o i2c test

o Misc other stuff.

11 files changed, 1911 insertions, 148 deletions

diff --git a/apps/i2c1/CMakeLists.txt b/apps/i2c1/CMakeLists.txt
new file mode 100644
index 0000000..67139f8
--- /dev/null
+++ b/apps/i2c1/CMakeLists.txt
@@ -0,0 +1,29 @@
+add_executable(i2c1.elf i2c1.cpp
+        ${PLAYGROUND_DIR}/src/init_low.s ${PLAYGROUND_DIR}/src/init_high.cpp ${PLAYGROUND_DIR}/include/init_high.h
+        ${PLAYGROUND_DIR}/include/playground.h
+        ${PLAYGROUND_DIR}/src/debug.cpp ${PLAYGROUND_DIR}/include/debug.h
+        ${PLAYGROUND_DIR}/include/stm32f10x_conf.h
+        # http://www.sparetimelabs.com/tinyprintf/tinyprintf.php
+        ${TINYPRINTF_DIR}/tinyprintf.c ${TINYPRINTF_DIR}/tinyprintf.h
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
+        )
+
+target_include_directories(i2c1.elf PUBLIC
+        ${PLAYGROUND_DIR}/include
+        ${TINYPRINTF_DIR}
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/inc)
+target_compile_definitions(i2c1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES} USE_FULL_ASSERT)
+
+set_target_properties(i2c1.elf PROPERTIES O_LEVEL 3)
+
+#set_source_files_properties(i2c1.cpp PROPERTIES O_LEVEL s)
+set_property(SOURCE i2c1.cpp APPEND_STRING PROPERTY COMPILE_FLAGS "-O0")
+
+set_target_properties(i2c1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld")
+add_extra_commands(i2c1.elf)
diff --git a/apps/i2c1/i2c1.cpp b/apps/i2c1/i2c1.cpp
new file mode 100644
index 0000000..b6d0a27
--- /dev/null
+++ b/apps/i2c1/i2c1.cpp
@@ -0,0 +1,355 @@
+#include <cstdint>
+#include <cstring>
+#include <stm32f10x_conf.h>
+#include <stm32f10x.h>
+#include <stm32f10x_rcc.h>
+#include <stm32f10x_gpio.h>
+#include <stm32f10x_i2c.h>
+#include <inttypes.h>
+#include <playground.h>
+#include "debug.h"
+#include "tinyprintf.h"
+
+extern "C" void halt();
+
+extern "C"
+__attribute__((naked))
+void HardFault_Handler_C(uint32_t *hardfault_args) {
+    dbg_printf("r0  = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]);
+    dbg_printf("r1  = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]);
+    dbg_printf("r2  = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]);
+    dbg_printf("r3  = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]);
+    dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]);
+    dbg_printf("lr  = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]);
+    dbg_printf("pc  = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]);
+    dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]);
+    dbg_printf("\n");
+
+    halt();
+}
+
+size_t strlen(const char *s) {
+    size_t size = 0;
+    while (*s++ != '\0') size++;
+    return size;
+}
+
+bool run = true;
+
+volatile USART_TypeDef *usart1 = (volatile USART_TypeDef *) USART1_BASE;
+volatile I2C_TypeDef *i2c1 = (volatile I2C_TypeDef *) I2C1_BASE;
+volatile I2C_TypeDef *i2c2 = (volatile I2C_TypeDef *) I2C2_BASE;
+
+extern "C"
+void assert_failed(uint8_t *file, uint32_t line) {
+    dbg_printf("assert_failed: %s: %" PRIu32 "\n", file, line);
+}
+
+int start_wait_count;
+
+void i2c_hard_reset(I2C_TypeDef *I2Cx, I2C_InitTypeDef &i2c_init) {
+    dbg_printf("start_wait_count=%d\n", start_wait_count);
+    I2C_DeInit(I2Cx);
+    I2C_Cmd(I2Cx, DISABLE);
+    I2C_Init(I2Cx, &i2c_init);
+
+    GPIO_InitTypeDef init;
+    GPIO_StructInit(&init);
+    init.GPIO_Pin = GPIO_Pin_10;
+    init.GPIO_Mode = GPIO_Mode_Out_PP;
+    GPIO_Init(GPIOB, &init);
+
+    GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
+    for (int i = 0; i < 8; i++) {
+        GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
+    }
+
+    init.GPIO_Pin = GPIO_Pin_10;
+    init.GPIO_Mode = GPIO_Mode_AF_OD;
+    GPIO_Init(GPIOB, &init);
+
+    I2C_Cmd(I2Cx, ENABLE);
+
+    I2C_SoftwareResetCmd(I2Cx, ENABLE);
+    for (int i = 0; i < 100; i++) {
+        __NOP();
+    }
+    I2C_SoftwareResetCmd(I2Cx, DISABLE);
+}
+
+static inline bool i2c_wait_for_flag(I2C_TypeDef *I2Cx, uint32_t flag, FlagStatus status, unsigned int timeout) {
+    do {
+        auto flagStatus = I2C_GetFlagStatus(I2Cx, flag);
+        if (flagStatus == status) {
+            return true;
+        }
+    } while (timeout-- > 0);
+
+    return false;
+}
+
+static inline bool i2c_wait_for_event(I2C_TypeDef *I2Cx, uint32_t expected, unsigned int timeout) {
+    uint32_t actual;
+    do {
+        actual = I2C_GetLastEvent(I2Cx);
+        if (actual == expected) {
+            return true;
+        }
+    } while (timeout-- > 0);
+
+    dbg_printf("i2c_wait_for_event, expected=%08" PRIx32 ", actual=%08" PRIx32 "\n", expected, actual);
+
+    return false;
+}
+
+const unsigned int timeout = 1000 * 1000;
+
+bool i2c_write(I2C_TypeDef *port, uint8_t address, uint8_t *buf, uint8_t count, bool generate_stop) {
+    if (!i2c_wait_for_flag(port, I2C_FLAG_BUSY, RESET, timeout)) {
+        dbg_printf("Failed while waiting for I2C_FLAG_BUSY\n");
+        return false;
+    }
+
+    I2C_GenerateSTART(port, ENABLE);
+
+    if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_MODE_SELECT, timeout)) {
+        dbg_printf("Failed while waiting for I2C_EVENT_MASTER_MODE_SELECT\n");
+        return false;
+    }
+
+    I2C_Send7bitAddress(port, address, I2C_Direction_Transmitter);
+
+    if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED, timeout)) {
+        dbg_printf("Failed while waiting for I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED\n");
+        return false;
+    }
+
+    do {
+        I2C_SendData(port, *buf++);
+
+        if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_BYTE_TRANSMITTED, timeout)) {
+            dbg_printf("Failed while waiting for I2C_EVENT_MASTER_BYTE_TRANSMITTED\n");
+            return false;
+        }
+    } while (--count);
+
+    if (generate_stop) {
+        I2C_GenerateSTOP(port, ENABLE);
+
+        while (I2C_GetFlagStatus(port, I2C_FLAG_STOPF)) {
+            __NOP();
+        }
+    }
+
+    return true;
+}
+
+bool i2c_read(I2C_TypeDef *port, uint8_t address, uint8_t *buf, uint8_t count, bool generate_start) {
+    start_wait_count = 0;
+    int dbg_counter = 0;
+    (void) dbg_counter;
+
+    if (generate_start) {
+        if (!i2c_wait_for_flag(port, I2C_FLAG_BUSY, RESET, timeout)) {
+            dbg_printf("Failed while waiting for I2C_FLAG_BUSY\n");
+            return false;
+        }
+
+        I2C_AcknowledgeConfig(port, ENABLE);
+//    dbg_printf("%2d SR2 SR1 = %08" PRIx32 "\n", dbg_counter, I2C_GetLastEvent(port));
+        I2C_NACKPositionConfig(port, I2C_NACKPosition_Current);
+//    dbg_printf("%2d SR2 SR1 = %08" PRIx32 "\n", dbg_counter, I2C_GetLastEvent(port));
+
+        I2C_GenerateSTART(port, ENABLE);
+
+//    dbg_printf("%2d SR2 SR1 = %08" PRIx32 "\n", dbg_counter, I2C_GetLastEvent(port));
+
+        /* I2C_EVENT_MASTER_MODE_SELECT = BUSY, MSL and SB flag */
+        if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_MODE_SELECT, timeout)) {
+            dbg_printf("Failed while waiting for I2C_EVENT_MASTER_MODE_SELECT\n");
+            return false;
