F030 works

Makefile

@@ -1,5 +1,5 @@
 TARGET ?= jd-v0
-PROF ?= acc
+PROF ?= servo
 FORCE ?=
 
 .SECONDARY: # this prevents object files from being removed

bl/blmain.c

@@ -7,10 +7,7 @@ static void start_app(void) {
 
 ctx_t ctx_;
 
-static const uint8_t output_pins[] = {
-    PIN_LOG0,    PIN_LOG1, PIN_LOG2, PIN_LOG3,     PIN_LED,     PIN_LED2,    PIN_PWR,
-    PIN_LED_GND, PIN_GLO0, PIN_GLO1, PIN_ACC_MOSI, PIN_ACC_SCK, PIN_ACC_VCC, PIN_ACC_CS,
-};
+static const uint8_t output_pins[] = {OUTPUT_PINS};
 
 void led_init(void) {
     for (unsigned i = 0; i < sizeof(output_pins); ++i) {

src/main.c

@@ -2,11 +2,7 @@
 
 uint32_t now;
 
-static const uint8_t output_pins[] = {
-    PIN_LOG0,    PIN_LOG1,   PIN_LOG2,    PIN_LOG3,  PIN_LED,  PIN_LED2,     PIN_PWR,
-    PIN_P0,      PIN_P1,     PIN_LED_GND, PIN_GLO0,  PIN_GLO1, PIN_ACC_MOSI, PIN_ACC_SCK,
-    PIN_ACC_VCC, PIN_ACC_CS, PIN_ASCK,    PIN_AMOSI, PA_6,
-};
+static const uint8_t output_pins[] = {OUTPUT_PINS};
 
 void led_init(void) {
     // To save power, especially in STOP mode,
@@ -29,8 +25,10 @@ void led_init(void) {
 
     // all power pins are reverse polarity
     pin_set(PIN_PWR, 1);
+#ifdef PIN_GLO0
     pin_set(PIN_GLO0, 1);
     pin_set(PIN_GLO1, 1);
+#endif
 }
 
 void log_pin_set(int line, int v) {
@@ -99,7 +97,7 @@ int main(void) {
     adc_init_random(); // 300b
     rtc_init();
 
-    //sleep_forever();
+    // sleep_forever();
 
     txq_init();
     jd_init();

src/qma7981.c

@@ -1,5 +1,7 @@
 #include "jdsimple.h"
 
+#ifdef PIN_ACC_VCC
+
 #define REG_CHIP_ID 0x00
 #define REG_DX 0x01
 #define REG_DY 0x03
@@ -167,3 +169,5 @@ void acc_hw_init(void) {
 
     pin_setup_analog_input(PIN_ACC_MISO);
 }
+
+#endif

stm32/bitbang_spi.c

@@ -1,5 +1,7 @@
 #include "jdstm.h"
 
+#ifdef PIN_ACC_SCK
+
 #define MASK_SET(p) (1 << ((p)&0xf))
 #define MASK_CLR(p) (1 << (((p)&0xf) + 16))
 
@@ -57,3 +59,5 @@ void bspi_recv(void *dst, uint32_t len) {
         ((uint8_t *)dst)[i] = b;
     }
 }
+
+#endif

stm32/pwm.c

@@ -7,8 +7,10 @@ struct TimDesc {
 };
 
 static const struct TimDesc tims[] = {
-    {TIM1, 2, RCC_APB2ENR_TIM1EN},   //
-    {TIM2, 1, RCC_APB1ENR_TIM2EN},   //
+    {TIM1, 2, RCC_APB2ENR_TIM1EN}, //
+#ifdef TIM2
+    {TIM2, 1, RCC_APB1ENR_TIM2EN},
+#endif
     {TIM3, 1, RCC_APB1ENR_TIM3EN},   //
     {TIM14, 1, RCC_APB1ENR_TIM14EN}, //
     {TIM16, 2, RCC_APB2ENR_TIM16EN}, //
@@ -23,12 +25,14 @@ struct PinPWM {
 };
 
