        struct usb_setup_data *req,
+                        uint8_t **buf,
+                        uint16_t *len,
+                        usbd_control_complete_callback *complete) {
+  (void) complete;
+  (void) buf;
+  (void) usbd_dev;
+
+
+  switch (req->bRequest)
+  {
+  case USB_CDC_REQ_SET_CONTROL_LINE_STATE: {
+    /*
+     * This Linux cdc_acm driver requires this to be implemented
+     * even though it's optional in the CDC spec, and we don't
+     * advertise it in the ACM functional descriptor.
+     */
+    return USBD_REQ_HANDLED;
+  }
+
+  case USB_CDC_REQ_SET_LINE_CODING:
+    if (*len < sizeof (struct usb_cdc_line_coding))
+      return USBD_REQ_NOTSUPP;
+
+    return USBD_REQ_HANDLED;
+  }
+
+  return USBD_REQ_NEXT_CALLBACK;
+}
+
+
+
+void cdcacm_tick (void)
+{
+  unsigned ep = DATA_OUT;
+  uint8_t buf[16];
+  uint8_t *ptr = buf;
+  size_t n = 0;
+
+  if (!cdcacm_ready)
+    return;
+
+  if (ring_empty (&cdcacm_tx_ring))
+    return;
+
+  /* Return if endpoint is already enabled. */
+  if ((*USB_EP_REG (ep & 0x7f) & USB_EP_TX_STAT) == USB_EP_TX_STAT_VALID)
+    return;
+
+  while (!ring_read_byte (&cdcacm_tx_ring, ptr++)) {
+    n++;
+
+    if (n == sizeof (buf)) break;
+  }
+
+  usbd_ep_write_packet (usb_device, ep, buf, n);
+}
+
+int cdcacm_write (char *ptr, int len)
+{
+  int ret;
+
+  ret = ring_write (&cdcacm_tx_ring, (uint8_t *) ptr, len);
+  return ret;
+}
+
+
+
+static void cdcacm_data_rx_cb (usbd_device *usbd_dev, uint8_t ep)
+{
+  (void) ep;
+  uint8_t buf[64];
+  int len = usbd_ep_read_packet (usbd_dev, DATA_IN, buf, 64);
+
+  if (len)
+    ring_write (&cdcacm_rx_ring, buf, len);
+}
+
+void cdcacm_set_config (usbd_device *usbd_dev, uint16_t wValue)
+{
+  (void) wValue;
+
+  usbd_ep_setup (usbd_dev, DATA_IN, USB_ENDPOINT_ATTR_BULK, 64, cdcacm_data_rx_cb);
+  usbd_ep_setup (usbd_dev, DATA_OUT, USB_ENDPOINT_ATTR_BULK, 64, NULL);
+  usbd_ep_setup (usbd_dev, COMM_EP, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
+  cdcacm_ready = 1;
+}
+
+void cdcacm_rings_init (void)
+{
+  ring_init (&cdcacm_rx_ring, cdcacm_rx_ring_buf, sizeof (cdcacm_rx_ring_buf));
+  ring_init (&cdcacm_tx_ring, cdcacm_tx_ring_buf, sizeof (cdcacm_tx_ring_buf));
+}
+
+
diff --git a/stm32/app/clock.ld b/stm32/app/clock.ld
new file mode 100644
index 0000000..20cbff9
--- /dev/null
+++ b/stm32/app/clock.ld
@@ -0,0 +1,43 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for Olimex STM32-H103 (STM32F103RBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08002000, LENGTH = 120K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE cortex-m-generic.ld
+
+dfu_shared_location = ORIGIN(ram) + LENGTH(ram) - 1024;
+
+/* PROVIDE(_stack = dfu_shared_location ); */
+
+SECTIONS
+{
+	.dfu_shared dfu_shared_location :{
+		dfu_flag = .;
+	}
+}
+
+
diff --git a/stm32/app/dfu.c b/stm32/app/dfu.c
new file mode 100644
index 0000000..29a2428
--- /dev/null
+++ b/stm32/app/dfu.c
@@ -0,0 +1,86 @@
+#include "project.h"
+
+const struct usb_dfu_descriptor dfu_function = {
+  .bLength = sizeof (struct usb_dfu_descriptor),
+  .bDescriptorType = DFU_FUNCTIONAL,
+  .bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
+  .wDetachTimeout = 255,
+  .wTransferSize = 1024,
+  .bcdDFUVersion = 0x011A,
+};
+
+const struct usb_interface_descriptor dfu_iface = {
+  .bLength = USB_DT_INTERFACE_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE,
+  .bInterfaceNumber = 1,
+  .bAlternateSetting = 0,
+  .bNumEndpoints = 0,
+  .bInterfaceClass = 0xFE,
+  .bInterfaceSubClass = 1,
+  .bInterfaceProtocol = 1,
+  .iInterface = 4,
+  .extra = &dfu_function,
+  .extralen = sizeof (dfu_function),
+};
+
+
+const struct usb_iface_assoc_descriptor dfu_iface_assoc = {
+  .bLength = USB_DT_INTERFACE_ASSOCIATION_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE_ASSOCIATION,
+  .bFirstInterface = 1,
+  .bInterfaceCount = 1,
+  .bFunctionClass = 0xfe,
+  .bFunctionSubClass = 1,
+  .bFunctionProtocol = 1,
+  .iFunction = 5,
+};
+
+
+static void
+dfu_detach_complete (usbd_device *usbd_dev, struct usb_setup_data *req)
+{
+  (void) req;
+  (void) usbd_dev;
+  dfu_flag = 0xfee1dead;
+
+  scb_reset_core();
+}
+
+enum usbd_request_return_codes
+dfu_control_request (usbd_device *usbd_dev, struct usb_setup_data *req,
+                     uint8_t **buf, uint16_t *len,
+                     usbd_control_complete_callback *complete) {
+  (void) buf;
+  (void) len;
+  (void) usbd_dev;
+
+  if ((req->bmRequestType & 0x7F) != 0x21)
+    return USBD_REQ_NEXT_CALLBACK;
+
+  switch (req->bRequest)
+  {
+  case DFU_GETSTATUS: {
+    (*buf) [0] = DFU_STATUS_OK;
+    (*buf) [1] = 0;
+    (*buf) [2] = 0;
+    (*buf) [3] = 0;
+    (*buf) [4] = STATE_APP_IDLE;
+    (*buf) [5] = 0;         /* iString not used here */
+    *len = 6;
+    return USBD_REQ_HANDLED;
+  }
+
+  case DFU_GETSTATE:
+    /* Return state with no state transision. */
+    *buf[0] = STATE_APP_IDLE;
+    *len = 1;
+    return USBD_REQ_HANDLED;
+
+  case DFU_DETACH:
+    *complete = dfu_detach_complete;
+    return USBD_REQ_HANDLED;
+  }
+
+  return USBD_REQ_NEXT_CALLBACK;
+}
+
diff --git a/stm32/app/dummy_kb.c b/stm32/app/dummy_kb.c
new file mode 100644
index 0000000..a1d61c7
--- /dev/null
+++ b/stm32/app/dummy_kb.c
@@ -0,0 +1,26 @@
+#include "project.h"
+
+const struct usb_interface_descriptor dummy_kb_iface = {
+  .bLength = USB_DT_INTERFACE_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE,
+  .bInterfaceNumber = 0,
+  .bAlternateSetting = 0,
+  .bNumEndpoints = 0,
+  .bInterfaceClass = 0xff,
+  .bInterfaceSubClass = 0,
+  .bInterfaceProtocol = 0,
+  .iInterface = 0,
+};
+
+
+const struct usb_iface_assoc_descriptor dummy_kb_iface_assoc = {
+  .bLength = USB_DT_INTERFACE_ASSOCIATION_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE_ASSOCIATION,
+  .bFirstInterface = 0,
+  .bInterfaceCount = 1,
+  .bFunctionClass = 0xff,
+  .bFunctionSubClass = 0,
+  .bFunctionProtocol = 0,
+  .iFunction = 4,
+};
+
diff --git a/stm32/app/events.c b/stm32/app/events.c
new file mode 100644
index 0000000..2ad9b47
--- /dev/null
+++ b/stm32/app/events.c
@@ -0,0 +1,101 @@
+#include "project.h"
+
+#define D2R(a) ((a)*(M_PI/180.))