+        }
+
+        I2C_Send7bitAddress(port, address, I2C_Direction_Receiver);
+
+        // I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED == BUSY, MSL and ADDR
+        if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED, timeout)) {
+            dbg_printf("Failed while waiting for I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED\n");
+            return false;
+        }
+    }
+
+    if (count == 1) {
+        I2C_AcknowledgeConfig(port, DISABLE);
+
+        __disable_irq();
+        (void) port->SR2;
+        I2C_GenerateSTOP(port, ENABLE);
+        __enable_irq();
+
+        while (!I2C_CheckEvent(port, I2C_EVENT_MASTER_BYTE_RECEIVED)) {
+            __NOP();
+        }
+
+        *buf = I2C_ReceiveData(port);
+    } else if (count == 2) {
+        I2C_NACKPositionConfig(port, I2C_NACKPosition_Next);
+
+        __disable_irq();
+        (void) port->SR2;
+        I2C_AcknowledgeConfig(port, DISABLE);
+        __enable_irq();
+
+        while (!I2C_CheckEvent(port, I2C_EVENT_MASTER_BYTE_RECEIVED)) {
+            __NOP();
+        }
+
+        __disable_irq();
+        I2C_GenerateSTOP(port, ENABLE);
+        *buf++ = I2C_ReceiveData(port);
+        __enable_irq();
+        *buf = I2C_ReceiveData(port);
+    } else {
+        do {
+            if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_BYTE_RECEIVED, timeout)) {
+                dbg_printf("Failed while waiting for I2C_EVENT_MASTER_BYTE_RECEIVED, count=%d\n", count);
+                return false;
+            }
+
+            *buf++ = I2C_ReceiveData(port);
+        } while (--count != 2);
+
+        I2C_AcknowledgeConfig(port, DISABLE);
+
+        __disable_irq();
+        *buf++ = I2C_ReceiveData(port);
+        I2C_GenerateSTOP(port, ENABLE);
+        __enable_irq();
+
+        *buf++ = I2C_ReceiveData(port);
+
+        if (!i2c_wait_for_event(port, I2C_EVENT_MASTER_BYTE_RECEIVED, timeout)) {
+            dbg_printf("Failed while waiting for I2C_EVENT_MASTER_BYTE_RECEIVED\n");
+            return false;
+        }
+
+        *buf = I2C_ReceiveData(port);
+    }
+
+    while (I2C_GetFlagStatus(port, I2C_FLAG_STOPF)) {
+        __NOP();
+    }
+
+    return true;
+}
+
+int main() {
+    SystemInit();
+
+    init_printf(nullptr, dbg_putc);
+
+    dbg_printf("i2c1\n");
+
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO
+                           | RCC_APB2Periph_USART1
+                           | RCC_APB2Periph_GPIOA
+                           | RCC_APB2Periph_GPIOB
+                           | RCC_APB2Periph_GPIOC,
+                           ENABLE);
+
+    /* ***************************************** */
+
+    // Debug on port B
+
+    RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE);
+    RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE);
+
+    // Make Port B's pin #5 the debug output pin
+    GPIO_InitTypeDef init;
+    GPIO_StructInit(&init);
+    init.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
+    init.GPIO_Mode = GPIO_Mode_Out_PP;
+    init.GPIO_Speed = GPIO_Speed_2MHz;
+    GPIO_Init(GPIOB, &init);
+
+    /* ***************************************** */
+
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2,
+                           ENABLE);
+
+    /*
+     * PB10 I2C2_SCL
+     * PB11 I2C2_SDA
+     */
+
+    RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE);
+    RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE);
+
+    GPIO_StructInit(&init);
+    init.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
+    init.GPIO_Mode = GPIO_Mode_AF_OD;
+    GPIO_Init(GPIOB, &init);
+
+    /*
+    i2c2->CR2 |= 36; // APB1 freq is 36 MHz
+    // 36 MHz = 27.78 ns, 400 kHz = 2500ns
+    // 2500 ns / 27.78 ns = 89.99
+    i2c2->CCR |= I2C_CCR_FS | 90;
+    */
+
+    I2C_TypeDef *const i2c_port = I2C2;
+    I2C_DeInit(i2c_port);
+    I2C_InitTypeDef i2c_init;
+    I2C_StructInit(&i2c_init);
+    i2c_init.I2C_ClockSpeed = 100 * 1000;
+    i2c_init.I2C_Ack = I2C_Ack_Enable;
+    i2c_init.I2C_Mode = I2C_Mode_I2C;
+    I2C_Init(i2c_port, &i2c_init);
+    I2C_Cmd(i2c_port, ENABLE);
+
+    const int DS3231_address = 0b11010000; // 0x68
+
+    run = true;
+    bool toggle = true;
+    bool success = true;
+    while (run) {
+        GPIO_WriteBit(GPIOB, GPIO_Pin_5, toggle ? Bit_SET : Bit_RESET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_6, toggle ? Bit_SET : Bit_RESET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_7, toggle ? Bit_SET : Bit_RESET);
+        toggle = !toggle;
+
+        if (!success) {
+            dbg_printf("resetting...\n");
+            i2c_hard_reset(i2c_port, i2c_init);
+        }
+
+        uint8_t buf[12];
+        for (size_t i = 0; i < SizeOfArray(buf); i++) {
+            buf[i] = 0;
+        }
+
+        success = i2c_write(i2c_port, DS3231_address, buf, 1, false);
+
+        if (!success) {
+            dbg_printf("i2c_write failed\n");
+            continue;
+        }
+
+        success = i2c_read(i2c_port, DS3231_address, buf, SizeOfArray<uint8_t>(buf), false);
+
+        if (success) {
+            dbg_printf(
+                "%3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d\n"
+//                "%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x" /*" %02x %02x %02x %02x"*/ "\n"
+                    "\n",
+//                buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], buf[6], buf[7], buf[8],
+//                buf[9], buf[10], buf[11], buf[12], buf[13], buf[14], buf[15],
+                buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], buf[6], buf[7], buf[8],
+                buf[9], buf[10], buf[11]/*, buf[12], buf[13], buf[14], buf[15]*/);
+        }
+    }
+
+    return 0;
+}
+
diff --git a/cmake/stm32.toolchain.cmake b/cmake/stm32.toolchain.cmake
index 8e380fe..05a9090 100644
--- a/cmake/stm32.toolchain.cmake
+++ b/cmake/stm32.toolchain.cmake
@@ -22,12 +22,17 @@ set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_CROSSCOMPILING 1)
 
 set(TARGET_FLAGS "-mcpu=cortex-m3 -mthumb")
-set(BASE_FLAGS "-O3 -ffreestanding -Wall -Wextra -g -ffunction-sections -fdata-sections ${TARGET_FLAGS}")
+
+set(o_level "$<TARGET_PROPERTY:O_LEVEL>")
+add_compile_options("$<$<BOOL:${o_level}>:-O${o_level}>$<$<NOT:$<BOOL:${o_level}>>:-O3>")
+unset(o_level)
+
+set(BASE_FLAGS "-ffreestanding -Wall -Wextra -g -ffunction-sections -fdata-sections ${TARGET_FLAGS}")
 
 set(CMAKE_C_FLAGS "${BASE_FLAGS}" CACHE STRING "c flags")
 set(CMAKE_CXX_FLAGS "${BASE_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=c++14" CACHE STRING "c++ flags")
 
-set(LINKER_FLAGS "-O3 -nostdlib -Wl,--gc-sections ${TARGET_FLAGS}")
+set(LINKER_FLAGS "-nostdlib -Wl,--gc-sections ${TARGET_FLAGS}")
 #set(LINKER_LIBS "-larm_cortexM4l_math -lm")
 
 set(CMAKE_EXE_LINKER_FLAGS "${LINKER_FLAGS}" CACHE STRING "linker flags" FORCE)
diff --git a/gdb-apps b/gdb-apps
new file mode 100644
index 0000000..f4be9b7
--- /dev/null
+++ b/gdb-apps
@@ -0,0 +1,207 @@
+# Source this file to get all the defined commands.
