Initial commit

.clangd

@@ -0,0 +1,8 @@
+CompileFlags:
+  Add:
+    [
+      "-target",
+      "arm-none-eabi",
+      "-DSTM32F103xB",
+      "--sysroot=/usr/arm-none-eabi",
+    ]

.gitignore

@@ -0,0 +1,58 @@
+# Created by https://www.toptal.com/developers/gitignore/api/c
+# Edit at https://www.toptal.com/developers/gitignore?templates=c
+
+### C ###
+# Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+# End of https://www.toptal.com/developers/gitignore/api/c

.gitmodules

@@ -0,0 +1,12 @@
+[submodule "firmware/Drivers/CMSIS/Device/ST/STM32F1xx"]
+	path = firmware/Drivers/CMSIS/Device/ST/STM32F1xx
+	url = https://github.com/STMicroelectronics/cmsis_device_f1.git
+[submodule "firmware/Middlewares/FreeRTOS"]
+	path = firmware/Middlewares/FreeRTOS
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git
+[submodule "firmware/Middlewares/TinyUSB"]
+	path = firmware/Middlewares/TinyUSB
+	url = https://github.com/hathach/tinyusb.git
+[submodule "firmware/Drivers/CMSIS/Core"]
+	path = firmware/Drivers/CMSIS/Core
+	url = https://github.com/STMicroelectronics/cmsis_core.git

client/reveier.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+import sys
+import time
+
+import serial
+
+# Настройки порта
+SERIAL_PORT = "/dev/ttyACM0"
+BAUD_RATE = 115200
+
+
+def read_serial_data():
+    try:
+        # Открытие порта. Timeout позволяет прерывать блокирующее чтение.
+        ser = serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=1)
+        print(f"Connected to {SERIAL_PORT}")
+
+        while True:
+            if ser.in_waiting > 0:
+                # Чтение строки, декодирование и удаление пробелов
+                line = ser.readline().decode("utf-8", errors="replace").strip()
+                if line:
+                    print(f"[RX]: {line}")
+            else:
+                # Небольшая пауза, чтобы не грузить CPU ПК
+                time.sleep(0.01)
+
+    except serial.SerialException as e:
+        print(f"Error opening serial port: {e}")
+        print(
+            "Hint: Check if /dev/ttyACM0 exists and you have permissions (group uucp)."
+        )
+    except KeyboardInterrupt:
+        print("\nExiting...")
+    finally:
+        if "ser" in locals() and ser.is_open:
+            ser.close()
+
+
+if __name__ == "__main__":
+    read_serial_data()

firmware/App/Inc/FreeRTOSConfig.h

@@ -0,0 +1,31 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configUSE_PREEMPTION 1
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configCPU_CLOCK_HZ ((unsigned long)72000000)  // 72MHz
+#define configTICK_RATE_HZ ((TickType_t)1000)
+#define configMAX_PRIORITIES (5)
+#define configMINIMAL_STACK_SIZE ((unsigned short)128)
+#define configTOTAL_HEAP_SIZE ((size_t)(10 * 1024))  // 10KB Heap
+#define configMAX_TASK_NAME_LEN (16)
+#define configUSE_16_BIT_TICKS 0
+#define configIDLE_SHOULD_YIELD 1
+
+/* Cortex-M3 specific */
+#define configPRIO_BITS 4
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
+#define configKERNEL_INTERRUPT_PRIORITY \
+    (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY \
+    (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+ * standard names. */
+#define vPortSVCHandler SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+#define xPortSysTickHandler SysTick_Handler
+
+#endif /* FREERTOS_CONFIG_H */

firmware/App/Inc/tusb_config.h

@@ -0,0 +1,31 @@
+#ifndef _TUSB_CONFIG_H_
+#define _TUSB_CONFIG_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Выбор MCU и режима
+#define CFG_TUSB_MCU OPT_MCU_STM32F1
+#define CFG_TUSB_RHPORT0_MODE OPT_MODE_DEVICE
+
+// Конфигурация OS (FreeRTOS)
+#define CFG_TUSB_OS OPT_OS_FREERTOS
+
+// Выделение памяти (используем heap FreeRTOS)
+#define CFG_TUSB_MEM_SECTION
+#define CFG_TUSB_MEM_ALIGN __attribute__((aligned(4)))
+
+// Конфигурация CDC (Communication Device Class)
+#define CFG_TUD_CDC 1
+#define CFG_TUD_CDC_RX_BUFSIZE 64
+#define CFG_TUD_CDC_TX_BUFSIZE 64
+
+// Endpoint буферизация
+#define CFG_TUD_ENDPOINT0_SIZE 64
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _TUSB_CONFIG_H_ */