+
+
+
+
+// shamelessly stolen from Meeus Astronmical Algorithms Chapter 27 table 27.B
+// chapter 25 is probably more tractable, but this is easier to code up
+
+static double mean_vernal_equinox (unsigned year)
+{
+  double y = year;
+  y -= 2000;
+  y *= 0.001;
+  return 2451623.80984 + 365242.37404 * y + 0.05169 * (y * y) - 0.00411 * (y * y * y) - 0.00057 * (y * y * y * y);
+}
+
+static double mean_summer_solstice (unsigned year)
+{
+  double y = year;
+  y -= 2000;
+  y *= 0.001;
+  return 2451716.56767 + 365241.62603 * y + 0.00325 * (y * y) + 0.00888 * (y * y * y) - 0.00030 * (y * y * y * y);
+}
+
+static double mean_autumnal_equinox (unsigned year)
+{
+  double y = year;
+  y -= 2000;
+  y *= 0.001;
+  return 2451810.21715 + 365242.01767 * y - 0.11575 * (y * y) + 0.00337 * (y * y * y) + 0.00078 * (y * y * y * y);
+}
+
+static double mean_winter_solstice (unsigned year)
+{
+  double y = year;
+  y -= 2000;
+  y *= 0.001;
+  return 2451900.05952 + 365242.74049 * y - 0.06223 * (y * y) - 0.00823 * (y * y * y) + 0.00032 * (y * y * y * y);
+}
+
+
+static double orbital_periodic_terms (double t)
+{
+#define N 24
+  const double A[N] = {485, 203, 199, 182, 156, 136, 77, 74, 70, 58, 52, 50, 45,
+                       44, 29, 18, 17, 16, 14, 12, 12, 12, 9, 8
+                      };
+  const double B[N] = {D2R (324.96), D2R (337.23), D2R (342.08), D2R (27.85),
+                       D2R (73.14), D2R (171.52), D2R (222.54), D2R (296.72),
+                       D2R (243.58), D2R (119.81), D2R (297.17), D2R (21.02),
+                       D2R (247.54), D2R (325.15), D2R (60.93), D2R (155.12),
+                       D2R (288.79), D2R (198.04), D2R (199.76), D2R (95.39),
+                       D2R (287.11), D2R (320.81), D2R (227.73), D2R (15.45)
+                      };
+  const double C[N] = {D2R (1934.136), D2R (32964.467), D2R (20.186),
+                       D2R (445267.112), D2R (45036.886), D2R (22518.443),
+                       D2R (65928.934), D2R (3034.906), D2R (9037.513),
+                       D2R (33718.147), D2R (150.678), D2R (2281.226),
+                       D2R (29929.562), D2R (31555.956), D2R (4443.417),
+                       D2R (67555.328), D2R (4562.452), D2R (62894.029),
+                       D2R (31436.921), D2R (14577.848), D2R (31931.756),
+                       D2R (34777.259), D2R (1222.114), D2R (16859.074)
+                      };
+  double s = 0;
+  unsigned i;
+
+  for (i = 0; i < N; ++i)
+    s += A[i] * cos (B[i] + (C[i] * t));
+
+  return s;
+}
+
+
+static double mean_to_real (double j0)
+{
+
+  double t = (j0 - 2451545.) / 36525.;
+  double w = D2R ((35999.373 * t) - 2.47);
+  double dl = 1 + 0.0334 * cos (w) + 0.0007 * cos (2. * w);
+  double s = orbital_periodic_terms (t);
+
+#if 0
+  printf ("j0=%.6f\r\n", j0);
+  printf ("t=%.6f\r\n", t);
+  printf ("w=%.6f\r\n", w);
+  printf ("dl=%.6f\r\n", dl);
+  printf ("s=%.6f\r\n", s);
+#endif
+
+  return j0 + ((0.00001 * s) / dl);
+}
+
+
+
+double autumnal_equinox (unsigned y)
+{
+  return mean_to_real (mean_autumnal_equinox (y));
+  //  return mean_to_real (mean_summer_solstice (y));
+}
diff --git a/stm32/app/gdb.script b/stm32/app/gdb.script
new file mode 100644
index 0000000..7cf9d09
--- /dev/null
+++ b/stm32/app/gdb.script
@@ -0,0 +1,2 @@
+target remote localhost:3333
+cont
diff --git a/stm32/app/hands.c b/stm32/app/hands.c
new file mode 100644
index 0000000..5414d9e
--- /dev/null
+++ b/stm32/app/hands.c
@@ -0,0 +1,90 @@
+#include "project.h"
+
+
+unsigned hands_pos[HANDS];
+unsigned hands_ready;
+
+
+static unsigned calc_minute_pos (MTIME *m)
+{
+  uint64_t p;
+
+  p = m->minute;
+  p *= 100;
+  p += m->second;
+  p *= 1000;
+  p += m->nanosecond / 1000000;
+
+  p *= MOTOR_STEPS;
+  p /= 10000000;
+
+
+
+  return (unsigned) p;
+
+}
+
+static unsigned calc_hour_pos (MTIME *m)
+{
+  uint64_t p;
+
+  p = m->hour;
+  p *= 100;
+  p += m->minute;
+  p *= 100;
+  p += m->second;
+  p *= 1000;
+  p += m->nanosecond / 1000000;
+
+  p *= MOTOR_STEPS;
+  p /= 100000000;
+
+
+
+  return (unsigned) p;
+}
+
+
+
+
+void hands_tick (void)
+{
+  EPOCH e;
+  UTC u;
+  MTIME m;
+  static unsigned old_pos[HANDS];
+  unsigned i, p;
+
+
+  static uint32_t last;
+
+  if ((ticks - last) < 100) return;
+
+  last = ticks;
+
+  if (!rtc_ready) return;
+
+
+  e = rtc_get();
+  u = time_epoch_to_utc (e);
+  m = time_to_metric (e, u);
+
+
+  hands_pos[0] = calc_hour_pos (&m);
+  hands_pos[1] = calc_minute_pos (&m);
+  hands_ready = 1;
+
+  for (i = 0, p = 0; i < HANDS; ++i) {
+    if (hands_pos[i] != old_pos[i]) p++;
+
+    old_pos[i] = hands_pos[i];
+
+  }
+
+  if (p) {
+    time_print_utc ("UTC:    ", &u, NULL);
+    time_print_metric ("Metric: ", &m, NULL);
+    printf ("Hands:  hour %4d/%4d  min %4d/%4d\r\n", hands_pos[0], MOTOR_STEPS, hands_pos[1], MOTOR_STEPS);
+  }
+
+}
diff --git a/stm32/app/main.c b/stm32/app/main.c
new file mode 100644
index 0000000..4722479
--- /dev/null
+++ b/stm32/app/main.c
@@ -0,0 +1,50 @@
+#include "project.h"
+
+
+
+
+
+int main (void)
+{
+  /*set up pll */
+  rcc_clock_setup_pll (&rcc_hse_configs[RCC_HSE_CONFIG]);
+
+  /*turn on clocks to periferals */
+  rcc_periph_clock_enable (RCC_GPIOA);
+  rcc_periph_clock_enable (RCC_GPIOB);
+  rcc_periph_clock_enable (RCC_GPIOC);
+  rcc_periph_clock_enable (RCC_USART1);
+  rcc_periph_clock_enable (RCC_AFIO);
+  rcc_periph_clock_enable (RCC_PWR);
+  rcc_periph_clock_enable (RCC_BKP);
+  pwr_disable_backup_domain_write_protect();
+  DWT_CTRL |= DWT_CTRL_CYCCNTENA;
+
+
+  nvic_set_priority (NVIC_SYSTICK_IRQ, 0x80);
+  nvic_set_priority (NVIC_USART1_IRQ, 0x40);
+  nvic_set_priority (NVIC_USB_HP_CAN_TX_IRQ, 0x40);
+  nvic_set_priority (NVIC_USB_LP_CAN_RX0_IRQ, 0x40);
+  nvic_set_priority (NVIC_RTC_IRQ, 0x10);
+
+  MAP_OUTPUT_OD (LED1);
+  MAP_OUTPUT_OD (LED2);
+
+
+  usart_init();
+  cdcacm_rings_init();
+  rtc_init();
+
+  printf ("Startup:\r\n");
+
+  motor_init();
+  ticker_init();
+  usb_init();
+
+
+  for (;;);
+
+
+  return 0;
+}
+
diff --git a/stm32/app/motor.c b/stm32/app/motor.c
new file mode 100644
index 0000000..392089b
--- /dev/null
+++ b/stm32/app/motor.c
@@ -0,0 +1,75 @@
+#include "project.h"
+
+
+static unsigned motor_pos[HANDS];
+
+
+static void  coils (unsigned m, int a, int b, int c, int d)
+{
+  printf ("Motor %d: %+d %+d\r\n", m, a - b, c - d);
+}
+
+static void step (unsigned m, int d)
+{
+  unsigned s = motor_pos[m];
+
+  if (d < 0) d += MOTOR_STEPS;
+
+  s += d;
+  s %= MOTOR_STEPS;
+
+  coils (m, !! ((s + 6) & 4), !! ((s + 1) & 4), !! ((s + 4) & 4), !! ((s + 7) & 4));
+
+  if (!m)
+    BKP_DR8 = motor_pos[0] = s;
+  else
+    BKP_DR9 = motor_pos[1] = s;
+
+
+}
+
+
+
+
+
+void motor_tick (void)
+{
+  static uint32_t last;
+  unsigned i, d;
+
+  if ((ticks - last) < 10) return;
+
+  last = ticks;
+
+  if (!hands_ready) return;
+
+  //printf("HANDS: %d -> %d    %d -> %d\r\n",hands_pos[0],motor_pos[0],hands_pos[1],motor_pos[1]);
+
+
+  for (i = 0; i < HANDS; ++i) {
+    d = MOTOR_STEPS + hands_pos[i];
+    d -= motor_pos[i];
+    d %= MOTOR_STEPS;
+
+    if (d) {
+      if (d < (MOTOR_STEPS / 2))
+        step (i, 1);
+      else
+        step (i, -1);
+    }
+  }
+}
+
+
+
+
+void motor_init (void)
+{
+
+  motor_pos[0] = BKP_DR8;
+  motor_pos[1] = BKP_DR9;
+
+  step (0, 0);
+  step (1, 0);
+
+}
diff --git a/stm32/app/pins.h b/stm32/app/pins.h
new file mode 100644
index 0000000..954396f
--- /dev/null
+++ b/stm32/app/pins.h
@@ -0,0 +1,54 @@
+#ifndef _PINS_H_
+#define _PINS_H_
+
+/* st seem to change these with every chip revision */
+
+#define MAP_ANA(a) do {   \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, a ); \
+  } while (0)
+
+#define MAP_AF(a) do {   \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, a ); \
+  } while (0)
+
+/* STM32F1 doesn't have AF pull up, but also doesn't disconnect af inputs so just use regular pull up */
+#define MAP_AF_PU(a) do {    \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, a); \
+    gpio_set( a ## _PORT, a); \
+  } while (0)
+
+#define MAP_AF_OD(a) do {    \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, a ); \
+  } while (0)
+
+
+#define MAP_OUTPUT_PP(a)  do { \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, a ); \
+  } while (0)
+
+
+#define MAP_OUTPUT_OD(a)  do { \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN, a ); \
+  } while (0)
+
+
+/* STM32F1 madly uses the output register to drive the other end of the resistor, so pull up  */
+/* requires us to write a 1 there */
+
+#define MAP_INPUT_PU(a)   do { \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, a); \
+    gpio_set( a ## _PORT, a); \
+  } while (0)
+
+
+#define MAP_INPUT(a)  do { \
+    gpio_set_mode( a ## _PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, a); \
+  } while (0)
+
+
+#define CLEAR(a) gpio_clear( a ## _PORT, a)
+#define SET(a) gpio_set( a ## _PORT, a)
+#define GET(a) gpio_get( a ## _PORT, a)
+#define TOGGLE(a) gpio_toggle( a ## _PORT, a)
+
+#endif
diff --git a/stm32/app/project.h b/stm32/app/project.h
new file mode 100644
index 0000000..fd71876
--- /dev/null
+++ b/stm32/app/project.h
@@ -0,0 +1,50 @@
+#include <stdlib.h>
+#include <math.h>
+#include <stdio.h>
+#include <errno.h>
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/i2c.h>
+#include <libopencm3/stm32/st_usbfs.h>
+#include <libopencm3/stm32/rtc.h>
+#include <libopencm3/stm32/pwr.h>
+#include <libopencm3/stm32/f1/bkp.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/cortex.h>
+#include <libopencm3/cm3/scb.h>
+#include <libopencm3/cm3/dwt.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/hid.h>
+#include <libopencm3/usb/dfu.h>