+
+define flash_can1_a
+    shell cd build && make can1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/can1/can1.elf
+    load build/apps/can1/can1.elf
+    set confirm on
+
+    hbreak halt
+end
+
+define flash_can1_b
+    shell cd build && make can1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/can1/can1.elf
+    load build/apps/can1/can1.elf
+    set confirm on
+
+    hbreak halt
+    hbreak main
+    c
+    set variable is_client = 1
+end
+
+define flash_test1
+    shell cd build && make test1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/test1/test1.elf
+    load build/apps/test1/test1.elf
+    set confirm on
+
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+    hbreak halt
+end
+
+define flash_serial1
+    shell cd build && make serial1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/serial1/serial1.elf
+    load build/apps/serial1/serial1.elf
+    set confirm on
+
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+    hbreak halt
+end
+
+define flash_serial2
+    shell cd build && make serial2.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/serial2/serial2.elf
+    load build/apps/serial2/serial2.elf
+    set confirm on
+
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+    hbreak halt
+end
+
+define flash_stepper1
+    shell cd build && make stepper1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/stepper1/stepper1.elf
+    load build/apps/stepper1/stepper1.elf
+    set confirm on
+
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+    hbreak halt
+end
+
+define flash_stepper2
+    shell cd build && make stepper2.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/stepper2/stepper2.elf
+    load build/apps/stepper2/stepper2.elf
+    set confirm on
+
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+    hbreak halt
+end
+
+define flash_i2c1
+    shell cd build && make i2c1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/i2c1/i2c1.elf
+    load build/apps/i2c1/i2c1.elf
+    set confirm on
+
+    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+
+    echo Run this if first run:\n  hbreak halt\n  hbreak job1\n  hbreak PendSV_Handler\n
+end
+
+define flash_os1
+    shell cd build && make os1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/os1/os1.elf
+    load build/apps/os1/os1.elf
+    set confirm on
+
+    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+
+    echo Run this if first run:\n  hbreak halt\n  hbreak job1\n  hbreak PendSV_Handler\n
+end
+
+define flash_os2
+    shell cd build && make os2.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/os2/os2.elf
+    load build/apps/os2/os2.elf
+    set confirm on
+
+    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+
+    echo Run this if first run:\n  hbreak halt\n  hbreak job1\n  hbreak PendSV_Handler\n
+end
+
+define flash_dma1
+    shell cd build && make dma1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/dma1/dma1.elf
+    load build/apps/dma1/dma1.elf
+    set confirm on
+
+    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+
+    echo Run this if first run:\n  hbreak halt\n
+end
+
+define flash_cpp1
+    shell cd build && make cpp1.elf
+
+    monitor arm semihosting enable
+    monitor reset halt
+
+    set confirm off
+    file build/apps/cpp1/cpp1.elf
+    load build/apps/cpp1/cpp1.elf
+    set confirm on
+
+    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
+    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
+
+    echo Run this if first run:\n  hbreak halt\n
+end
+
+define flash_sim1
+    shell cd build && make sim1.elf
+
+    set confirm off
+    target remote tcp:localhost:3333
+    file build/apps/sim1/sim1.elf
+    load build/apps/sim1/sim1.elf
+    set confirm on
+
+    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
+
+    hbreak halt
+end
+
diff --git a/gdb-start b/gdb-start
index fbd8789..906724d 100644
--- a/gdb-start
+++ b/gdb-start
@@ -1,146 +1,3 @@
 target remote tcp:localhost:3333
 monitor reset halt
 set remotetimeout 10
-
-define flash_test1
-    shell cd build && make test1.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/test1/test1.elf
-    load build/apps/test1/test1.elf
-    set confirm on
-
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-    hbreak halt
-end
-
-define flash_serial1
-    shell cd build && make serial1.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/serial1/serial1.elf
-    load build/apps/serial1/serial1.elf
-    set confirm on
-
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-    hbreak halt
-end
-
-define flash_serial2
-    shell cd build && make serial2.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/serial2/serial2.elf
-    load build/apps/serial2/serial2.elf
-    set confirm on
-
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-    hbreak halt
-end
-
-define flash_stepper1
-    shell cd build && make stepper1.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/stepper1/stepper1.elf
-    load build/apps/stepper1/stepper1.elf
-    set confirm on
-
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-    hbreak halt
-end
-
-define flash_stepper2
-    shell cd build && make stepper2.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/stepper2/stepper2.elf
-    load build/apps/stepper2/stepper2.elf
-    set confirm on
-
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-    hbreak halt
-end
-
-define flash_os1
-    shell cd build && make os1.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/os1/os1.elf
-    load build/apps/os1/os1.elf
-    set confirm on
-
-    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-
-    echo Run this if first run:\n  hbreak halt\n  hbreak job1\n  hbreak PendSV_Handler\n
-end
-
-define flash_os2
-    shell cd build && make os2.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/os2/os2.elf
-    load build/apps/os2/os2.elf
-    set confirm on
-
-    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-
-    echo Run this if first run:\n  hbreak halt\n  hbreak job1\n  hbreak PendSV_Handler\n
-end
-
-define flash_dma1
-    shell cd build && make dma1.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/dma1/dma1.elf
-    load build/apps/dma1/dma1.elf
-    set confirm on
-
-    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-
-    echo Run this if first run:\n  hbreak halt\n
-end
-
-define flash_cpp1
-    shell cd build && make cpp1.elf
-
-    monitor arm semihosting enable
-    monitor reset halt
-
-    set confirm off
-    file build/apps/cpp1/cpp1.elf
-    load build/apps/cpp1/cpp1.elf
-    set confirm on
-
-    set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12
-    monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480
-
-    echo Run this if first run:\n  hbreak halt\n
-end
diff --git a/html/module.png b/html/module.png
new file mode 100644
index 0000000..d97cc47
--- /dev/null
+++ b/html/module.png