 static const struct PinPWM pins[] = {
-    {PA_1, 2, LL_GPIO_AF_2, TIM2}, // LED on jdm-v2
-    {PA_3, 4, LL_GPIO_AF_2, TIM2}, // POWER on jdm-v2
+#ifdef TIM2
+    {PA_1, 2, LL_GPIO_AF_2, TIM2},  // LED on jdm-v2
+    {PA_3, 4, LL_GPIO_AF_2, TIM2},  // POWER on jdm-v2
+    {PA_15, 1, LL_GPIO_AF_2, TIM2}, // LED on jdm-v3 (TIM2_CH1_ETR?)
+#endif
     //{PA_6, 1, LL_GPIO_AF_5, TIM16}, // SERVO on jdm-v2,3 - doesn't seem to work, TIM3 works
     {PA_6, 1, LL_GPIO_AF_1, TIM3},  // SERVO on jdm-v2,3
     {PA_11, 4, LL_GPIO_AF_2, TIM1}, // POWER on jdm-v3
-    {PA_15, 1, LL_GPIO_AF_2, TIM2}, // LED on jdm-v3 (TIM2_CH1_ETR?)
     {PB_0, 3, LL_GPIO_AF_1, TIM3},  // GLO0 on jdm-v3, also TIM1:2N
     {PB_1, 1, LL_GPIO_AF_0, TIM14}, // GLO1 on jdm-v3; also TIM3:4, TIM1:3N
 };

targets/jd-v0/board.h

@@ -9,21 +9,13 @@
 #define PIN_PWR PA_5
 #define PIN_P0 -1
 #define PIN_P1 -1
-#define PIN_ASCK -1
-#define PIN_AMOSI -1
 
 #define PIN_SERVO PA_6
 
-#define PIN_GLO0 -1
-#define PIN_GLO1 -1
-
-#define PIN_ACC_VCC -1
-#define PIN_ACC_MISO -1
-#define PIN_ACC_MOSI -1
-#define PIN_ACC_SCK -1
-#define PIN_ACC_CS -1
-#define ACC_PORT GPIOA
-
 #define UART_PIN PA_9
 #define UART_PIN_AF LL_GPIO_AF_1
 #define USART_IDX 1
+
+#define OUTPUT_PINS                                                                                \
+    PIN_LOG0, PIN_LOG1, PIN_LOG2, PIN_LOG3, PIN_LED, PIN_LED2, PIN_PWR, PIN_P0, PIN_P1,            \
+        PIN_LED_GND, PIN_SERVO,

targets/jd-v0/profile/crank.c

@@ -1,6 +1,6 @@
 #include "jdprofile.h"
 
-DEVICE_CLASS(0x3beb4448, "JDF030 crank v0");
+DEVICE_CLASS(0x3f7c8355, "JDF030 crank v0");
 
 void init_services() {
     crank_init(PIN_P0, PIN_P1);

targets/jd-v0/profile/servo.c

@@ -2,7 +2,7 @@
 
 #define PIN_SERVO PA_6
 
-DEVICE_CLASS(0x3beb4448, "JDF030 servo v0");
+DEVICE_CLASS(0x3faf16db, "JDF030 servo v0");
 
 void init_services() {
     servo_init(PIN_SERVO);

targets/jdm-v3/board.h

@@ -12,8 +12,8 @@
 #define PIN_ASCK PA_5
 #define PIN_AMOSI PA_7
 
-/*
 #define PIN_SERVO PA_6
+/*
 #define PIN_GLO_SENSE0 PA_1
 #define PIN_GLO_SENSE1 PA_4
 */
@@ -33,3 +33,7 @@
 #define UART_PIN_AF LL_GPIO_AF_1
 #define USART_IDX 1
 
+#define OUTPUT_PINS                                                                                \
+    PIN_LOG0, PIN_LOG1, PIN_LOG2, PIN_LOG3, PIN_LED, PIN_LED2, PIN_PWR, PIN_P0, PIN_P1,            \
+        PIN_LED_GND, PIN_GLO0, PIN_GLO1, PIN_ACC_MOSI, PIN_ACC_SCK, PIN_ACC_VCC, PIN_ACC_CS,       \
+        PIN_ASCK, PIN_AMOSI, PIN_SERVO,