firmware/App/Src/main.c

@@ -0,0 +1,98 @@
+#include "FreeRTOS.h"
+#include "stm32f1xx.h"
+#include "task.h"
+#include "tusb.h"
+
+// --- System Clock Config (72MHz from 8MHz HSE) ---
+void SystemClock_Config(void) {
+    // Включаем HSE
+    RCC->CR |= RCC_CR_HSEON;
+    while (!(RCC->CR & RCC_CR_HSERDY));
+
+    // Настраиваем Flash latency (2 wait states)
+    FLASH->ACR |= FLASH_ACR_LATENCY_2;
+
+    // PLL: HSE * 9 = 72 MHz
+    // PLLSRC = HSE (1), PLLMUL = 9 (0111) -> 0x001C0000
+    // USB Prescaler = 1.5 (Div by 1.5 -> 48MHz) -> 0x00000000 (PLL/1.5 is
+    // default? No check bit) В F103 USBPRE бит в RCC_CFGR: 0 = div1.5, 1 = div1
+    // Мы хотим 72MHz sysclk. Для USB нужно 48MHz.
+    // 72 / 1.5 = 48MHz. Значит USBPRE = 0 (reset state).
+    RCC->CFGR |= (RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL9);
+
+    // Включаем PLL
+    RCC->CR |= RCC_CR_PLLON;
+    while (!(RCC->CR & RCC_CR_PLLRDY));
+
+    // Переключаем System Clock на PLL
+    RCC->CFGR |= RCC_CFGR_SW_PLL;
+    while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
+
+    SystemCoreClock = 72000000;
+}
+
+// --- Задачи FreeRTOS ---
+
+// Задача для стека TinyUSB (обработка событий USB)
+void usb_device_task(void *param) {
+    (void)param;
+    while (1) {
+        tud_task();  // "Сердце" TinyUSB. Должно вызываться часто.
+    }
+}
+
+// Задача CDC (эхо)
+void cdc_task(void *param) {
+    (void)param;
+    while (1) {
+        if (tud_cdc_connected()) {
+            if (tud_cdc_available()) {
+                uint8_t buf[64];
+                uint32_t count = tud_cdc_read(buf, sizeof(buf));
+                tud_cdc_write(buf, count);  // Эхо
+                tud_cdc_write_flush();
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(1));
+    }
+}
+
+int main(void) {
+    SystemClock_Config();
+
+    // Включаем тактирование USB и GPIOA (для USB пинов)
+    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN;
+    RCC->APB1ENR |= RCC_APB1ENR_USBEN;
+
+    // Инициализация TinyUSB
+    tusb_init();
+
+    // Создание задач
+    xTaskCreate(
+        usb_device_task,
+        "usbd",
+        128,
+        NULL,
+        configMAX_PRIORITIES - 1,
+        NULL);
+    xTaskCreate(cdc_task, "cdc", 128, NULL, configMAX_PRIORITIES - 2, NULL);
+
+    vTaskStartScheduler();
+    while (1);
+}
+
+// --- Обработчики прерываний ---
+// USB High Priority or CAN1 TX (Не используется в FS, но полезно объявить)
+void USB_HP_CAN1_TX_IRQHandler(void) {
+    tud_int_handler(0);
+}
+
+// USB Low Priority or CAN1 RX0 (Основное прерывание для F103)
+void USB_LP_CAN1_RX0_IRQHandler(void) {
+    tud_int_handler(0);
+}
+
+// USB Wakeup
+void USBWakeUp_IRQHandler(void) {
+    tud_int_handler(0);
+}