diff --git a/html/pinout-2.html b/html/pinout-2.html
new file mode 100644
index 0000000..40a98f4
--- /dev/null
+++ b/html/pinout-2.html
@@ -0,0 +1,519 @@
+<html>
+<head>
+  <style type="text/css">
+    table.pinout {
+      border-spacing: 0;
+      /*border-style: solid;*/
+
+      font-family: "Arial", "sans-serif";
+      font-weight: bold;
+    }
+
+    table.pinout td.group-tim2 {
+      background-color: indianred;
+      border-style: none;
+    }
+
+    table.pinout td.group-adc12 {
+      background-color: deepskyblue;
+      border-style: none;
+    }
+
+    table.pinout td.group-usart2 {
+      background-color: lawngreen;
+      border-style: none;
+    }
+
+    table.pinout td.group-spi1 {
+      background-color: sandybrown;
+      border-style: none;
+    }
+
+    table.pinout td {
+      white-space: nowrap;
+    }
+
+    td.connection {
+    }
+
+    table.pinout td {
+      padding-left: 0.5rem;
+      padding-right: 0.5rem;
+    }
+
+    .group-top {
+      border: 1px solid;
+      border-bottom-width: 0;
+      border-top-left-radius: 0.5rem;
+      border-top-right-radius: 0.5rem;
+    }
+
+    .group-bottom {
+      border: 1px solid;
+      border-top-width: 0;
+      border-bottom-left-radius: 0.5rem;
+      border-bottom-right-radius: 0.5rem;
+    }
+
+    .group-middle {
+      border-left: 1px solid;
+      border-right: 1px solid;
+    }
+
+    .group-one {
+      border: 1px;
+      border-radius: 0.5rem;
+
+      background-color: black;
+      color: white;
+      text-align: center;
+    }
+
+    .group-single {
+      border: 1px;
+      border-radius: 0.5rem;
+
+      text-align: center;
+    }
+
+    .connection {
+      width: 3rem;
+    }
+
+  </style>
+  <style type="text/css">
+    table.container {
+      border-collapse: collapse;
+    }
+
+    table.container td.top-spacer {
+      width: 190px;
+      /*border: 2px green;*/
+    }
+
+    table.container td.bottom-spacer {
+      width: 165px;
+      /*border: 2px green;*/
+
+      /*
+            text-align: center;
+            content: "spacer";
+      */
+    }
+  </style>
+  <script type="application/javascript">
+    // group
+    function g(group, name, remapped) {
+      return {
+        group: group,
+        name: name,
+        remapped: !!remapped
+      };
+    }
+
+    // one
+    function o(name) {
+      return {
+        name: name
+      };
+    }
+
+    // empty
+    function e() {
+      return {};
+    }
+
+    function pin() {
+      var functions = [];
+      functions.push({name: arguments[0]});
+      for (var i = 1; i < arguments.length; i++) {
+        functions.push(arguments[i]);
+      }
+      return new Pin(arguments[0], functions);
+    }
+
+    /**
+     * @constructor
+     */
+    function Pin(name, functions) {
+      function hasGroup(group) {
+        return functions.some(function (f) {
+          return f.group == group;
+        });
+      }
+
+      /**
+       * @lends Pin.prototype
+       */
+      return {
+        name: name,
+        functions: functions,
+        hasGroup: hasGroup
+      };
+    }
+
+    /**
+     * @constructor
+     */
+    function Header(columns, pins) {
+      var rows = pins.length / columns;
+
+      function pinsOnColumn(column) {
+        var ps = [];
+
+        for (var i = column; i < pins.length; i += columns) {
+          ps.push(pins[i]);
+        }
+
+        return ps;
+      }
+
+      /**
+       * @return {Pin}
+       */
+      function at(column, row) {
+        return pins[row * columns + column];
+      }
+
+      /**
+       * @return {Pin}
+       */
+      function above(column, row) {
+        return at(column, row - 1);
+      }
+
+      /**
+       * @return {Pin}
+       */
+      function below(column, row) {
+        return at(column, row + 1);
+      }
+
+      function maxNumberOfFunctionsInColumn(column) {
+        var width = 0;
+        for (var i = column; i < pins.length; i += columns) {
+          width = Math.max(width, pins[i].functions.length);
+        }
+
+        return width;
+      }
+
+      /**
+       * @lends Header.prototype
+       */
+      return {
+        at: at,
+        above: above,
+        below: below,
+        pinsOnColumn: pinsOnColumn,
+        maxNumberOfFunctionsInColumn: maxNumberOfFunctionsInColumn,
+        rowCount: rows
+      }
+    }
+
+    var j8 = new Header(2, [
+      pin("3V3"),
+      pin("3V3"),
+      pin("PA0", o("WKUP"), g("usart2", "USART2_CTS"), g("adc12", "ADC12_IN0"), g("tim2", "TIM2_CH1_ETR")),
+      pin("PA1", e(), g("usart2", "USART2_RTS"), g("adc12", "ADC12_IN1"), g("tim2", "TIM2_CH2")),
+      pin("PA2", e(), g("usart2", "USART2_TX"), g("adc12", "ADC12_IN2"), g("tim2", "TIM2_CH3")),
+      pin("PA3", e(), g("usart2", "USART2_RX"), g("adc12", "ADC12_IN3"), g("tim2", " TIM2_CH4")),
+      pin("PA4", g("spi1", "SPI1_NSS"), g("usart2", "USART2_CK"), g("adc12", "ADC12_IN4")),
+      pin("PA5", g("spi1", "SPI1_SCK"), e(), g("adc12", "ADC12_IN5")),
+      pin("PA6", g("spi1", "SPI1_MISO"), g("tim1", "TIM1_BKIN", true), g("adc12", "ADC12_IN6"), g("tim3", "TIM3_CH1")),
+      pin("PA7", g("spi1", "SPI1_MOSI"), g("tim1", "TIM1_CH1N", true), g("adc12", "ADC12_IN7"), g("tim3", "TIM3_CH2")),
+      pin("PB0", e(), g("tim1", "TIM1_CH2N", true), g("adc12", "ADC12_IN8"), g("tim3", "TIM3_CH3")),
+      pin("PB1", e(), g("tim1", "TIM1_CH3N", true), g("adc12", "ADC12_IN8"), g("tim3", "TIM3_CH3")),
+      pin("PB2", o("boot1")),
+      pin("PB10", e(), g("usart3", "USART3_TX"), g("i2c2", "I2C2_SCL"), g("tim2", "TIM2_CH3", true)),
+      pin("PB12", g("spi2", "SPI2_NSS"), g("usart3", "USART3_CK"), g("i2c2", "I2C2_SMBAl"), g("tim1", "TIM1_BKIN")),
+      pin("PB11", e(), g("usart3", "USART3_RX"), g("i2c2", "I2C2_SDA"), g("tim2", "TIM2_CH4", true)),
+      pin("PB14", g("spi2", "SPI2_MISO"), g("usart3", "USART3_RTS"), e(), g("tim1", "TIM1_CH2N")),
+      pin("PB13", g("spi2", "SPI2_SCK"), g("usart3", "USART3_CTS"), g("tim1", "TIM1_CH1N")),
+      pin("PB8", o("MCO"), g("usart1", "USART1_CK"), e(), g("tim1", "TIM1_CH1")),
+      pin("PB15", g("spi2", "SPI2_MOSI"), e(), g("tim1", "TIM1_CH3N")),
+      pin("PB10", e(), g("usart1", "USART1_RX"), e(), g("tim1", "TIM1_CH3")),
+      pin("PB9"),
+      pin("GND"),
+      pin("GND")
+    ]);
+
+    var j9 = new Header(2, [
+      pin("3V3"),
+      pin("3V3"),
+      pin("NRST"),
+      pin("PD1", g("can", "CANTX")),
+      pin("PD0", g("can", "CANRX")),
+      pin("PC15", o("OSC32_OUT")),
+      pin("PC14", o("OSC32_IN")),
+      pin("PC13", o("TAMPER-RTC")),
+      pin("Vbat"),
+      pin("PB9", g("tim4", "TIM4_CH4"), g("i2c1", "I2C1_SDA", true), g("can", "CANTX", true)),
+      pin("PB8", g("tim4", "TIM4_CH3"), g("i2c1", "I2C1_SCL", true), g("can", "CANRX", true)),
+      pin("BOOT0"),
+      pin("PB7", g("tim4", "TIM4_CH2"), g("i2c1", "I2C1_SDA"), g("usart1", "USART1_RX", true)),