+#include <libopencm3/usb/cdc.h>
+#include <id.h>
+
+
+
+#define RCC_HSE_CONFIG RCC_CLOCK_HSE8_72MHZ
+#define US (72)
+#define MS (US  * 1000)
+#define HZ (MS * 1000)
+#define MS_TO_TICKS(a) ((a) *2)
+
+#define TRACE do { printf("%s:%d\r\n",__FILE__,__LINE__); } while (0)
+
+#define DWT_FREQ 48000000
+
+#define HANDS 2
+#define MOTOR_STEPS (1080 * 2)
+
+#include "board.h"
+#include "ring.h"
+#include "pins.h"
+#include "time_fn.h"
+#include "asm_fns.h"
+
+#include "prototypes.h"
+
+
+
+extern uint32_t dfu_flag;
diff --git a/stm32/app/prototypes.h b/stm32/app/prototypes.h
new file mode 100644
index 0000000..751ba25
--- /dev/null
+++ b/stm32/app/prototypes.h
@@ -0,0 +1,81 @@
+/* main.c */
+extern int main(void);
+/* cdcacm.c */
+extern ring_t cdcacm_rx_ring;
+extern ring_t cdcacm_tx_ring;
+extern const struct usb_interface_descriptor comm_iface;
+extern const struct usb_interface_descriptor data_iface;
+extern const struct usb_iface_assoc_descriptor cdc_iface_assoc;
+extern enum usbd_request_return_codes cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf, uint16_t *len, usbd_control_complete_callback *complete);
+extern void cdcacm_tick(void);
+extern int cdcacm_write(char *ptr, int len);
+extern void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue);
+extern void cdcacm_rings_init(void);
+/* dfu.c */
+extern const struct usb_dfu_descriptor dfu_function;
+extern const struct usb_interface_descriptor dfu_iface;
+extern const struct usb_iface_assoc_descriptor dfu_iface_assoc;
+extern enum usbd_request_return_codes dfu_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf, uint16_t *len, usbd_control_complete_callback *complete);
+/* ring.c */
+extern void ring_init(ring_t *r, uint8_t *buf, size_t len);
+extern int ring_write_byte(ring_t *r, uint8_t c);
+extern int ring_empty(ring_t *r);
+extern int ring_read_byte(ring_t *r, uint8_t *c);
+extern int ring_write(ring_t *r, uint8_t *buf, size_t len);
+/* usart.c */
+extern ring_t usart_rx_ring;
+extern ring_t usart_tx_ring;
+extern void usart1_isr(void);
+extern void usart_kick(void);
+extern int _write(int file, char *ptr, int len);
+extern void usart_init(void);
+/* ticker.c */
+extern volatile uint32_t ticks;
+extern unsigned led2;
+extern void delay_us(uint32_t d);
+extern void sys_tick_handler(void);
+extern void ticker_init(void);
+extern void delay_ms(uint32_t d);
+/* dummy_kb.c */
+extern const struct usb_interface_descriptor dummy_kb_iface;
+extern const struct usb_iface_assoc_descriptor dummy_kb_iface_assoc;
+/* usb.c */
+extern uint8_t usbd_control_buffer[128];
+extern usbd_device *usb_device;
+extern void usb_hp_can_tx_isr(void);
+extern void usb_lp_can_rx0_isr(void);
+extern void usb_init(void);
+/* rtc.c */
+extern volatile unsigned rtc_ready;
+extern void rtc_isr(void);
+extern EPOCH rtc_get(void);
+extern void rtc_init(void);
+/* time_fn.c */
+extern EPOCH time_epoch_sub(EPOCH a, EPOCH b);
+extern EPOCH time_epoch_add(EPOCH a, EPOCH b);
+extern UTC time_epoch_to_utc(EPOCH epoch);
+extern EPOCH time_utc_to_epoch(UTC u);
+extern void utc_to_str(char *dst, UTC *u);
+extern void time_print_utc(const char *p, UTC *u, const char *t);
+extern void time_print_epoch(const char *p, EPOCH e, const char *t);
+extern double time_utc_to_tjd(UTC u);
+extern EPOCH time_tjd_to_epoch(double tjd);
+extern UTC time_tjd_to_utc(double tjd);
+extern RA ra_normalize(RA r);
+extern RA time_utc_to_ra(UTC u);
+extern RA time_st_to_ra(ST st);
+extern ST time_ra_to_st(RA r);
+extern ST time_utc_to_lst(UTC u, double lon);
+extern MTIME time_to_metric(EPOCH e, UTC u);
+extern MTIME time_utc_to_metric(UTC u);
+extern MTIME time_epoch_to_metric(EPOCH e);
+extern void time_print_metric(const char *p, MTIME *m, const char *t);
+/* events.c */
+extern double autumnal_equinox(unsigned y);
+/* hands.c */
+extern unsigned hands_pos[2];
+extern unsigned hands_ready;
+extern void hands_tick(void);
+/* motor.c */
+extern void motor_tick(void);
+extern void motor_init(void);
diff --git a/stm32/app/ring.c b/stm32/app/ring.c
new file mode 100644
index 0000000..26bba3a
--- /dev/null
+++ b/stm32/app/ring.c
@@ -0,0 +1,64 @@
+#include "project.h"
+
+
+static inline size_t
+ring_next (ring_t *r, size_t p)
+{
+  p++;
+
+  if (p >= r->size)
+    p -= r->size;
+
+  return p;
+}
+
+void
+ring_init (ring_t *r, uint8_t *buf, size_t len)
+{
+  r->data = buf;
+  r->size = len;
+  r->write = 0;
+  r->read = 0;
+}
+
+int
+ring_write_byte (ring_t *r, uint8_t c)
+{
+  size_t n = ring_next (r, r->write);
+
+  if (n == r->read)
+    return -1;
+
+  r->data[r->write] = c;
+  r->write = n;
+  return 0;
+}
+
+int ring_empty (ring_t *r)
+{
+  return (r->read == r->write);
+}
+
+int
+ring_read_byte (ring_t *r, uint8_t *c)
+{
+  size_t n = ring_next (r, r->read);
+
+  if (r->read == r->write)
+    return -1;
+
+  *c = r->data[r->read];
+  r->read = n;
+  return 0;
+}
+
+int
+ring_write (ring_t *r, uint8_t *buf, size_t len)
+{
+  while (len--) {
+    if (ring_write_byte (r, * (buf++)))
+      return -1;
+  }
+
+  return 0;
+}
diff --git a/stm32/app/ring.h b/stm32/app/ring.h
new file mode 100644
index 0000000..ba8887b
--- /dev/null
+++ b/stm32/app/ring.h
@@ -0,0 +1,7 @@
+typedef struct ring
+{
+  uint8_t *data;
+  size_t size;
+  size_t write;
+  size_t read;
+} ring_t;
diff --git a/stm32/app/rtc.c b/stm32/app/rtc.c
new file mode 100644
index 0000000..0030cfd
--- /dev/null
+++ b/stm32/app/rtc.c
@@ -0,0 +1,170 @@
+#include "project.h"
+
+static volatile uint32_t hz = HZ;
+static volatile uint32_t cycle_ref;
+static volatile uint32_t rtc_ref;
+
+#define RTC_IN_LH 0x21f7
+#define RTC_IN_UH 0x6a6d
+
+static EPOCH rtc_offset;
+static uint16_t rtc_half;
+
+volatile unsigned rtc_ready;
+
+
+
+
+static EPOCH bkp_read_off (void)
+{
+  EPOCH e;
+  uint64_t v;
+
+  v = BKP_DR1 & 0xffff;
+  v <<= 16;
+  v |= (BKP_DR2 & 0xffff);
+  v <<= 16;
+  v |= (BKP_DR3 & 0xffff);
+  v <<= 16;
+  v |= (BKP_DR4 & 0xffff);
+
+  e.s = (int64_t) v;
+
+  v = BKP_DR5 & 0xffff;
+  v <<= 16;
+  v |= (BKP_DR6 & 0xffff);
+
+  e.ns = (int64_t) v;
+
+  return e;
+}
+
+static void bkp_write_off (EPOCH e)
+{
+  uint64_t v;
+
+  v = (uint64_t) e.s;
+
+  BKP_DR4 = (uint16_t) (v & 0xffff);
+  v >>= 16;
+  BKP_DR3 = (uint16_t) (v & 0xffff);
+  v >>= 16;
+  BKP_DR2 = (uint16_t) (v & 0xffff);
+  v >>= 16;
+  BKP_DR1 = (uint16_t) (v & 0xffff);
+
+  v = (uint64_t) e.ns;
+
+  BKP_DR6 = (uint16_t) (v & 0xffff);
+  v >>= 16;
+  BKP_DR5 = (uint16_t) (v & 0xffff);
+
+}
+
+
+
+void rtc_isr (void)
+{
+  uint32_t now;
+  static uint32_t then;
+  uint32_t v;
+  static int warm_up = 3;
+
+
+  now = DWT_CYCCNT;
+  compiler_mb();
+  rtc_clear_flag (RTC_SEC);
+
+  v = rtc_get_counter_val();
+
+  TOGGLE (LED1);
+
+  cycle_ref = now;
+
+  if (warm_up) warm_up--;
+  else hz = now - then;
+
+
+  switch (rtc_half) {
+  case RTC_IN_LH:
+    if (! (v & 0x8000000)) break;
+
+    BKP_DR7 = rtc_half = RTC_IN_UH;
+    break;
+
+  case RTC_IN_UH:
+    if (v & 0x8000000) break;
+
+    BKP_DR7 = rtc_half = RTC_IN_LH;
+    rtc_offset.s += 0x100000000ULL;
+    bkp_write_off (rtc_offset);
+    break;
+
+  default:
+    if (v & 0x8000000)
+      BKP_DR7 = rtc_half = RTC_IN_UH;
+    else
+      BKP_DR7 = rtc_half = RTC_IN_LH;
+  }
+
+
+  compiler_mb();
+  rtc_ref = v;
+  rtc_ready = 1;
+
+
+  // printf ("Ctr %d %u %u\r\n", (int) v, (int) (now - then),(unsigned) rtc_offset.s);
+
+  then = now;
+}
+
+
+EPOCH rtc_get (void)
+{
+  EPOCH e, o;
+  uint32_t h, c, r1, r2;
+  uint32_t now = DWT_CYCCNT;
+
+  do {
+    r1 = rtc_ref;
+    compiler_mb();
+    c = cycle_ref;
+    h = hz;
+    o = rtc_offset;
+    compiler_mb();
+    r2 = rtc_ref;
+  } while (r1 != r2);
+
+  now -= c;
+
+  e.ns = now;
+  e.ns *= 1000000000ULL;
+
+  if (h) e.ns /= h;
+  else e.ns /= HZ;
+
+  e.s = r1;
+
+  return time_epoch_add (e, o);
+}
+
+
+void rtc_init (void)
+{
+  rtc_offset = bkp_read_off();
+  rtc_half = BKP_DR7;
+
+#if 1
+  rtc_offset.s = 1637490753;
+  rtc_offset.ns = 498866999;
+  bkp_write_off (rtc_offset);
+#endif
+
+
+  rtc_auto_awake (RCC_LSE, 0x7fff); //32768Hz
+  rtc_interrupt_enable (RTC_SEC);
+  nvic_enable_irq (NVIC_RTC_IRQ);
+
+}
+
+
diff --git a/stm32/app/ticker.c b/stm32/app/ticker.c
new file mode 100644
index 0000000..f124307
--- /dev/null
+++ b/stm32/app/ticker.c
@@ -0,0 +1,74 @@
+#include "project.h"
+
+
+volatile uint32_t ticks;
+static uint32_t scale = 7;
+
+unsigned  led2 = 1000;
+
+
+
+void
+delay_us (uint32_t d)
+{
+  d *= scale;
+
+  while (d--)
+    __asm__ ("nop");
+}
+
+void
+sys_tick_handler (void)
+{
+  ticks++;
+  cdcacm_tick();
+  hands_tick();
+  motor_tick();
+
+  if (led2)
+    led2--;
+
+  if (led2)
+    CLEAR (LED2);
+
+  else
+    SET (LED2);
+}
+
+void
+ticker_init (void)
+{
+  uint32_t v, w;
+  /*Start periodic timer */
+  systick_set_clocksource (STK_CSR_CLKSOURCE_AHB_DIV8);
+  /* 72MHz / 8 = > 9Mhz */
+  systick_set_reload (9000);
+  /* 9MHz / 9000 => 1kHz */
+  systick_interrupt_enable();
+  systick_counter_enable();
+
+  /*Calibrate the delay loop */
+  do {
+    scale--;
+    v = ticks;
+
+    while (v == ticks)
+      ;
+
+    delay_us (1000);
+    w = ticks;
+    v++;
+    w -= v;
+  } while (w);
+
+}
+
+
+void delay_ms (uint32_t d)
+{
+  uint32_t v = ticks;
+
+  while ((ticks - v) < d);
+}
+
+
diff --git a/stm32/app/time_fn.c b/stm32/app/time_fn.c
new file mode 100644
index 0000000..825d90f
--- /dev/null
+++ b/stm32/app/time_fn.c
@@ -0,0 +1,650 @@
+#include <math.h>
+#include "project.h"
+
+static int is_leap (unsigned year)
+{
+  if (year % 4)
+    return 0;
+
+  if (year % 100)
+    return 1;
+
+  if (year % 400)
+    return 0;
+
+  return 1;
+}
+
+EPOCH time_epoch_sub (EPOCH a, EPOCH b)
+{