firmware/App/Src/startup_stm32f103xb.s

@@ -0,0 +1,364 @@
+/**
+  *************** (C) COPYRIGHT 2017 STMicroelectronics ************************
+  * @file      startup_stm32f103xb.s
+  * @author    MCD Application Team
+  * @brief     STM32F103xB Devices vector table for Atollic toolchain.
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Configure the clock system   
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M3 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2017-2021 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+  .syntax unified
+  .cpu cortex-m3
+  .fpu softvfp
+  .thumb
+
+.global g_pfnVectors
+.global Default_Handler
+
+/* start address for the initialization values of the .data section.
+defined in linker script */
+.word _sidata
+/* start address for the .data section. defined in linker script */
+.word _sdata
+/* end address for the .data section. defined in linker script */
+.word _edata
+/* start address for the .bss section. defined in linker script */
+.word _sbss
+/* end address for the .bss section. defined in linker script */
+.word _ebss
+
+.equ  BootRAM, 0xF108F85F
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called.
+ * @param  None
+ * @retval : None
+*/
+
+  .section .text.Reset_Handler
+  .weak Reset_Handler
+  .type Reset_Handler, %function
+Reset_Handler:
+
+/* Call the clock system initialization function.*/
+    bl  SystemInit
+
+/* Copy the data segment initializers from flash to SRAM */
+  ldr r0, =_sdata
+  ldr r1, =_edata
+  ldr r2, =_sidata
+  movs r3, #0
+  b LoopCopyDataInit
+
+CopyDataInit:
+  ldr r4, [r2, r3]
+  str r4, [r0, r3]
+  adds r3, r3, #4
+
+LoopCopyDataInit:
+  adds r4, r0, r3
+  cmp r4, r1
+  bcc CopyDataInit
+  
+/* Zero fill the bss segment. */
+  ldr r2, =_sbss
+  ldr r4, =_ebss
+  movs r3, #0
+  b LoopFillZerobss
+
+FillZerobss:
+  str  r3, [r2]
+  adds r2, r2, #4
+
+LoopFillZerobss:
+  cmp r2, r4
+  bcc FillZerobss
+
+/* Call static constructors */
+    bl __libc_init_array
+/* Call the application's entry point.*/
+  bl main
+  bx lr
+.size Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ *
+ * @param  None
+ * @retval : None
+*/
+    .section .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b Infinite_Loop
+  .size Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M3.  Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+*
+******************************************************************************/
+  .section .isr_vector,"a",%progbits
+  .type g_pfnVectors, %object
+  .size g_pfnVectors, .-g_pfnVectors
+
+
+g_pfnVectors:
+
+  .word _estack
+  .word Reset_Handler
+  .word NMI_Handler
+  .word HardFault_Handler
+  .word MemManage_Handler
+  .word BusFault_Handler
+  .word UsageFault_Handler
+  .word 0
+  .word 0
+  .word 0
+  .word 0
+  .word SVC_Handler
+  .word DebugMon_Handler
+  .word 0
+  .word PendSV_Handler
+  .word SysTick_Handler
+  .word WWDG_IRQHandler
+  .word PVD_IRQHandler
+  .word TAMPER_IRQHandler
+  .word RTC_IRQHandler
+  .word FLASH_IRQHandler
+  .word RCC_IRQHandler
+  .word EXTI0_IRQHandler
+  .word EXTI1_IRQHandler
+  .word EXTI2_IRQHandler
+  .word EXTI3_IRQHandler
+  .word EXTI4_IRQHandler
+  .word DMA1_Channel1_IRQHandler
+  .word DMA1_Channel2_IRQHandler
+  .word DMA1_Channel3_IRQHandler
+  .word DMA1_Channel4_IRQHandler
+  .word DMA1_Channel5_IRQHandler
+  .word DMA1_Channel6_IRQHandler
+  .word DMA1_Channel7_IRQHandler
+  .word ADC1_2_IRQHandler
+  .word USB_HP_CAN1_TX_IRQHandler
+  .word USB_LP_CAN1_RX0_IRQHandler
+  .word CAN1_RX1_IRQHandler
+  .word CAN1_SCE_IRQHandler
+  .word EXTI9_5_IRQHandler
+  .word TIM1_BRK_IRQHandler
+  .word TIM1_UP_IRQHandler
+  .word TIM1_TRG_COM_IRQHandler
+  .word TIM1_CC_IRQHandler
+  .word TIM2_IRQHandler
+  .word TIM3_IRQHandler
+  .word TIM4_IRQHandler
+  .word I2C1_EV_IRQHandler
+  .word I2C1_ER_IRQHandler
+  .word I2C2_EV_IRQHandler
+  .word I2C2_ER_IRQHandler
+  .word SPI1_IRQHandler
+  .word SPI2_IRQHandler
+  .word USART1_IRQHandler
+  .word USART2_IRQHandler
+  .word USART3_IRQHandler
+  .word EXTI15_10_IRQHandler
+  .word RTC_Alarm_IRQHandler
+  .word USBWakeUp_IRQHandler
+  .word 0
+  .word 0
+  .word 0
+  .word 0
+  .word 0
+  .word 0
+  .word 0
+  .word BootRAM          /* @0x108. This is for boot in RAM mode for
+                            STM32F10x Medium Density devices. */