+      pin("PB6", g("tim4", "TIM4_CH1"), g("i2c1", "I2C1_SCL"), g("usart1", "USART1_TX", true)),
+      pin("PB5", g("tim3", "TIM3_CH2", true), g("i2c1", "I2C1_SMBAl"), g("spi1", "SPI1_MOSI", true)),
+      pin("PB4", g("jtag", "JNTRST" /* default */), g("tim3", "TIM3_CH1", true), g("gpio", "PB4", true), g("spi1", "SPI1_MISO", true)),
+      pin("PB3", g("jtag", "JTDO" /* default */), g("tim2", "TIM2_CH2", true), g("gpio", "PB3", true), g("spi1", "SPI1_SCK", true), g("jtag", "TRACESWO", true)),
+      pin("PA15", g("jtag", "JTDI" /* default */), g("tim2", "TIM2_CH1_ETR", true), g("gpio", "PA15", true), g("spi1", "SPI1_NSS", true)),
+      pin("PA14", g("jtag", "JTCK/SWCLK" /* default */), e(), g("gpio", "PA14", true)),
+      pin("PA13", g("jtag", "JTMS/SWDIO" /* default */), e(), g("gpio", "PA13", true)),
+      pin("PA12", g("usb", "USBDP"), g("usart1", "USART1_RTS"), g("can", "CANTX"), g("tim1", "TIM1_ETR")),
+      pin("PA11", g("usb", "USBDM"), g("usart1", "USART1_CTS"), g("can", "CANRX"), g("tim1", "TIM1_CH4")),
+      pin("GND"),
+      pin("GND")
+    ]);
+
+    var headers = {
+      j8: j8,
+      j9: j9
+    };
+
+    /**
+     * @param {Element} table
+     */
+    function generate(table, headerName, side) {
+      /**
+       * @type {Header}
+       */
+      var header = headers[headerName];
+      if (!header) {
+        return;
+      }
+
+      var d = table.ownerDocument;
+      var left = side == "left";
+      var column = left ? 0 : 1;
+
+      var width = header.maxNumberOfFunctionsInColumn(column);
+      console.log('width', width);
+
+      (function() {
+        for (var row = header.rowCount; row >= 0; row--) {
+          var pin = header.at(column, row);
+
+          var tr = d.createElement("tr");
+          table.appendChild(tr);
+        }
+      })();
+
+      if(false)
+      for (var row = 0; row < header.rowCount; row++) {
+        var pin = header.at(column, row);
+        console.log("pin: ", pin);
+
+        var tr = d.createElement("tr");
+        table.appendChild(tr);
+
+        var spacers = [], td;
+        for (var j = 0; j < (width - pin.functions.length); j++) {
+          td = document.createElement("td");
+          spacers.push(td);
+          td = document.createElement("td");
+          td.setAttribute("class", "connection");
+          spacers.push(td);
+        }
+
+        if (left) {
+          spacers.forEach(function (e) {
+            tr.appendChild(e);
+          });
+        }
+
+        for (var fi = left ? pin.functions.length - 1 : 0; fi >= 0 && fi < pin.functions.length; fi += left ? -1 : 1) {
+          var f = pin.functions[fi];
+//          console.log("f:", fi, f);
+          var text = '';
+          if (f.name) {
+            text = f.name;
+            if (f.remapped) {
+              text += " (r)";
+            }
+          }
+
+          td = d.createElement("td");
+          var cls = '';
+          if (f.group) {
+            cls += " group-" + f.group;
+
+            var above = header.above(column, row);
+            var below = header.below(column, row);
+            console.log('f', f, 'above', above, 'below', below);
+            above = above && above.hasGroup(f.group);
+            below = below && below.hasGroup(f.group);
+
+            if (!above && !below) {
+              cls += " group-single";
+            } else if (!above && below) {
+              cls += " group-top";
+            } else if (above && below) {
+              cls += " group-middle";
+            } else if (above && !below) {
+              cls += " group-bottom";
+            }
+          } else {
+            cls = " group-one";
+          }
+
+          if (f.remapped) {
+            cls += " group-remapped";
+          }
+
+          if (text.trim() != "") {
+            td.setAttribute("class", cls);
+          }
+
+          td.appendChild(document.createTextNode(text));
+          tr.appendChild(td);
+          td = document.createElement("td");
+          td.setAttribute("class", "connection");
+          tr.appendChild(td);
+        }
+
+        if (!left) {
+          spacers.forEach(function (e) {
+            tr.appendChild(e);
+          });
+        }
+
+        // <tr>
+        //   <td class="group-top group-tim2">
+        //     TIM2_CH1_ETR
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-top group-adc12">
+        //     ADC12_IN0
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-top group-usart2">
+        //     USART2_CTS
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-one">
+        //     WKUP
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-one">
+        //     PA0
+        //   </td>
+        // </tr>
+      }
+    }
+
+    function doOnLoad() {
+      console.log('j8', j8);
+      var items = document.getElementsByClassName("pinout");
+      for (var i = 0; i < items.length; i++) {
+        var e = items[i];
+        var classes = e.attributes.class.value.split(" ");
+        var generatePinout = false, header, side;
+        for (var j = 0; j < classes.length; j++) {
+          var c = classes[j];
+
+          if (c.match(/pinout/)) {
+            generatePinout = true;
+          } else if (c.match(/^header-([0-9]*)/)) {
+            header = c.replace(/^header-([0-9]*)/, "$1");
+          } else if (c.match(/^side-/)) {
+            side = c.replace(/^side-(.*)/, "$1");
+          }
+        }
+
+        if (generatePinout) {
+          console.log('generating', header, side);
+          generate(e, header, side);
+        }
+      }
+    }
+    window.onload = doOnLoad;
+  </script>
+</head>
+<body>
+<table border="1" class="container">
+  <tr>
+    <td class="bottom-spacer" rowspan="2">
+    </td>
+    <td>
+      <table class="pinout header-j8 side-left"></table>
+    </td>
+    <!--
+    <td>
+      <table>
+        <tr>
+          <td>
+
+          </td>
+          <td>
+            USART1_RX
+          </td>
+          <td>
+
+          </td>
+        </tr>
+        <tr>
+          <td>
+
+          </td>
+          <td>
+
+          </td>
+          <td>
+            MCO
+          </td>
+        </tr>
+        <tr>
+          <td>
+            GND
+          </td>
+          <td>
+            PB10
+          </td>
+          <td>
+            PB8
+          </td>
+        </tr>
+      </table>
+    </td>
+    -->
+    <td class="top-spacer" rowspan="2">
+      top space
+    </td>
+  </tr>
+  <tr>
+    <td>
+      <table class="pinout header-j8 side-right"></table>
+    </td>
+  </tr>
+  <tr>
+    <td colspan="3">
+      <img src="module-horizontal.png"/>
+    </td>
+  </tr>
+  <tr>
+    <!--
+    <td>
+      <table class="pinout header-j8 side-left"></table>
+    </td>
+    <td>
+      <table class="pinout header-j8 side-right"></table>
+    </td>
+    <td>