+  EPOCH ret;
+
+  ret.ns = a.ns - b.ns;
+  ret.s = a.s - b.s;
+
+  if (!ret.s) return ret;
+
+  if (ret.ns < 0) {
+    ret.s--;
+    ret.ns += 1000000000;
+  }
+
+  return ret;
+}
+
+
+EPOCH time_epoch_add (EPOCH a, EPOCH b)
+{
+  EPOCH ret;
+
+  ret.ns = a.ns + b.ns;
+  ret.s = a.s + b.s;
+
+  while (ret.ns > 1000000000) {
+    ret.s++;
+    ret.ns -= 1000000000;
+  }
+
+  return ret;
+}
+
+
+UTC time_epoch_to_utc (EPOCH epoch)
+{
+  UTC u = {0};
+  uint64_t day;
+  unsigned y400, y100, y4;
+
+  day = epoch.s / 86400;
+  epoch.s -= day * 86400;
+
+  day += 134774;
+
+  u.wday = day % 7;
+  u.wday++;
+
+
+  y400 = day / 146097;        /*146097 days in 400 years */
+  day -= (y400 * 146097);
+
+  y100 = day / 36524;         /*36524 days in 100 years */
+  day -= (y100 * 36524);
+
+  y4 = day / 1461;            /*1461 days in 4 years */
+  day -= (y4 * 1461);
+
+  /* This may look redundant but 31 Dec in year 4 is special case */
+  if (day < 1095) {           /*1095 days in 3 years */
+    u.year = day / 365;     /*365 days in a year */
+    day -= (365 * u.year);
+  } else {
+    u.year = 3;
+    day -= 1095;
+  }
+
+
+  /* Now put it all back together */
+  u.year += 1601;
+  u.year += 4 * y4;
+  u.year += 100 * y100;
+  u.year += 400 * y400;
+
+
+  u.jday = day + 1;
+
+  u.is_leap = is_leap (u.year);
+
+
+  if (!u.is_leap) {
+    /*Days and months for ordinary years */
+    if (u.jday < 32) {
+      u.month = 1;
+      u.mday = u.jday;
+    } else if (u.jday < 60) {
+      u.month = 2;
+      u.mday = u.jday - 31;
+    } else if (u.jday < 91) {
+      u.month = 3;
+      u.mday = u.jday - 59;
+    } else if (u.jday < 121) {
+      u.month = 4;
+      u.mday = u.jday - 90;
+    } else if (u.jday < 152) {
+      u.month = 5;
+      u.mday = u.jday - 120;
+    } else if (u.jday < 182) {
+      u.month = 6;
+      u.mday = u.jday - 151;
+    } else if (u.jday < 213) {
+      u.month = 7;
+      u.mday = u.jday - 181;
+    } else if (u.jday < 244) {
+      u.month = 8;
+      u.mday = u.jday - 212;
+    } else if (u.jday < 274) {
+      u.month = 9;
+      u.mday = u.jday - 243;
+    } else if (u.jday < 305) {
+      u.month = 10;
+      u.mday = u.jday - 273;
+    } else if (u.jday < 335) {
+      u.month = 11;
+      u.mday = u.jday - 304;
+    } else {
+      u.month = 12;
+      u.mday = u.jday - 334;
+    }
+  } else {
+    /*And leap years */
+    if (u.jday < 32) {
+      u.month = 1;
+      u.mday = u.jday;
+    } else if (u.jday < 61) {
+      u.month = 2;
+      u.mday = u.jday - 31;
+    } else if (u.jday < 92) {
+      u.month = 3;
+      u.mday = u.jday - 60;
+    } else if (u.jday < 122) {
+      u.month = 4;
+      u.mday = u.jday - 91;
+    } else if (u.jday < 153) {
+      u.month = 5;
+      u.mday = u.jday - 121;
+    } else if (u.jday < 183) {
+      u.month = 6;
+      u.mday = u.jday - 152;
+    } else if (u.jday < 214) {
+      u.month = 7;
+      u.mday = u.jday - 182;
+    } else if (u.jday < 245) {
+      u.month = 8;
+      u.mday = u.jday - 213;
+    } else if (u.jday < 275) {
+      u.month = 9;
+      u.mday = u.jday - 244;
+    } else if (u.jday < 306) {
+      u.month = 10;
+      u.mday = u.jday - 274;
+    } else if (u.jday < 336) {
+      u.month = 11;
+      u.mday = u.jday - 305;
+    } else {
+      u.month = 12;
+      u.mday = u.jday - 335;
+    }
+  }
+
+  u.hour = epoch.s / 3600;
+  epoch.s -= u.hour * 3600;
+  u.minute = epoch.s / 60;
+  epoch.s -= u.minute * 60;
+  u.second = epoch.s;
+
+  u.nanosecond = epoch.ns;
+
+  return u;
+}
+
+EPOCH  time_utc_to_epoch (UTC u)
+{
+  unsigned y400;
+  unsigned y100;
+  unsigned y4;
+
+  EPOCH ret;
+
+  static int const mdays[] =
+  { 0, 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334 };
+  static int const lmdays[] =
+  { 0, 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335 };
+
+  u.is_leap = is_leap (u.year);
+
+  if (u.year < 100) u.year += 2000;
+
+
+  if (!u.jday) {
+    if (u.is_leap)
+      u.jday = u.mday + lmdays[u.month];
+    else
+      u.jday = u.mday + mdays[u.month];
+  }
+
+  u.year -= 1601;
+  y400 = u.year / 400;
+  u.year -= y400 * 400;
+  y100 = u.year / 100;
+  u.year -= y100 * 100;
+  y4 = u.year / 4;
+  u.year -= y4 * 4;
+
+
+
+  ret.s = u.jday - 1;
+  ret.s += u.year * 365;
+  ret.s += y4 * 1461;
+  ret.s += y100 * 36524;
+  ret.s += y400 * 146097;
+
+  ret.s -= 134774;
+
+  ret.s *= 86400;
+
+  ret.s += u.second;
+  ret.s += u.minute * 60;
+  ret.s += u.hour * 3600;
+
+  ret.ns = u.nanosecond;
+
+  return ret;
+}
+
+void utc_to_str (char *dst, UTC *u)
+{
+  const char *dname[] = {"Sun", "Mon", "Tue", "Wed", "Thr", "Fri", "Sat", "Sun"};
+  const char *mname[] = {"", "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
+  sprintf (dst, "%s %04d-%s-%02d %02d:%02d:%02d.%09d", dname[u->wday], u->year, mname[u->month], u->mday, u->hour, u->minute, u->second, u->nanosecond);
+}
+
+
+void time_print_utc (const char *p, UTC *u, const char *t)
+{
+  const char *dname[] = {"Sun", "Mon", "Tue", "Wed", "Thr", "Fri", "Sat", "Sun"};
+  const char *mname[] = {"", "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
+  printf ("%s%s %04d-%s-%02d %02d:%02d:%02d.%09d %s\r\n", p ? p : "", dname[u->wday], u->year, mname[u->month], u->mday, u->hour, u->minute, u->second, u->nanosecond, t ? t : "");
+}
+
+void time_print_epoch (const char *p, EPOCH e, const char *t)
+{
+  UTC u = time_epoch_to_utc (e);
+  time_print_utc (p, &u, t);
+}
+
+
+double
+time_utc_to_tjd (UTC u)
+{
+  unsigned y400;
+  unsigned y100;
+  unsigned y4;
+
+  double ret;
+  unsigned jd;
+
+  static int const mdays[] =
+  { 0, 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334 };
+  static int const lmdays[] =
+  { 0, 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335 };
+
+  u.is_leap = is_leap (u.year);
+
+  if (u.year < 100)
+    u.year += 2000;
+
+
+  if (!u.jday) {
+    if (u.is_leap)
+      u.jday = u.mday + lmdays[u.month];
+    else
+      u.jday = u.mday + mdays[u.month];
+  }
+
+  u.year -= 1601;
+  y400 = u.year / 400;
+  u.year -= y400 * 400;
+  y100 = u.year / 100;
+  u.year -= y100 * 100;
+  y4 = u.year / 4;
+  u.year -= y4 * 4;
+
+  jd = u.jday - 1;
+  jd += u.year * 365;
+  jd += y4 * 1461;
+  jd += y100 * 36524;
+  jd += y400 * 146097;
+
+
+  jd += 2305813;
+  jd -= 2451545;
+
+
+
+  ret = (double) u.nanosecond;
+  ret /= 1000000000.;
+  ret += (double) u.second;
+  ret /= 60.;
+  ret += (double) u.minute;
+  ret /= 60.;
+  ret += (double) u.hour;
+  ret /= 24.;
+
+  ret += .5;
+
+  ret += (double) jd;
+
+  return ret;
+}
+
+
+EPOCH time_tjd_to_epoch (double tjd)
+{
+  EPOCH e;
+
+
+  tjd -= 2440587.5;
+
+  tjd *= 86400.;
+  e.s = (uint64_t) floor (tjd);
+
+  tjd -= (double) e.s;
+
+  tjd *= 1000000000.;
+  e.ns = (unsigned)  floor (tjd);
+
+  return e;
+}
+
+UTC time_tjd_to_utc (double tjd)
+{
+  return time_epoch_to_utc (time_tjd_to_epoch (tjd));
+}
+
+
+
+RA ra_normalize (RA r)
+{
+
+  while (r.ra < 0.) {
+    r.ra += 360.;
+    r.days--;
+  }
+
+  if (r.ra >= 3600.0) {
+    r.days = (unsigned) (floor (r.ra / 360.) + .5);
+    r.ra = remainder (r.ra, 360.);
+  } else while (r.ra >= 360.0) {
+      r.ra -= 360.;
+      r.days++;
+    }
+
+  return r;
+}
+
+
+RA time_utc_to_ra (UTC u)
+{
+  RA r;
+  double tjd = time_utc_to_tjd (u);
+  double T = tjd / 36525.;
+
+  r.ra =
+    280.46061837 + (360.98564736629 * tjd) + (0.000387933 * T * T) -
+    (T * T * T / 38710000.0);
+
+  r.days = 0;
+
+  return ra_normalize (r);
+}
+
+
+
+RA time_st_to_ra (ST st)
+{
+  RA r;
+  unsigned i;
+
+  r.days = st.days;
+
+  i = st.hour;
+  i *= 60;
+  i += st.minute;
+  i *= 60;
+  i += st.second;
+
+  r.ra = (double) st.nanosecond;
+  r.ra /= 1000000000.;
+  r.ra += (double) i;
+
+  r.ra /= 240.;
+
+  return r;
+}
+
+
+
+ST
+time_ra_to_st (RA r)
+{
+  ST ret;
+  unsigned i;
+
+  r = ra_normalize (r);
+
+  ret.days = r.days;
+
+  r.ra *= 240.0;
+
+  i = (int) (floor (r.ra) + .5);
+  r.ra -= (double) i;
+  r.ra *= 1000000000.;
+
+  ret.nanosecond = (unsigned) (r.ra + .5);
+  ret.second = i % 60;
+  i /= 60;
+  ret.minute = i % 60;
+  i /= 60;
+  ret.hour = i;
+
+
+  return ret;
+}
+
+
+
+ST time_utc_to_lst (UTC u, double lon)
+{
+  RA r;
+
+  r = time_utc_to_ra (u);
+
+  r.ra += lon;
+
+  return time_ra_to_st (r);
+}
+
+
+
+#if 0
+int time_ra_cmp (double a, double b)
+{
+  return (ra_normalize (a - b) < 180.) ? -1 : 1;;
+}
+
+
+/*Find the next occuring time for RA tra */
+
+static int test_side (EPOCH m, double tra)
+{
+
+  double ra;
+  UTC u;
+
+  u = time_epoch_to_utc (m);
+  ra = time_utc_to_ra (u);
+
+  return time_ra_cmp (ra, tra);
+}
+
+
+EPOCH time_ra_to_next_epoch (EPOCH l, double tra)
+{
+  EPOCH r, m;
+  unsigned n;
+
+  int dog = 48;
+
+  printf ("time_ra_to_next_epoch %.9f\n", tra);
+
+  /* XXX: we should use newton raphson, but */
+  /* 1) we're on team hooke */
+  /* 2) we want to limit the domain of solutions */
+  /* So IB works better */
+
+
+  while ((test_side (l, tra) != 1)  && dog--)
+    l.s += 3600;
+
+  r = l;
+
+  while ((test_side (r, tra) != -1) && dog--)
+    r.s += 3600;
+
+  for (n = 0; n < 64; ++n) {
+
+    m = time_epoch_sub (r, l);
+
+    if (m.s < 0) {
+      m.s = 0;
+      m.ns = 0;
+      break;
+    }
+
+    if (m.s & 1)
+      m.ns += 1000000000;
+
+    m.s /= 2;
+    m.ns /= 2;
+
+    m = time_epoch_add (l, m);
+
+    if (test_side (m, tra) < 0)
+      r = m;
+    else
+      l = m;
+  }
+
+  return m;
+}
+
+#endif
+
+
+
+
+
+/*
+ * Returns the EPOCH for the start of the metric year which
+ * starts in the custumary year y
+ *
+ * the metric year begins on the autumnal equinox (at the paris observatory natch.)