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
+* this definition.
+*
+*******************************************************************************/
+
+  .weak NMI_Handler
+  .thumb_set NMI_Handler,Default_Handler
+
+  .weak HardFault_Handler
+  .thumb_set HardFault_Handler,Default_Handler
+
+  .weak MemManage_Handler
+  .thumb_set MemManage_Handler,Default_Handler
+
+  .weak BusFault_Handler
+  .thumb_set BusFault_Handler,Default_Handler
+
+  .weak UsageFault_Handler
+  .thumb_set UsageFault_Handler,Default_Handler
+
+  .weak SVC_Handler
+  .thumb_set SVC_Handler,Default_Handler
+
+  .weak DebugMon_Handler
+  .thumb_set DebugMon_Handler,Default_Handler
+
+  .weak PendSV_Handler
+  .thumb_set PendSV_Handler,Default_Handler
+
+  .weak SysTick_Handler
+  .thumb_set SysTick_Handler,Default_Handler
+
+  .weak WWDG_IRQHandler
+  .thumb_set WWDG_IRQHandler,Default_Handler
+
+  .weak PVD_IRQHandler
+  .thumb_set PVD_IRQHandler,Default_Handler
+
+  .weak TAMPER_IRQHandler
+  .thumb_set TAMPER_IRQHandler,Default_Handler
+
+  .weak RTC_IRQHandler
+  .thumb_set RTC_IRQHandler,Default_Handler
+
+  .weak FLASH_IRQHandler
+  .thumb_set FLASH_IRQHandler,Default_Handler
+
+  .weak RCC_IRQHandler
+  .thumb_set RCC_IRQHandler,Default_Handler
+
+  .weak EXTI0_IRQHandler
+  .thumb_set EXTI0_IRQHandler,Default_Handler
+
+  .weak EXTI1_IRQHandler
+  .thumb_set EXTI1_IRQHandler,Default_Handler
+
+  .weak EXTI2_IRQHandler
+  .thumb_set EXTI2_IRQHandler,Default_Handler
+
+  .weak EXTI3_IRQHandler
+  .thumb_set EXTI3_IRQHandler,Default_Handler
+
+  .weak EXTI4_IRQHandler
+  .thumb_set EXTI4_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel1_IRQHandler
+  .thumb_set DMA1_Channel1_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel2_IRQHandler
+  .thumb_set DMA1_Channel2_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel3_IRQHandler
+  .thumb_set DMA1_Channel3_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel4_IRQHandler
+  .thumb_set DMA1_Channel4_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel5_IRQHandler
+  .thumb_set DMA1_Channel5_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel6_IRQHandler
+  .thumb_set DMA1_Channel6_IRQHandler,Default_Handler
+
+  .weak DMA1_Channel7_IRQHandler
+  .thumb_set DMA1_Channel7_IRQHandler,Default_Handler
+
+  .weak ADC1_2_IRQHandler
+  .thumb_set ADC1_2_IRQHandler,Default_Handler
+
+  .weak USB_HP_CAN1_TX_IRQHandler
+  .thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler
+
+  .weak USB_LP_CAN1_RX0_IRQHandler
+  .thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler
+
+  .weak CAN1_RX1_IRQHandler
+  .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+
+  .weak CAN1_SCE_IRQHandler
+  .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+
+  .weak EXTI9_5_IRQHandler
+  .thumb_set EXTI9_5_IRQHandler,Default_Handler
+
+  .weak TIM1_BRK_IRQHandler
+  .thumb_set TIM1_BRK_IRQHandler,Default_Handler
+
+  .weak TIM1_UP_IRQHandler
+  .thumb_set TIM1_UP_IRQHandler,Default_Handler
+
+  .weak TIM1_TRG_COM_IRQHandler
+  .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
+
+  .weak TIM1_CC_IRQHandler
+  .thumb_set TIM1_CC_IRQHandler,Default_Handler
+
+  .weak TIM2_IRQHandler
+  .thumb_set TIM2_IRQHandler,Default_Handler
+
+  .weak TIM3_IRQHandler
+  .thumb_set TIM3_IRQHandler,Default_Handler
+
+  .weak TIM4_IRQHandler
+  .thumb_set TIM4_IRQHandler,Default_Handler
+
+  .weak I2C1_EV_IRQHandler
+  .thumb_set I2C1_EV_IRQHandler,Default_Handler
+
+  .weak I2C1_ER_IRQHandler
+  .thumb_set I2C1_ER_IRQHandler,Default_Handler
+
+  .weak I2C2_EV_IRQHandler
+  .thumb_set I2C2_EV_IRQHandler,Default_Handler
+
+  .weak I2C2_ER_IRQHandler
+  .thumb_set I2C2_ER_IRQHandler,Default_Handler
+
+  .weak SPI1_IRQHandler
+  .thumb_set SPI1_IRQHandler,Default_Handler
+
+  .weak SPI2_IRQHandler
+  .thumb_set SPI2_IRQHandler,Default_Handler
+
+  .weak USART1_IRQHandler
+  .thumb_set USART1_IRQHandler,Default_Handler
+
+  .weak USART2_IRQHandler
+  .thumb_set USART2_IRQHandler,Default_Handler
+
+  .weak USART3_IRQHandler
+  .thumb_set USART3_IRQHandler,Default_Handler
+
+  .weak EXTI15_10_IRQHandler
+  .thumb_set EXTI15_10_IRQHandler,Default_Handler
+
+  .weak RTC_Alarm_IRQHandler
+  .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+
+  .weak USBWakeUp_IRQHandler
+  .thumb_set USBWakeUp_IRQHandler,Default_Handler
+
+