+      <table class="pinout header-j9 side-left"></table>
+    </td>
+    <td>
+      <table class="pinout header-j9 side-right"></table>
+    </td>
+    -->
+  </tr>
+  <!--
+    <tr>
+      <td colspan="2" class="bottom-spacer"></td>
+    </tr>
+  -->
+  <tr>
+  </tr>
+</table>
+
+</body>
+</html>
diff --git a/html/pinout.html b/html/pinout.html
new file mode 100644
index 0000000..a9f17e0
--- /dev/null
+++ b/html/pinout.html
@@ -0,0 +1,682 @@
+<html>
+<head>
+  <style type="text/css">
+    table.pinout {
+      border-spacing: 0;
+      /*border-style: solid;*/
+
+      font-family: "Arial", "sans-serif";
+      font-weight: bold;
+    }
+
+    table.pinout td.group-tim2 {
+      background-color: indianred;
+      border-style: none;
+    }
+
+    table.pinout td.group-adc12 {
+      background-color: deepskyblue;
+      border-style: none;
+    }
+
+    table.pinout td.group-usart2 {
+      background-color: lawngreen;
+      border-style: none;
+    }
+
+    table.pinout td.group-spi1 {
+      background-color: sandybrown;
+      border-style: none;
+    }
+
+    table.pinout td {
+      white-space: nowrap;
+    }
+
+    td.connection {
+    }
+
+    table.pinout td {
+      padding-left: 0.5rem;
+      padding-right: 0.5rem;
+    }
+
+    .group-top {
+      border: 1px solid;
+      border-bottom-width: 0;
+      border-top-left-radius: 0.5rem;
+      border-top-right-radius: 0.5rem;
+    }
+
+    .group-bottom {
+      border: 1px solid;
+      border-top-width: 0;
+      border-bottom-left-radius: 0.5rem;
+      border-bottom-right-radius: 0.5rem;
+    }
+
+    .group-middle {
+      border-left: 1px solid;
+      border-right: 1px solid;
+    }
+
+    .group-one {
+      border: 1px;
+      border-radius: 0.5rem;
+
+      background-color: black;
+      color: white;
+      text-align: center;
+    }
+
+    .group-single {
+      border: 1px;
+      border-radius: 0.5rem;
+
+      text-align: center;
+    }
+
+    .connection {
+      width: 3rem;
+    }
+
+  </style>
+  <style type="text/css">
+    table.container {
+      border-collapse: collapse;
+    }
+
+    table.container td.top-spacer {
+      height: 190px;
+      /*border: 2px green;*/
+    }
+
+    table.container td.bottom-spacer {
+      height: 165px;
+      /*border: 2px green;*/
+
+      /*
+            text-align: center;
+            content: "spacer";
+      */
+    }
+  </style>
+  <script type="application/javascript">
+    // group
+    function g(group, name, remapped) {
+      return {
+        group: group,
+        name: name,
+        remapped: !!remapped
+      };
+    }
+
+    // one
+    function o(name) {
+      return {
+        name: name
+      };
+    }
+
+    // empty
+    function e() {
+      return {};
+    }
+
+    function pin() {
+      var functions = [];
+      functions.push({name: arguments[0]});
+      for (var i = 1; i < arguments.length; i++) {
+        functions.push(arguments[i]);
+      }
+      return new Pin(arguments[0], functions);
+    }
+
+    /**
+     * @constructor
+     */
+    function Pin(name, functions) {
+      function hasGroup(group) {
+        return functions.some(function (f) {
+          return f.group == group;
+        });
+      }
+
+      /**
+       * @lends Pin.prototype
+       */
+      return {
+        name: name,
+        functions: functions,
+        hasGroup: hasGroup
+      };
+    }
+
+    /**
+     * @constructor
+     */
+    function Header(columns, pins) {
+      var rows = pins.length / columns;
+
+      function pinsOnColumn(column) {
+        var ps = [];
+
+        for (var i = column; i < pins.length; i += columns) {
+          ps.push(pins[i]);
+        }
+
+        return ps;
+      }
+
+      /**
+       * @return {Pin}
+       */
+      function at(column, row) {
+        return pins[row * columns + column];
+      }
+
+      /**
+       * @return {Pin}
+       */
+      function above(column, row) {
+        return at(column, row - 1);
+      }
+
+      /**
+       * @return {Pin}
+       */
+      function below(column, row) {
+        return at(column, row + 1);
+      }
+
+      function maxNumberOfFunctionsInColumn(column) {
+        var width = 0;
+        for (var i = column; i < pins.length; i += columns) {
+          width = Math.max(width, pins[i].functions.length);
+        }
+
+        return width;
+      }
+
+      /**
+       * @lends Header.prototype
+       */
+      return {
+        at: at,
+        above: above,
+        below: below,
+        pinsOnColumn: pinsOnColumn,
+        maxNumberOfFunctionsInColumn: maxNumberOfFunctionsInColumn,
+        rowCount: rows
+      }
+    }
+
+    var j8 = new Header(2, [
+      pin("3V3"),
+      pin("3V3"),
+      pin("PA0", o("WKUP"), g("usart2", "USART2_CTS"), g("adc12", "ADC12_IN0"), g("tim2", "TIM2_CH1_ETR")),
+      pin("PA1", e(), g("usart2", "USART2_RTS"), g("adc12", "ADC12_IN1"), g("tim2", "TIM2_CH2")),
+      pin("PA2", e(), g("usart2", "USART2_TX"), g("adc12", "ADC12_IN2"), g("tim2", "TIM2_CH3")),
+      pin("PA3", e(), g("usart2", "USART2_RX"), g("adc12", "ADC12_IN3"), g("tim2", " TIM2_CH4")),
+      pin("PA4", g("spi1", "SPI1_NSS"), g("usart2", "USART2_CK"), g("adc12", "ADC12_IN4")),
+      pin("PA5", g("spi1", "SPI1_SCK"), e(), g("adc12", "ADC12_IN5")),
+      pin("PA6", g("spi1", "SPI1_MISO"), g("tim1", "TIM1_BKIN", true), g("adc12", "ADC12_IN6"), g("tim3", "TIM3_CH1")),
+      pin("PA7", g("spi1", "SPI1_MOSI"), g("tim1", "TIM1_CH1N", true), g("adc12", "ADC12_IN7"), g("tim3", "TIM3_CH2")),
+      pin("PB0", e(), g("tim1", "TIM1_CH2N", true), g("adc12", "ADC12_IN8"), g("tim3", "TIM3_CH3")),
+      pin("PB1", e(), g("tim1", "TIM1_CH3N", true), g("adc12", "ADC12_IN8"), g("tim3", "TIM3_CH3")),
+      pin("PB2", o("boot1")),
+      pin("PB10", e(), g("usart3", "USART3_TX"), g("i2c2", "I2C2_SCL"), g("tim2", "TIM2_CH3", true)),
+      pin("PB12", g("spi2", "SPI2_NSS"), g("usart3", "USART3_CK"), g("i2c2", "I2C2_SMBAl"), g("tim1", "TIM1_BKIN")),
+      pin("PB11", e(), g("usart3", "USART3_RX"), g("i2c2", "I2C2_SDA"), g("tim2", "TIM2_CH4", true)),
+      pin("PB14", g("spi2", "SPI2_MISO"), g("usart3", "USART3_RTS"), e(), g("tim1", "TIM1_CH2N")),
+      pin("PB13", g("spi2", "SPI2_SCK"), g("usart3", "USART3_CTS"), g("tim1", "TIM1_CH1N")),
+      pin("PB8", o("MCO"), g("usart1", "USART1_CK"), e(), g("tim1", "TIM1_CH1")),
+      pin("PB15", g("spi2", "SPI2_MOSI"), e(), g("tim1", "TIM1_CH3N")),
+      pin("PB10", e(), g("usart1", "USART1_RX"), e(), g("tim1", "TIM1_CH3")),
+      pin("PB9"),
+      pin("GND"),
+      pin("GND")
+    ]);
+
+    var j9 = new Header(2, [
+      pin("3V3"),
+      pin("3V3"),
+      pin("NRST"),
+      pin("PD1", g("can", "CANTX")),
+      pin("PD0", g("can", "CANRX")),
+      pin("PC15", o("OSC32_OUT")),
+      pin("PC14", o("OSC32_IN")),
+      pin("PC13", o("TAMPER-RTC")),
+      pin("Vbat"),