+ */
+static EPOCH start_of_year (unsigned y)
+{
+  double  tjd = autumnal_equinox (y);
+  UTC u;
+
+  tjd += (2.3372305555 / 360); /* Offset of paris meridian from greenwich */
+
+  u = time_tjd_to_utc (tjd);
+
+  u.hour =
+    u.minute =
+      u.second =
+        u.nanosecond = 0;
+
+  return time_utc_to_epoch (u);
+}
+
+MTIME time_to_metric (EPOCH e, UTC u)
+{
+  MTIME ret;
+
+  static EPOCH year_start, year_end;
+  static unsigned year;
+
+  unsigned s;
+  unsigned d;
+
+  double fd;
+
+  EPOCH equinox;
+
+  if ((e.s > year_end.s) || (e.s < year_start.s)) {
+    /*calculate the equinox in this customary year */
+
+    equinox = start_of_year (u.year);
+
+    if (e.s < equinox.s) {
+      year_start = start_of_year (u.year - 1);
+      year_end = equinox;
+      year = u.year - 1792;
+    } else {
+      year_start = equinox;
+      year_end = start_of_year (u.year + 1);
+      year = u.year - 1791;
+    }
+  }
+
+  ret.year = year;
+
+  e = time_epoch_sub (e, year_start);
+  s = e.s;
+  d = s / 86400;
+  s -= d * 86400;
+
+  ret.jday = d;
+
+  ret.month = (d / 30) + 1;
+  ret.mday = (d % 30) + 1;
+  ret.wday = d % 10;
+
+  /* Now for the horror of time of day */
+
+  fd = (double) e.ns;
+  fd /= 1000000000.;
+  fd += (double) s;
+  fd /= 86400.;
+  fd *= 100000;
+
+  s = (int) fd;
+  fd -= (double) s;
+  fd *= 1000000000.;
+
+  ret.nanosecond = (int) fd;
+
+  ret.second = s % 100;
+  s -= ret.second;
+  s /= 100;
+
+  ret.minute = s % 100;
+  s -= ret.minute;
+  s /= 100;
+
+  ret.hour = s;
+
+  return ret;
+}
+
+
+MTIME time_utc_to_metric (UTC u)
+{
+  return  time_to_metric (time_utc_to_epoch (u), u);
+}
+
+
+MTIME time_epoch_to_metric (EPOCH e)
+{
+  return  time_to_metric (e, time_epoch_to_utc (e));
+}
+
+
+
+void time_print_metric (const char *p, MTIME *m, const char *t)
+{
+  const char *dname[] = {"Pri", "Duo", "Tri", "Qua", "Qui", "Sex", "Sep", "Oct", "Non", "Dec" };
+  const char *mname[] = {"", "Ven", "Bru", "Fri", "Niv", "Plu", "Ven", "Ger", "Flo", "Pra", "Mes", "The", "Fru", "San"};
+  printf ("%s%s %03d-%s-%02d %01d:%02d:%02d.%09d %s\r\n", p ? p : "", dname[m->wday], m->year, mname[m->month], m->mday, m->hour, m->minute, m->second, m->nanosecond, t ? t : "");
+}
+
+
diff --git a/stm32/app/time_fn.h b/stm32/app/time_fn.h
new file mode 100644
index 0000000..0775a0f
--- /dev/null
+++ b/stm32/app/time_fn.h
@@ -0,0 +1,47 @@
+typedef struct {
+  unsigned year;
+  unsigned is_leap;
+  unsigned jday;
+  unsigned month;
+  unsigned mday;
+  unsigned wday;
+  unsigned hour;
+  unsigned minute;
+  unsigned second;
+  unsigned nanosecond;
+} UTC;
+
+typedef struct {
+  int64_t s;
+  int64_t ns;
+} EPOCH;
+
+
+typedef struct {
+ unsigned days;
+ double ra;
+} RA;
+
+typedef struct {
+  unsigned days;
+  unsigned hour;
+  unsigned minute;
+  unsigned second;
+  unsigned nanosecond;
+} ST;
+
+
+typedef struct {
+  unsigned year;
+  unsigned is_leap;
+  unsigned jday;
+  unsigned month;
+  unsigned mday;
+  unsigned wday;
+  unsigned hour;
+  unsigned minute;
+  unsigned second;
+  unsigned nanosecond;
+} MTIME;
+
+
diff --git a/stm32/app/usart.c b/stm32/app/usart.c
new file mode 100644
index 0000000..6b44656
--- /dev/null
+++ b/stm32/app/usart.c
@@ -0,0 +1,88 @@
+#include "project.h"
+
+#define BUFFER_SIZE 512
+
+ring_t usart_rx_ring;
+static uint8_t usart_rx_ring_buf[BUFFER_SIZE];
+
+ring_t usart_tx_ring;
+static uint8_t usart_tx_ring_buf[BUFFER_SIZE];
+
+void
+usart1_isr (void)
+{
+  uint8_t data;
+
+  /* Check if we were called because of RXNE. */
+  if (((USART_CR1 (USART1) & USART_CR1_RXNEIE) != 0) &&
+      ((USART_SR (USART1) & USART_SR_RXNE) != 0)) {
+    /* Retrieve the data from the peripheral. */
+    data = usart_recv (USART1);
+    ring_write_byte (&usart_rx_ring, data);
+  }
+
+  /* Check if we were called because of TXE. */
+  if (((USART_CR1 (USART1) & USART_CR1_TXEIE) != 0) &&
+      ((USART_SR (USART1) & USART_SR_TXE) != 0)) {
+    if (ring_read_byte (&usart_tx_ring, &data)) {
+      /*No more data, Disable the TXE interrupt, it's no longer needed. */
+      USART_CR1 (USART1) &= ~USART_CR1_TXEIE;
+    } else
+      usart_send (USART1, data);
+  }
+}
+
+void usart_kick (void)
+{
+  if (!ring_empty (&usart_tx_ring))
+    USART_CR1 (USART1) |= USART_CR1_TXEIE;
+}
+
+
+int
+_write (int file, char *ptr, int len)
+{
+  int ret;
+
+  if (file == 1) {
+    ret = ring_write (&usart_tx_ring, (uint8_t *) ptr, len);
+    usart_kick();
+    ring_write (&cdcacm_tx_ring, (uint8_t *) ptr, len);
+
+    if (ret < 0)
+      ret = -ret;
+
+    return ret;
+  }
+
+  errno = EIO;
+  return -1;
+}
+
+
+
+
+void
+usart_init (void)
+{
+  ring_init (&usart_rx_ring, usart_rx_ring_buf, sizeof (usart_rx_ring_buf));
+  ring_init (&usart_tx_ring, usart_tx_ring_buf, sizeof (usart_tx_ring_buf));
+  /* Enable the USART1 interrupt. */
+  nvic_enable_irq (NVIC_USART1_IRQ);
+
+  MAP_AF (USART1_TX);
+  MAP_AF_PU (USART1_RX);
+
+  /* Setup UART1 parameters. */
+  usart_set_baudrate (USART1, 115200);
+  usart_set_databits (USART1, 8);
+  usart_set_stopbits (USART1, USART_STOPBITS_1);
+  usart_set_parity (USART1, USART_PARITY_NONE);
+  usart_set_flow_control (USART1, USART_FLOWCONTROL_NONE);
+  usart_set_mode (USART1, USART_MODE_TX_RX);
+
+  /* Enable USART1 Receive interrupt. */
+  USART_CR1 (USART1) |= USART_CR1_RXNEIE;
+  /* Finally enable USART1. */
+  usart_enable (USART1);
+}
diff --git a/stm32/app/usb.c b/stm32/app/usb.c
new file mode 100644
index 0000000..e644270
--- /dev/null
+++ b/stm32/app/usb.c
@@ -0,0 +1,148 @@
+#include "project.h"
+
+#define USB_DM GPIO11
+#define USB_DM_PORT GPIOA
+#define USB_DP GPIO12
+#define USB_DP_PORT GPIOA
+
+/* Buffer to be used for control requests. */
+uint8_t usbd_control_buffer[128];
+usbd_device *usb_device;
+
+static const struct usb_device_descriptor dev = {
+  .bLength = USB_DT_DEVICE_SIZE,
+  .bDescriptorType = USB_DT_DEVICE,
+  .bcdUSB = 0x0200,
+  .bDeviceClass = 0xef,
+  .bDeviceSubClass = 0x02,
+  .bDeviceProtocol = 0x01,
+  .bMaxPacketSize0 = 64,
+  .idVendor = 0x0483,
+  .idProduct = 0xff03,
+  .bcdDevice = 0x0200,
+  .iManufacturer = 1,
+  .iProduct = 2,
+  .iSerialNumber = 3,
+  .bNumConfigurations = 1,
+};
+
+
+static const struct usb_interface ifaces[] = {
+  {
+    .num_altsetting = 1,
+    .altsetting = &dummy_kb_iface,
+    .iface_assoc = &dummy_kb_iface_assoc,
+  },
+  {
+    .num_altsetting = 1,
+    .altsetting = &dfu_iface,
+    .iface_assoc = &dfu_iface_assoc,
+  },
+  {
+    .num_altsetting = 1,
+    .altsetting = &comm_iface,
+    .iface_assoc = &cdc_iface_assoc,
+  },
+  {
+    .num_altsetting = 1,
+    .altsetting = &data_iface,
+  },
+};
+
+static const struct usb_config_descriptor config = {
+  .bLength = USB_DT_CONFIGURATION_SIZE,
+  .bDescriptorType = USB_DT_CONFIGURATION,
+  .wTotalLength = 0,
+  .bNumInterfaces = 4,
+  .bConfigurationValue = 1,
+  .iConfiguration = 0,
+  .bmAttributes = 0x80,
+  .bMaxPower = 0x32,
+  .interface = ifaces,
+};