firmware/Makefile

@@ -0,0 +1,103 @@
+TARGET = stm32-usb-freertos
+BUILD_DIR = Build
+
+# --- Исходники ---
+# 1. Приложение
+C_SOURCES =  \
+App/Src/main.c
+
+# 2. FreeRTOS
+C_SOURCES += \
+Middlewares/FreeRTOS/croutine.c \
+Middlewares/FreeRTOS/event_groups.c \
+Middlewares/FreeRTOS/list.c \
+Middlewares/FreeRTOS/queue.c \
+Middlewares/FreeRTOS/tasks.c \
+Middlewares/FreeRTOS/timers.c \
+Middlewares/FreeRTOS/portable/GCC/ARM_CM3/port.c \
+Middlewares/FreeRTOS/portable/MemMang/heap_4.c
+
+# 3. TinyUSB
+# Базовые файлы
+C_SOURCES += \
+Middlewares/TinyUSB/src/tusb.c \
+Middlewares/TinyUSB/src/common/tusb_fifo.c \
+Middlewares/TinyUSB/src/device/usbd.c \
+Middlewares/TinyUSB/src/device/usbd_control.c \
+Middlewares/TinyUSB/src/class/cdc/cdc_device.c
+# Драйвер для STM32 (Portable)
+C_SOURCES += \
+Middlewares/TinyUSB/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
+
+# 4. Startup
+ASM_SOURCES = App/Src/startup_stm32f103xb.s
+
+# --- Настройки компилятора ---
+PREFIX = arm-none-eabi-
+CC = $(PREFIX)gcc
+AS = $(PREFIX)gcc -x assembler-with-cpp
+CP = $(PREFIX)objcopy
+SZ = $(PREFIX)size
+
+MCU = -mcpu=cortex-m3 -mthumb -DSTM32F103xB
+
+# Includes
+C_INCLUDES =  \
+-IApp/Inc \
+-IDrivers/CMSIS/Core/Include \
+-IDrivers/CMSIS/Device/ST/STM32F1xx/Include \
+-IMiddlewares/FreeRTOS/include \
+-IMiddlewares/FreeRTOS/portable/GCC/ARM_CM3 \
+-IMiddlewares/TinyUSB/src
+
+# TinyUSB config specific defines
+C_DEFS = \
+-DSTM32F103xB \
+-DCFG_TUSB_MCU=OPT_MCU_STM32F1
+
+CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) -O2 -Wall -fdata-sections -ffunction-sections -g -gdwarf-2
+
+# Linker
+LDSCRIPT = stm32f103c8.ld
+LIBS = -lc -lm -lnosys
+LDFLAGS = $(MCU) -T$(LDSCRIPT) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
+
+# --- Правила сборки ---
+all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+
+# Компиляция C
+$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
+	@mkdir -p $(dir $@)
+	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+
+# Компиляция ASM
+$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
+	@mkdir -p $(dir $@)
+	$(AS) -c $(CFLAGS) $< -o $@
+
+# Линковка
+$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
+	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(SZ) $@
+
+$(BUILD_DIR)/%.hex: $(BUILD_DIR)/$(TARGET).elf | $(BUILD_DIR)
+	$(CP) -O ihex $< $@
+
+$(BUILD_DIR)/%.bin: $(BUILD_DIR)/$(TARGET).elf | $(BUILD_DIR)
+	$(CP) -O binary -S $< $@
+
+$(BUILD_DIR):
+	mkdir $@
+
+# Генерация списка объектов (автоматически из C_SOURCES)
+OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
+vpath %.c $(sort $(dir $(C_SOURCES)))
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
+vpath %.s $(sort $(dir $(ASM_SOURCES)))
+
+clean:
+	rm -rf $(BUILD_DIR)
+
+flash:
+	st-flash write $(BUILD_DIR)/$(TARGET).bin 0x8000000
+