+      pin("PB9", g("tim4", "TIM4_CH4"), g("i2c1", "I2C1_SDA", true), g("can", "CANTX", true)),
+      pin("PB8", g("tim4", "TIM4_CH3"), g("i2c1", "I2C1_SCL", true), g("can", "CANRX", true)),
+      pin("BOOT0"),
+      pin("PB7", g("tim4", "TIM4_CH2"), g("i2c1", "I2C1_SDA"), g("usart1", "USART1_RX", true)),
+      pin("PB6", g("tim4", "TIM4_CH1"), g("i2c1", "I2C1_SCL"), g("usart1", "USART1_TX", true)),
+      pin("PB5", g("tim3", "TIM3_CH2", true), g("i2c1", "I2C1_SMBAl"), g("spi1", "SPI1_MOSI", true)),
+      pin("PB4", g("jtag", "JNTRST" /* default */), g("tim3", "TIM3_CH1", true), g("gpio", "PB4", true), g("spi1", "SPI1_MISO", true)),
+      pin("PB3", g("jtag", "JTDO" /* default */), g("tim2", "TIM2_CH2", true), g("gpio", "PB3", true), g("spi1", "SPI1_SCK", true), g("jtag", "TRACESWO", true)),
+      pin("PA15", g("jtag", "JTDI" /* default */), g("tim2", "TIM2_CH1_ETR", true), g("gpio", "PA15", true), g("spi1", "SPI1_NSS", true)),
+      pin("PA14", g("jtag", "JTCK/SWCLK" /* default */), e(), g("gpio", "PA14", true)),
+      pin("PA13", g("jtag", "JTMS/SWDIO" /* default */), e(), g("gpio", "PA13", true)),
+      pin("PA12", g("usb", "USBDP"), g("usart1", "USART1_RTS"), g("can", "CANTX"), g("tim1", "TIM1_ETR")),
+      pin("PA11", g("usb", "USBDM"), g("usart1", "USART1_CTS"), g("can", "CANRX"), g("tim1", "TIM1_CH4")),
+      pin("GND"),
+      pin("GND")
+    ]);
+
+    var headers = {
+      j8: j8,
+      j9: j9
+    };
+
+    /**
+     * @param {Element} table
+     */
+    function generate(table, headerName, side) {
+      /**
+       * @type {Header}
+       */
+      var header = headers[headerName];
+      if (!header) {
+        return;
+      }
+
+      var d = table.ownerDocument;
+      var left = side == "left";
+      var column = left ? 0 : 1;
+
+      var width = header.maxNumberOfFunctionsInColumn(column);
+      console.log('width', width);
+
+      for (var row = 0; row < header.rowCount; row++) {
+        var pin = header.at(column, row);
+        console.log("pin: ", pin);
+
+        var tr = d.createElement("tr");
+        table.appendChild(tr);
+
+        var spacers = [], td;
+        for (var j = 0; j < (width - pin.functions.length); j++) {
+          td = document.createElement("td");
+          spacers.push(td);
+          td = document.createElement("td");
+          td.setAttribute("class", "connection");
+          spacers.push(td);
+        }
+
+        if (left) {
+          spacers.forEach(function (e) {
+            tr.appendChild(e);
+          });
+        }
+
+        for (var fi = left ? pin.functions.length - 1 : 0; fi >= 0 && fi < pin.functions.length; fi += left ? -1 : 1) {
+          var f = pin.functions[fi];
+//          console.log("f:", fi, f);
+          var text = '';
+          if (f.name) {
+            text = f.name;
+            if (f.remapped) {
+              text += " (r)";
+            }
+          }
+
+          td = d.createElement("td");
+          var cls = '';
+          if (f.group) {
+            cls += " group-" + f.group;
+
+            var above = header.above(column, row);
+            var below = header.below(column, row);
+            console.log('f', f, 'above', above, 'below', below);
+            above = above && above.hasGroup(f.group);
+            below = below && below.hasGroup(f.group);
+
+            if (!above && !below) {
+              cls += " group-single";
+            } else if (!above && below) {
+              cls += " group-top";
+            } else if (above && below) {
+              cls += " group-middle";
+            } else if (above && !below) {
+              cls += " group-bottom";
+            }
+          } else {
+            cls = " group-one";
+          }
+
+          if (f.remapped) {
+            cls += " group-remapped";
+          }
+
+          if (text.trim() != "") {
+            td.setAttribute("class", cls);
+          }
+
+          td.appendChild(document.createTextNode(text));
+          tr.appendChild(td);
+          td = document.createElement("td");
+          td.setAttribute("class", "connection");
+          tr.appendChild(td);
+        }
+
+        if (!left) {
+          spacers.forEach(function (e) {
+            tr.appendChild(e);
+          });
+        }
+
+        // <tr>
+        //   <td class="group-top group-tim2">
+        //     TIM2_CH1_ETR
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-top group-adc12">
+        //     ADC12_IN0
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-top group-usart2">
+        //     USART2_CTS
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-one">
+        //     WKUP
+        //   </td>
+        //   <td class="connection"></td>
+        //   <td class="group-one">
+        //     PA0
+        //   </td>
+        // </tr>
+      }
+    }
+
+    function doOnLoad() {
+      console.log('j8', j8);
+      var items = document.getElementsByClassName("pinout");
+      for (var i = 0; i < items.length; i++) {
+        var e = items[i];
+        var classes = e.attributes.class.value.split(" ");
+        var generatePinout = false, header, side;
+        for (var j = 0; j < classes.length; j++) {
+          var c = classes[j];
+
+          if (c.match(/pinout/)) {
+            generatePinout = true;
+          } else if (c.match(/^header-([0-9]*)/)) {
+            header = c.replace(/^header-([0-9]*)/, "$1");
+          } else if (c.match(/^side-/)) {
+            side = c.replace(/^side-(.*)/, "$1");
+          }
+        }
+
+        if (generatePinout) {
+          console.log('generating', header, side);
+          generate(e, header, side);
+        }
+      }
+    }
+    window.onload = doOnLoad;
+  </script>
+</head>
+<body>
+<table border="1" class="container">
+  <tr>
+    <td colspan="2" class="top-spacer">
+    </td>
+    <td rowspan="3">
+      <img src="module.png">
+    </td>
+  </tr>
+  <tr>
+    <td>
+      <table class="pinout header-j8 side-left"></table>
+    </td>
+    <td>
+      <table class="pinout header-j8 side-right"></table>
+    </td>
+    <td>
+      <table class="pinout header-j9 side-left"></table>
+    </td>
+    <td>
+      <table class="pinout header-j9 side-right"></table>
+    </td>
+  </tr>
+  <tr>
+    <td colspan="2" class="bottom-spacer"></td>
+  </tr>
+  <tr>
+  </tr>
+</table>
+
+<!--
+<table class="pinout">
+  <tr>
+    <td colspan="8" class="connection"></td>
+    <td class="group-one">
+      3.3V
+    </td>
+  </tr>
+
+  <tr>
+    <td class="group-top group-tim2">
+      TIM2_CH1_ETR
+    </td>
+    <td class="connection"></td>
+    <td class="group-top group-adc12">
+      ADC12_IN0
+    </td>
+    <td class="connection"></td>
+    <td class="group-top group-usart2">
+      USART2_CTS
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      WKUP
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PA0