+#define N_USB_STRINGS  (sizeof(usb_strings)/sizeof(usb_strings[0]))
+
+static const char *usb_strings[] = {
+  VENDOR_NAME, /*1*/
+  PRODUCT_NAME, /*2*/
+  SERIAL_NUMBER, /*3*/
+  "dummy device", /*4*/
+  "DFU interface", /*5*/
+  "Debug interface", /*6*/
+};
+
+void usb_hp_can_tx_isr (void)
+{
+  usbd_poll (usb_device);
+}
+
+void usb_lp_can_rx0_isr (void)
+{
+  usbd_poll (usb_device);
+}
+
+static enum usbd_request_return_codes control_request (usbd_device *usbd_dev,
+    struct usb_setup_data *req,
+    uint8_t **buf,
+    uint16_t *len,
+    usbd_control_complete_callback *complete)
+{
+  enum usbd_request_return_codes ret;
+
+  ret = dfu_control_request (usbd_dev, req, buf, len, complete);
+
+  if (ret != USBD_REQ_NEXT_CALLBACK)
+    return ret;
+
+  ret = cdcacm_control_request (usbd_dev, req, buf, len, complete);
+
+  if (ret != USBD_REQ_NEXT_CALLBACK)
+    return ret;
+
+  return USBD_REQ_NOTSUPP;
+}
+
+static void set_config (usbd_device *usbd_dev, uint16_t wValue)
+{
+
+  cdcacm_set_config (usbd_dev, wValue);
+
+  usbd_register_control_callback (usbd_dev,
+                                  USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+                                  USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+                                  control_request);
+
+}
+
+
+
+void  usb_init (void)
+{
+  /*Force USB reset */
+  gpio_set_mode (GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO11);
+  gpio_set_mode (GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
+  gpio_clear (GPIOA, GPIO12);
+  gpio_clear (GPIOA, GPIO13);
+  delay_us (50000);
+  gpio_set_mode (GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO11);
+  gpio_set_mode (GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO12);
+
+
+  usb_device = usbd_init (&st_usbfs_v1_usb_driver,
+                          &dev,
+                          &config,
+                          usb_strings,
+                          N_USB_STRINGS,
+                          usbd_control_buffer,
+                          sizeof (usbd_control_buffer));
+
+  usbd_register_set_config_callback (usb_device, set_config);
+
+  nvic_enable_irq (NVIC_USB_HP_CAN_TX_IRQ);
+  nvic_enable_irq (NVIC_USB_LP_CAN_RX0_IRQ);
+
+
+
+}
+
+
diff --git a/stm32/boot/Makefile b/stm32/boot/Makefile
new file mode 100644
index 0000000..4891184
--- /dev/null
+++ b/stm32/boot/Makefile
@@ -0,0 +1,48 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This library is free software: you can redistribute it and/or modify
+## it under the terms of the GNU Lesser General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This library is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU Lesser General Public License for more details.
+##
+## You should have received a copy of the GNU Lesser General Public License
+## along with this library.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+
+CSRCS=usbdfu.c
+PROG = usbdfu
+
+CPROTO=cproto
+V=1
+BINARY = ${PROG}
+OBJS = ${CSRCS:%.c=%.o}
+
+include ../Makefile.include
+
+CFLAGS += -I..
+
+ds:
+	$(Q)$(OOCD) -f $(OOCD_INTERFACE) \
+		    -f $(OOCD_BOARD) \
+
+debug: ${PROG}.elf
+	${PREFIX}-gdb -x gdb.script ${PROG}.elf 
+
+reset:
+	$(Q)$(OOCD) -f $(OOCD_INTERFACE) \
+		    -f $(OOCD_BOARD) \
+		-c "init" -c "reset run" \
+		-c shutdown
+
+tidy:
+	astyle -A3 -s2 --attach-extern-c -L -c -w -Y -m0 -f -p  -H -U -k3 -xj -xd ${CSRCS} ${HSRCS} || astyle -A3 -s2 -L -c -w -Y -m0 -f -p  -H -U -k3 -xj -xd ${CSRCS} ${HSRCS}
+
diff --git a/stm32/boot/gdb.script b/stm32/boot/gdb.script
new file mode 100644
index 0000000..7cf9d09
--- /dev/null
+++ b/stm32/boot/gdb.script
@@ -0,0 +1,2 @@
+target remote localhost:3333
+cont
diff --git a/stm32/boot/project.h b/stm32/boot/project.h
new file mode 100644
index 0000000..0323569
--- /dev/null
+++ b/stm32/boot/project.h
@@ -0,0 +1,23 @@
+#include <stdlib.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/hid.h>
+
+#define INCLUDE_DFU_INTERFACE
+
+
+#ifdef INCLUDE_DFU_INTERFACE
+#include <libopencm3/cm3/scb.h>
+#include <libopencm3/usb/dfu.h>
+#endif
+
+#include <stdio.h>
+#include <errno.h>
+
+#include "ring.h"
+
+#include "prototypes.h"
diff --git a/stm32/boot/prototypes.h b/stm32/boot/prototypes.h
new file mode 100644
index 0000000..45d399c
--- /dev/null
+++ b/stm32/boot/prototypes.h
@@ -0,0 +1,18 @@
+/* usbdfu.c */
+extern uint8_t usbd_control_buffer[1024];
+extern const struct usb_device_descriptor dev;
+extern const struct usb_dfu_descriptor dfu_function;
+extern const struct usb_interface_descriptor iface;
+extern const struct usb_interface ifaces[];
+extern const struct usb_config_descriptor config;
+extern int main(void);
+/* ring.c */
+extern void ring_init(ring_t *r, uint8_t *buf, size_t len);
+extern int ring_write_byte(ring_t *r, uint8_t c);
+extern int ring_read_byte(ring_t *r, uint8_t *c);
+extern int ring_write(ring_t *r, uint8_t *buf, size_t len);
+/* usart.c */
+extern void usart1_isr(void);
+extern int _write(int file, char *ptr, int len);
+extern void usart_queue(uint8_t d);
+extern void usart_init(void);
diff --git a/stm32/boot/usbdfu.c b/stm32/boot/usbdfu.c
new file mode 100644
index 0000000..7cba7f9
--- /dev/null
+++ b/stm32/boot/usbdfu.c
@@ -0,0 +1,334 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/flash.h>
+#include <libopencm3/cm3/scb.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/dfu.h>
+
+#include <id.h>
+
+#define APP_ADDRESS 0x08002000
+
+/* Commands sent with wBlockNum == 0 as per ST implementation. */
+#define CMD_SETADDR 0x21
+#define CMD_ERASE 0x41
+
+void usb_set_config (usbd_device *usbd_dev, uint16_t wValue);
+
+/* We need a special large control buffer for this device: */
+uint8_t usbd_control_buffer[1024];
+
+static enum dfu_state usbdfu_state = STATE_DFU_IDLE;
+
+extern uint32_t dfu_flag;
+
+static struct {
+  uint8_t buf[sizeof (usbd_control_buffer)];
+  uint16_t len;
+  uint32_t addr;
+  uint16_t blocknum;
+} prog;
+
+const struct usb_device_descriptor dev = {
+  .bLength = USB_DT_DEVICE_SIZE,
+  .bDescriptorType = USB_DT_DEVICE,
+  .bcdUSB = 0x0200,
+  .bDeviceClass = 0,
+  .bDeviceSubClass = 0,
+  .bDeviceProtocol = 0,
+  .bMaxPacketSize0 = 64,
+  .idVendor = 0x0483,
+  .idProduct = 0xdf11,
+  .bcdDevice = 0x0200,
+  .iManufacturer = 1,
+  .iProduct = 2,
+  .iSerialNumber = 3,
+  .bNumConfigurations = 1,
+};
+
+const struct usb_dfu_descriptor dfu_function = {
+  .bLength = sizeof (struct usb_dfu_descriptor),
+  .bDescriptorType = DFU_FUNCTIONAL,
+  .bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
+  .wDetachTimeout = 255,
+  .wTransferSize = 1024,
+  .bcdDFUVersion = 0x011A,
+};
+
+const struct usb_interface_descriptor iface = {
+  .bLength = USB_DT_INTERFACE_SIZE,
+  .bDescriptorType = USB_DT_INTERFACE,
+  .bInterfaceNumber = 0,
+  .bAlternateSetting = 0,
+  .bNumEndpoints = 0,
+  .bInterfaceClass = 0xFE, /* Device Firmware Upgrade */
+  .bInterfaceSubClass = 1,
+  .bInterfaceProtocol = 2,
+
+  /* The ST Microelectronics DfuSe application needs this string.