firmware/stm32f103c8.ld

@@ -0,0 +1,149 @@
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
+
+_Min_Heap_Size = 0x200;  /* required amount of heap  */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Memories definition */
+MEMORY
+{
+  RAM    (xrw)    : ORIGIN = 0x20000000,   LENGTH = 20K
+  FLASH  (rx)     : ORIGIN = 0x08000000,   LENGTH = 64K
+}
+
+/* Sections */
+SECTIONS
+{
+  /* The startup code into "FLASH" Rom type memory */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data into "FLASH" Rom type memory */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data into "FLASH" Rom type memory */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { 
+    . = ALIGN(4);
+    *(.ARM.extab* .gnu.linkonce.armextab.*)
+    . = ALIGN(4);
+  } >FLASH
+  
+  .ARM : {
+    . = ALIGN(4);
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+    . = ALIGN(4);
+  } >FLASH
+
+  .preinit_array     :
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+  
+  .init_array :
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+  
+  .fini_array :
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  /* Used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections into "RAM" Ram type memory */
+  .data : 
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+    
+  } >RAM AT> FLASH
+
+  /* Uninitialized data section into "RAM" Ram type memory */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss section */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+
+  /* Remove information from the compiler libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}

tests/test_device.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+import threading
+import time
+
+import serial
+
+PORT = "/dev/ttyACM0"
+BAUDRATE = 115200
+
+
+def read_from_port(ser):
+    while True:
+        if ser.in_waiting > 0:
+            data = ser.read(ser.in_waiting)
+            print(f"Received: {data.decode('utf-8', errors='ignore')}")
+
+
+try:
+    ser = serial.Serial(PORT, BAUDRATE, timeout=1)
+    print(f"Connected to {PORT}")
+
+    # Запускаем чтение в фоне
+    thread = threading.Thread(target=read_from_port, args=(ser,), daemon=True)
+    thread.start()
+
+    # Пишем данные
+    counter = 0
+    while True:
+        msg = f"Ping {counter}\n"
+        ser.write(msg.encode("utf-8"))
+        print(f"Sent: {msg.strip()}")
+        counter += 1
+        time.sleep(1)
+
+except serial.SerialException as e:
+    print(f"Error: {e}")
+except KeyboardInterrupt:
+    print("\nExiting...")
+    if "ser" in locals() and ser.is_open:
+        ser.close()