+    </td>
+  </tr>
+
+  <tr>
+    <td class="group-bottom group-tim2">
+      TIM2_CH3
+    </td>
+    <td class="connection"></td>
+    <td class="group-middle group-adc12">
+      ADC12_IN2
+    </td>
+    <td class="connection"></td>
+    <td class="group-middle group-usart2">
+      USART2_TX
+    </td>
+    <td class="connection"></td>
+    <td>
+      &nbsp;
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PA2
+    </td>
+  </tr>
+
+  <tr>
+    <td class="">
+    </td>
+    <td class="connection"></td>
+    <td class="group-middle group-adc12">
+      ADC12_IN4
+    </td>
+    <td class="connection"></td>
+    <td class="group-bottom group-usart2">
+      USART2_CK
+    </td>
+    <td class="connection"></td>
+    <td class="group-top group-spi1">
+      SPI1_NSS
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PA4
+    </td>
+  </tr>
+
+  <tr>
+    <td class="group-top">
+      TIM3_CH1
+    </td>
+    <td class="connection"></td>
+    <td class="group-middle group-adc12">
+      ADC12_IN6
+    </td>
+    <td class="connection" colspan="3"></td>
+    <td class="group-bottom group-spi1">
+      SPI1_MISO
+    <td class="connection"></td>
+    <td class="group-one">
+      PA6
+    </td>
+  </tr>
+
+  &lt;!&ndash; &#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45;&#45; &ndash;&gt;
+
+  <tr>
+    <td class="group-bottom">
+      TIM3_CH3
+    </td>
+    <td class="connection"></td>
+    <td class="group-bottom group-adc12">
+      ADC12_IN8
+    </td>
+    <td class="connection"></td>
+    <td>
+
+    </td>
+    <td class="connection"></td>
+    <td>
+      TIM1_CH2N (r)
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PB0
+    </td>
+  </tr>
+  <tr>
+    <td class="connection" colspan="6"></td>
+    <td class="">
+      BOOT1
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PB2
+    </td>
+  </tr>
+  <tr>
+    <td class="group-top group-tim1">
+      TIM1_BKIN
+    </td>
+    <td class="connection"></td>
+    <td class="group-i2c2">
+      I2C2_SMBAl
+    </td>
+    <td class="connection"></td>
+    <td class="group-top group-usart3">
+      USART3_CK
+    </td>
+    <td class="connection"></td>
+    <td class="group-top group-spi2">
+      SPI2_NSS
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PB12
+    </td>
+  </tr>
+  <tr>
+    <td class="group-middle group-tim1">
+      TIM1_CH2N
+    </td>
+    <td class="connection" colspan="3"></td>
+    <td class="group-bottom">
+      USART3_RTS
+    </td>
+    <td class="connection"></td>
+    <td class="group-bottom">
+      SPI2_MISO
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PB14
+    </td>
+  </tr>
+  <tr>
+    <td class="group-middle group-tim1">
+      TIM1_CH1
+    </td>
+    <td class="connection"></td>
+    <td class="">
+
+    </td>
+    <td class="connection"></td>
+    <td class="group-top group-usart1">
+      USART1_CK
+    </td>
+    <td class="connection"></td>
+    <td class="">
+      MCO
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PA8
+    </td>
+  </tr>
+  <tr>
+    <td class="group-bottom group-tim1">
+      TIM1_CH3
+    </td>
+    <td class="connection"></td>
+    <td class="">
+
+    </td>
+    <td class="connection"></td>
+    <td class="group-bottom group-usart1">
+      USART1_RX
+    </td>
+    <td class="connection"></td>
+    <td class="">
+
+    </td>
+    <td class="connection"></td>
+    <td class="group-one">
+      PA10
+    </td>
+  </tr>
+  <tr>
+    <td class="connection" colspan="8"></td>
+    <td class="group-one">
+      GND
+    </td>
+  </tr>
+
+  &lt;!&ndash;
+    <tr>
+      <td>
+
+      </td>
+      <td>
+
+      </td>
+      <td>
+
+      </td>
+      <td>
+
+      </td>
+    </tr>
+  &ndash;&gt;
+</table>
+-->
+</body>
+</html>
diff --git a/html/tables.html b/html/tables.html
new file mode 100644
index 0000000..f005ef7
--- /dev/null
+++ b/html/tables.html
@@ -0,0 +1,80 @@
+<html>
+<head>
+  <style type="text/css">
+    #table2 {
+      /*border: 1px solid red;*/
+      /*
+      border-spacing: 10px;
+      */
+      /*border-collapse: collapse;*/
+    }
+
+    #table2 tr {
+      border: 1px solid blue;
+    }
+
+    #table2 td.t {
+      border: 1px inset green;
+      border-top-left-radius: 5px;
+      /*border-top-right-radius: 5px;*/
+      /*border-bottom: hidden;*/
+    }
+
+/*
+    #table2 td.m {
+      border: 1px solid green;
+      border-top: hidden;
+      border-bottom: hidden;
+    }
+*/
+  </style>
+  <style type="text/css">
+    #table1 {
+      border: 1px solid red;
+      border-spacing: 10px;
+    }
+
+    #table1 tr {
+      border: 1px solid blue;
+    }
+
+    #table1 td {
+      border: 1px solid green;
+      border-radius: 5px;
+    }
+  </style>
+</head>
+<body>
+<h4>Table 1</h4>
+<table id=table2>
+  <tr>
+    <td class="t">1.1</td>
+  </tr>
+  <tr>
+    <td class="m">2.1</td>
+  </tr>
+  <tr>
+    <td class="b">3.1</td>
+  </tr>
+</table>
+<hr>
+<table id=table1>
+  <tr>
+    <td>1.1</td>
+    <td>1.2</td>
+    <td>1.3</td>
+  </tr>
+  <tr>
+    <td>2.1</td>
+    <td>2.2</td>
+    <td>2.3</td>
+  </tr>
+  <tr>
+    <td>3.1</td>
+    <td>3.2</td>
+    <td>3.3</td>
+  </tr>
+</table>
+<hr>
+</body>
+</html>
diff --git a/playground/include/playground.h b/playground/include/playground.h
index 168c5c5..3e1b4bc 100644
--- a/playground/include/playground.h
+++ b/playground/include/playground.h
@@ -13,11 +13,34 @@ int main();
 extern "C"
 void Default_Handler();
 
+#include <cstdint>
+#include <limits>
+#include <utility>
+
 // TODO: replace with std::extent<>; http://en.cppreference.com/w/cpp/types/extent
-template<typename T, size_t N>
+//template<typename T, std::size_t N>
+//static inline constexpr
+//std::size_t SizeOfArray(const T(&)[N]) {
+//    return N;
+//}
+
+/*
+namespace {
+    template<class T> struct identity { using type = T; };
+}
+template<typename R, typename T, std::size_t N>
+static inline constexpr
+typename identity<R>::type SizeOfArray(const T(&)[N]) {
+    static_assert(std::numeric_limits<R>::max() >= N, "N does not fit in R");
+    return static_cast<R>(N);
+}
+*/
+
+template<typename R = std::size_t, typename T, std::size_t N>
 static inline constexpr
-size_t SizeOfArray(const T(&)[N]) {
-    return N;
+R SizeOfArray(const T(&)[N]) {
+    static_assert(std::numeric_limits<R>::max() >= N, "N does not fit in R");
+    return static_cast<R>(N);
 }
 
 #endif
diff --git a/playground/include/stm32f10x_conf.h b/playground/include/stm32f10x_conf.h
index f663d12..8c49c5e 100644
--- a/playground/include/stm32f10x_conf.h
+++ b/playground/include/stm32f10x_conf.h
@@ -30,7 +30,13 @@
 #ifdef  USE_FULL_ASSERT
   #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
 
+#ifdef __cplusplus
+extern "C" {
+#endif
   void assert_failed(uint8_t* file, uint32_t line);
+#ifdef __cplusplus
+}
+#endif
 #else
   #define assert_param(expr) ((void)0)
 #endif