+   * The format isn't documented... */
+  .iInterface = 4,
+
+  .extra = &dfu_function,
+  .extralen = sizeof (dfu_function),
+};
+
+const struct usb_interface ifaces[] = {{
+    .num_altsetting = 1,
+    .altsetting = &iface,
+  }
+};
+
+const struct usb_config_descriptor config = {
+  .bLength = USB_DT_CONFIGURATION_SIZE,
+  .bDescriptorType = USB_DT_CONFIGURATION,
+  .wTotalLength = 0,
+  .bNumInterfaces = 1,
+  .bConfigurationValue = 1,
+  .iConfiguration = 0,
+  .bmAttributes = 0xC0,
+  .bMaxPower = 0x32,
+
+  .interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+  VENDOR_NAME,
+  PRODUCT_NAME " (dfu mode)",
+  SERIAL_NUMBER,
+  /* This string is used by ST Microelectronics' DfuSe utility. */
+  "@Internal Flash   /0x08000000/8*001Ka,56*001Kg",
+};
+#define N_USB_STRINGS  (sizeof(usb_strings)/sizeof(usb_strings[0]))
+
+static void
+delay_us (uint32_t d)
+{
+  d *= 7;
+
+  while (d--)
+    __asm__ ("nop");
+}
+
+
+static uint8_t usbdfu_getstatus (usbd_device *usbd_dev, uint32_t *bwPollTimeout)
+{
+  (void)usbd_dev;
+
+  switch (usbdfu_state) {
+  case STATE_DFU_DNLOAD_SYNC:
+    usbdfu_state = STATE_DFU_DNBUSY;
+    *bwPollTimeout = 100;
+    return DFU_STATUS_OK;
+
+  case STATE_DFU_MANIFEST_SYNC:
+    /* Device will reset when read is complete. */
+    usbdfu_state = STATE_DFU_MANIFEST;
+    return DFU_STATUS_OK;
+
+  default:
+    return DFU_STATUS_OK;
+  }
+}
+
+static void usbdfu_getstatus_complete (usbd_device *usbd_dev, struct usb_setup_data *req)
+{
+  int i;
+  (void)req;
+  (void)usbd_dev;
+
+  switch (usbdfu_state) {
+  case STATE_DFU_DNBUSY:
+    flash_unlock();
+
+    if (prog.blocknum == 0) {
+      switch (prog.buf[0]) {
+      case CMD_ERASE: {
+        uint32_t *dat = (uint32_t *) (prog.buf + 1);
+        flash_erase_page (*dat);
+      }
+      break;
+
+      case CMD_SETADDR: {
+        uint32_t *dat = (uint32_t *) (prog.buf + 1);
+        prog.addr = *dat;
+      }
+      }
+    } else {
+      uint32_t baseaddr = prog.addr + ((prog.blocknum - 2) *
+                                       dfu_function.wTransferSize);
+
+      for (i = 0; i < prog.len; i += 2) {
+        uint16_t *dat = (uint16_t *) (prog.buf + i);
+        flash_program_half_word (baseaddr + i,
+                                 *dat);
+      }
+    }
+
+    flash_lock();
+
+    /* Jump straight to dfuDNLOAD-IDLE, skipping dfuDNLOAD-SYNC. */
+    usbdfu_state = STATE_DFU_DNLOAD_IDLE;
+    return;
+
+  case STATE_DFU_MANIFEST:
+    /* USB device must detach, we just reset... */
+    scb_reset_system();
+    return; /* Will never return. */
+
+  default:
+    ;
+  }
+
+}
+
+static enum usbd_request_return_codes usbdfu_control_request (usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf,
+                                   uint16_t *len, usbd_control_complete_callback *complete)
+{
+
+  if ((req->bmRequestType & 0x7F) != 0x21)
+    return USBD_REQ_NEXT_CALLBACK;
+
+  switch (req->bRequest) {
+  case DFU_DNLOAD:
+    if ((len == NULL) || (*len == 0)) {
+      usbdfu_state = STATE_DFU_MANIFEST_SYNC;
+    } else {
+      /* Copy download data for use on GET_STATUS. */
+      prog.blocknum = req->wValue;
+      prog.len = *len;
+      memcpy (prog.buf, *buf, *len);
+      usbdfu_state = STATE_DFU_DNLOAD_SYNC;
+    }
+    return USBD_REQ_HANDLED;
+
+  case DFU_CLRSTATUS:
+
+    /* Clear error and return to dfuIDLE. */
+    if (usbdfu_state == STATE_DFU_ERROR)
+      usbdfu_state = STATE_DFU_IDLE;
+
+    return USBD_REQ_HANDLED;
+
+  case DFU_ABORT:
+    /* Abort returns to dfuIDLE state. */
+    usbdfu_state = STATE_DFU_IDLE;
+    return USBD_REQ_HANDLED;
+
+  case DFU_UPLOAD:
+    /* Upload not supported for now. */
+    return USBD_REQ_NOTSUPP;
+
+  case DFU_GETSTATUS: {
+    uint32_t bwPollTimeout = 0; /* 24-bit integer in DFU class spec */
+    (*buf)[0] = usbdfu_getstatus (usbd_dev, &bwPollTimeout);
+    (*buf)[1] = bwPollTimeout & 0xFF;
+    (*buf)[2] = (bwPollTimeout >> 8) & 0xFF;
+    (*buf)[3] = (bwPollTimeout >> 16) & 0xFF;
+    (*buf)[4] = usbdfu_state;
+    (*buf)[5] = 0; /* iString not used here */
+    *len = 6;
+    *complete = usbdfu_getstatus_complete;
+    return USBD_REQ_HANDLED;
+  }
+
+  case DFU_GETSTATE:
+    /* Return state with no state transision. */
+    *buf[0] = usbdfu_state;
+    *len = 1;
+    return USBD_REQ_HANDLED;
+  }
+
+  return USBD_REQ_NEXT_CALLBACK;
+}
+
+static void usb_reset (void)
+{
+  /*Force USB reset */
+  gpio_set_mode (GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO11);
+  gpio_set_mode (GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
+  gpio_clear (GPIOA, GPIO11);
+  gpio_clear (GPIOA, GPIO12);
+
+  delay_us (5000);
+  gpio_set_mode (GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO11);
+  gpio_set_mode (GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO12);
+}
+
+
+void
+usb_set_config (usbd_device *usbd_dev, uint16_t wValue)
+{
+  (void) wValue;
+  (void) usbd_dev;
+
+  usbd_register_control_callback (
+    usbd_dev,
+    USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+    USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+    usbdfu_control_request);
+
+}
+
+int main (void)
+{
+  usbd_device *usbd_dev;
+
+  rcc_periph_clock_enable (RCC_GPIOA);
+  rcc_periph_reset_pulse (RST_USB);
+
+  if (dfu_flag != 0xfee1dead) {
+    /* Boot the application if it's valid. */
+    if ((* (volatile uint32_t *)APP_ADDRESS & 0x2FFE0000) == 0x20000000) {
+      /* Set vector table base address. */
+      SCB_VTOR = APP_ADDRESS & 0xFFFF;
+      /* Initialise master stack pointer. */
+      asm volatile ("msr msp, %0"::"g"
+                    (* (volatile uint32_t *)APP_ADDRESS));
+      /* Jump to application. */
+      (* (void (* *)()) (APP_ADDRESS + 4))();
+    }
+  }
+
+  usb_reset();
+
+  dfu_flag = 0;
+
+  rcc_clock_setup_pll(&rcc_hsi_configs[RCC_CLOCK_HSI_48MHZ]);
+
+  rcc_periph_clock_enable (RCC_GPIOC);
+
+  gpio_set_mode (GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
+                 GPIO_CNF_OUTPUT_PUSHPULL, GPIO11);
+  gpio_set (GPIOC, GPIO11);
+
+
+  usbd_dev = usbd_init (&st_usbfs_v1_usb_driver, &dev, &config, usb_strings, N_USB_STRINGS, usbd_control_buffer, sizeof (usbd_control_buffer));
+
+  usbd_register_set_config_callback (usbd_dev, usb_set_config);
+
+  gpio_clear (GPIOC, GPIO11);
+
+  while (1)
+    usbd_poll (usbd_dev);
+}
diff --git a/stm32/boot/usbdfu.ld b/stm32/boot/usbdfu.ld
new file mode 100644
index 0000000..498bcea
--- /dev/null
+++ b/stm32/boot/usbdfu.ld
@@ -0,0 +1,40 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for Olimex STM32-H103 (STM32F103RBT6, 128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE cortex-m-generic.ld
+
+dfu_shared_location = ORIGIN(ram) + LENGTH(ram) - 1024;
+
+SECTIONS
+{
+        .dfu_shared dfu_shared_location :{
+                dfu_flag = .;
+        }
+}
+
diff --git a/stm32/docs/Astronomical Algorithms.pdf b/stm32/docs/Astronomical Algorithms.pdf
new file mode 100644
index 0000000..52cc63a
--- /dev/null
+++ b/stm32/docs/Astronomical Algorithms.pdf
diff --git a/stm32/docs/rm0008.pdf b/stm32/docs/rm0008.pdf
new file mode 100644
index 0000000..8f3d0e1
--- /dev/null
+++ b/stm32/docs/rm0008.pdf
diff --git a/stm32/id.h b/stm32/id.h
new file mode 100644
index 0000000..d27ecf7
--- /dev/null
+++ b/stm32/id.h
@@ -0,0 +1,4 @@
+#define VENDOR_NAME  "HP"
+#define PRODUCT_NAME  "DDC Debug Dongle"
+#define SERIAL_NUMBER "Serialy McSerialFace"
+
diff --git a/stm32/libopencm3 b/stm32/libopencm3
new file mode 160000
+Subproject a9cc6953817e0de1cad06662ce58a81607cd796
diff --git a/stm32/oocd/board/STM32F103R_BOARD.cfg b/stm32/oocd/board/STM32F103R_BOARD.cfg
new file mode 100644
index 0000000..11217d2
--- /dev/null
+++ b/stm32/oocd/board/STM32F103R_BOARD.cfg
@@ -0,0 +1,6 @@
+#
+
+source [find target/stm32f1x.cfg]
+
+adapter_khz 500
+
diff --git a/stm32/oocd/interface/j-link.cfg b/stm32/oocd/interface/j-link.cfg
new file mode 100644
index 0000000..3e95768
--- /dev/null
+++ b/stm32/oocd/interface/j-link.cfg
@@ -0,0 +1,5 @@
+#
+telnet_port 4444
+gdb_port 3333
+
+source [find interface/jlink.cfg]
diff --git a/stm32/oocd/interface/stlink-v2.cfg b/stm32/oocd/interface/stlink-v2.cfg
new file mode 100644
index 0000000..0985230
--- /dev/null
+++ b/stm32/oocd/interface/stlink-v2.cfg
@@ -0,0 +1,11 @@
+#
+telnet_port 4444
+gdb_port 3333
+
+#interface hla
+#hla_layout stlink
+#hla_device_desc "ST-LINK/V2"
+#hla_vid_pid 0x0483 0x3748
+
+source [find interface/stlink-v2.cfg]
+
diff --git a/stm32/oocd/stm32-f103.cfg b/stm32/oocd/stm32-f103.cfg
new file mode 100644
index 0000000..0809223
--- /dev/null
+++ b/stm32/oocd/stm32-f103.cfg
@@ -0,0 +1,6 @@
+#
+telnet_port 4444
+gdb_port 3333
+
+source [find interface/jlink.cfg]
+source [find target/stm32f1x.cfg]
diff --git a/stm32/tools/dfuse-pack.py b/stm32/tools/dfuse-pack.py
new file mode 100755
index 0000000..c0a5f0a
--- /dev/null
+++ b/stm32/tools/dfuse-pack.py
@@ -0,0 +1,256 @@
+#!/usr/bin/python
+
+# Written by Antonio Galea - 2010/11/18
+# Distributed under Gnu LGPL 3.0
+# see http://www.gnu.org/licenses/lgpl-3.0.txt
+
+import sys,struct,zlib,os
+import binascii
+from optparse import OptionParser
+
+try:
+  from intelhex import IntelHex
+except ImportError:
+  IntelHex = None
+
+DEFAULT_DEVICE="0x0483:0xdf11"
+DEFAULT_NAME=b'ST...'
+
+# Prefix and Suffix sizes are derived from ST's DfuSe File Format Specification (UM0391), DFU revision 1.1a
+PREFIX_SIZE=11
+SUFFIX_SIZE=16
+
+def named(tuple,names):
+  return dict(list(zip(names.split(),tuple)))
+def consume(fmt,data,names):
+  n = struct.calcsize(fmt)
+  return named(struct.unpack(fmt,data[:n]),names),data[n:]
+def cstring(bytestring):
+  return bytestring.partition(b'\0')[0]
+def compute_crc(data):
+  return 0xFFFFFFFF & -zlib.crc32(data) -1
+
+def parse(file,dump_images=False):
+  print('File: "%s"' % file)
+  data = open(file,'rb').read()
+  crc = compute_crc(data[:-4])
+  prefix, data = consume('<5sBIB',data,'signature version size targets')
+  print('%(signature)s v%(version)d, image size: %(size)d, targets: %(targets)d' % prefix)
+  for t in range(prefix['targets']):
+    tprefix, data  = consume('<6sBI255s2I',data,'signature altsetting named name size elements')
+    tprefix['num'] = t
+    if tprefix['named']:
+      tprefix['name'] = cstring(tprefix['name'])
+    else:
+      tprefix['name'] = ''
+    print('%(signature)s %(num)d, alt setting: %(altsetting)s, name: "%(name)s", size: %(size)d, elements: %(elements)d' % tprefix)
+    tsize = tprefix['size']
+    target, data = data[:tsize], data[tsize:]
+    for e in range(tprefix['elements']):
+      eprefix, target = consume('<2I',target,'address size')
+      eprefix['num'] = e
+      print('  %(num)d, address: 0x%(address)08x, size: %(size)d' % eprefix)
+      esize = eprefix['size']
+      image, target = target[:esize], target[esize:]
+      if dump_images:
+        out = '%s.target%d.image%d.bin' % (file,t,e)
+        open(out,'wb').write(image)
+        print('    DUMPED IMAGE TO "%s"' % out)
+    if len(target):
+      print("target %d: PARSE ERROR" % t)
+  suffix = named(struct.unpack('<4H3sBI',data[:SUFFIX_SIZE]),'device product vendor dfu ufd len crc')
+  print('usb: %(vendor)04x:%(product)04x, device: 0x%(device)04x, dfu: 0x%(dfu)04x, %(ufd)s, %(len)d, 0x%(crc)08x' % suffix)
+  if crc != suffix['crc']:
+    print("CRC ERROR: computed crc32 is 0x%08x" % crc)
+  data = data[SUFFIX_SIZE:]
+  if data:
+    print("PARSE ERROR")
+
+def checkbin(binfile):
+  data = open(binfile,'rb').read()
+  if (len(data) < SUFFIX_SIZE):
+    return
+  crc = compute_crc(data[:-4])
+  suffix = named(struct.unpack('<4H3sBI',data[-SUFFIX_SIZE:]),'device product vendor dfu ufd len crc')
+  if crc == suffix['crc'] and suffix['ufd'] == b'UFD':
+    print('usb: %(vendor)04x:%(product)04x, device: 0x%(device)04x, dfu: 0x%(dfu)04x, %(ufd)s, %(len)d, 0x%(crc)08x' % suffix)
+    print("It looks like the file %s has a DFU suffix!" % binfile)
+    print("Please remove any DFU suffix and retry.")
+    sys.exit(1)
+
+def build(file,targets,name=DEFAULT_NAME,device=DEFAULT_DEVICE):
+  data = b''
+  for t,target in enumerate(targets):
+    tdata = b''
+    for image in target:
+      tdata += struct.pack('<2I',image['address'],len(image['data']))+image['data']
+      ealt = image['alt']
+    tdata = struct.pack('<6sBI255s2I',b'Target',ealt,1,name,len(tdata),len(target)) + tdata
+    data += tdata
+  data  = struct.pack('<5sBIB',b'DfuSe',1,PREFIX_SIZE + len(data) + SUFFIX_SIZE,len(targets)) + data
+  v,d=[int(x,0) & 0xFFFF for x in device.split(':',1)]
+  data += struct.pack('<4H3sB',0,d,v,0x011a,b'UFD',SUFFIX_SIZE)
+  crc   = compute_crc(data)
+  data += struct.pack('<I',crc)
+  open(file,'wb').write(data)
+
+if __name__=="__main__":
+  usage = """
+%prog [-d|--dump] infile.dfu
+%prog {-b|--build} address:file.bin [-b address:file.bin ...] [{-D|--device}=vendor:device] outfile.dfu
+%prog {-s|--build-s19} file.s19 [{-D|--device}=vendor:device] outfile.dfu
+%prog {-i|--build-ihex} file.hex [-i file.hex ...] [{-D|--device}=vendor:device] outfile.dfu"""
+  parser = OptionParser(usage=usage)
+  parser.add_option("-b", "--build", action="append", dest="binfiles",
+    help="Include a raw binary file, to be loaded at the specified address. The BINFILES argument is of the form address:path-to-file. The address can have @X appended where X is the alternate interface number for this binary file. Note that the binary files must not have any DFU suffix!", metavar="BINFILES")
+  parser.add_option("-i", "--build-ihex", action="append", dest="hexfiles",
+    help="build a DFU file from given Intel HEX HEXFILES", metavar="HEXFILES")
+  parser.add_option("-s", "--build-s19", type="string", dest="s19files",
+    help="build a DFU file from given S19 S-record S19FILE", metavar="S19FILE")
+  parser.add_option("-D", "--device", action="store", dest="device",
+    help="build for DEVICE, defaults to %s" % DEFAULT_DEVICE, metavar="DEVICE")
+  parser.add_option("-a", "--alt-intf", action="store", dest="alt",
+    help="build for alternate interface number ALTINTF, defaults to 0", metavar="ALTINTF")
+  parser.add_option("-d", "--dump", action="store_true", dest="dump_images",
+    default=False, help="dump contained images to current directory")
+  (options, args) = parser.parse_args()
+
+  targets = []
+
+  if options.alt:
+    try:
+      default_alt = int(options.alt)
+    except ValueError:
+      print("Alternate interface option argument %s invalid." % options.alt)
+      sys.exit(1)
+  else:
+    default_alt = 0
+
+  if (options.binfiles or options.hexfiles) and len(args)==1:
+    target = []
+    old_ealt = None
+
+    if options.binfiles:
+      for arg in options.binfiles:
+        try:
+          address,binfile = arg.split(':',1)
+        except ValueError:
+          print("Address:file couple '%s' invalid." % arg)
+          sys.exit(1)
+        try:
+          address,alts = address.split('@',1)
+          if alts:
+            try:
+              ealt = int(alts)
+            except ValueError:
+              print("Alternate interface number %s invalid." % alts)
+              sys.exit(1)
+          else:
+            ealt = default_alt
+        except ValueError:
+            ealt = default_alt
+        try:
+          address = int(address,0) & 0xFFFFFFFF
+        except ValueError:
+          print("Address %s invalid." % address)
+          sys.exit(1)
+        if not os.path.isfile(binfile):
+          print("Unreadable file '%s'." % binfile)
+          sys.exit(1)
+        checkbin(binfile)
+        if old_ealt is not None and ealt != old_ealt:
+          targets.append(target)
+          target = []
+        target.append({ 'address': address, 'alt': ealt, 'data': open(binfile,'rb').read() })
+        old_ealt = ealt
+      targets.append(target)
+
+    if options.hexfiles:
+      if not IntelHex:
+        print("Error: IntelHex python module could not be found")
+        sys.exit(1)
+      for hexf in options.hexfiles:
+        ih = IntelHex(hexf)
+        for (address,end) in ih.segments():
+          try:
+            address = address & 0xFFFFFFFF
+          except ValueError:
+            print("Address %s invalid." % address)
+            sys.exit(1)
+          target.append({ 'address': address, 'alt': default_alt, 'data': ih.tobinstr(start=address, end=end-1)})
+      targets.append(target)
+
+    outfile = args[0]
+    device = DEFAULT_DEVICE
+    if options.device:
+      device=options.device
+    try:
+      v,d=[int(x,0) & 0xFFFF for x in device.split(':',1)]
+    except:
+      print("Invalid device '%s'." % device)
+      sys.exit(1)
+    build(outfile,targets,DEFAULT_NAME,device)
+  elif options.s19files and len(args)==1:
+    address = 0
+    data = ""
+    target = []
+    name = DEFAULT_NAME
+    with open(options.s19files) as f:
+      lines = f.readlines()
+      for line in lines:
+          curaddress = 0
+          curdata = ""
+          line = line.rstrip()
+          if line.startswith ( "S0" ):
+            name = binascii.a2b_hex(line[8:len(line) - 2])
+          elif line.startswith ( "S3" ):
+            try:
+              curaddress = int(line[4:12], 16) & 0xFFFFFFFF
+            except ValueError:
+              print("Address %s invalid." % address)
+              sys.exit(1)
+            curdata = binascii.unhexlify(line[12:-2])
+          elif line.startswith ( "S2" ):
+            try:
+              curaddress = int(line[4:10], 16) & 0xFFFFFFFF
+            except ValueError:
+              print("Address %s invalid." % address)
+              sys.exit(1)
+            curdata = binascii.unhexlify(line[10:-2])
+          elif line.startswith ( "S1" ):
+            try:
+              curaddress = int(line[4:8], 16) & 0xFFFFFFFF
+            except ValueError:
+              print("Address %s invalid." % address)
+              sys.exit(1)
+            curdata = binascii.unhexlify(line[8:-2])
+          if address == 0:
+              address = curaddress
+              data = curdata
+          elif address + len(data) != curaddress:
+              target.append({ 'address': address, 'alt': default_alt, 'data': data })
+              address = curaddress
+              data = curdata
+          else:
+              data += curdata
+    outfile = args[0]
+    device = DEFAULT_DEVICE
+    if options.device:
+      device=options.device
+    try:
+      v,d=[int(x,0) & 0xFFFF for x in device.split(':',1)]
+    except:
+      print("Invalid device '%s'." % device)
+      sys.exit(1)
+    build(outfile,[target],name,device)
+  elif len(args)==1:
+    infile = args[0]
+    if not os.path.isfile(infile):
+      print("Unreadable file '%s'." % infile)
+      sys.exit(1)
+    parse(infile, dump_images=options.dump_images)
+  else:
+    parser.print_help()
+    if not IntelHex:
+      print("Note: Intel hex files support requires the IntelHex python module")
+    sys.exit(1)