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CC3D - Allow building of a binary that is compatible with the OpenPilot
CC3D bootloader to allow easy switching between OpenPilot and Cleanflight. Submitted by Alessio Morale - http://forums.openpilot.org/topic/43569-baseflightcleanflight-ported-to-cc3d/?p=372149
This commit is contained in:
Dominic Clifton
parent
1182f67b70
commit
acbede5492
4 changed files with 180 additions and 3 deletions
23
Makefile
23
Makefile
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@ -20,6 +20,9 @@ TARGET ?= NAZE
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# Compile-time options
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OPTIONS ?=
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# compile for OpenPilot BootLoader support
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OPBL ?=no
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# Debugger optons, must be empty or GDB
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DEBUG ?=
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@ -34,6 +37,9 @@ FORKNAME = cleanflight
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VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC
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# Valid targets for OP BootLoader support
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OPBL_VALID_TARGETS = CC3D
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REVISION = $(shell git log -1 --format="%h")
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# Working directories
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@ -290,6 +296,15 @@ ifeq ($(TARGET),CJMCU)
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LD_SCRIPT = $(ROOT)/stm32_flash_f103_64k.ld
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endif
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ifeq ($(OPBL),yes)
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ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
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LD_SCRIPT = $(ROOT)/stm32_flash_f103_128k_opbl.ld
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.DEFAULT_GOAL := binary
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else
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$(error OPBL specified with a unsupported target)
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endif
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endif
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CJMCU_SRC = startup_stm32f10x_md_gcc.S \
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drivers/adc.c \
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drivers/adc_stm32f10x.c \
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@ -450,7 +465,7 @@ ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
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$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
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endif
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TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
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TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
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TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
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TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
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@ -462,6 +477,9 @@ TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
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$(TARGET_HEX): $(TARGET_ELF)
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$(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
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$(TARGET_BIN): $(TARGET_ELF)
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$(OBJCOPY) -O binary $< $@
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$(TARGET_ELF): $(TARGET_OBJS)
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$(CC) -o $@ $^ $(LDFLAGS)
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$(SIZE) $(TARGET_ELF)
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@ -483,7 +501,7 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.S
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@$(CC) -c -o $@ $(ASFLAGS) $<
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clean:
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rm -f $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
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rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
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rm -rf $(OBJECT_DIR)/$(TARGET)
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flash_$(TARGET): $(TARGET_HEX)
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@ -493,6 +511,7 @@ flash_$(TARGET): $(TARGET_HEX)
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flash: flash_$(TARGET)
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binary: $(TARGET_BIN)
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unbrick_$(TARGET): $(TARGET_HEX)
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stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
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@ -93,7 +93,12 @@ void systemInit(bool overclock)
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// Configure the Flash Latency cycles and enable prefetch buffer
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SetSysClock(overclock);
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#endif
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#ifdef CC3D
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/* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
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extern void *isr_vector_table_base;
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NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
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#endif
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// Configure NVIC preempt/priority groups
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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@ -34,6 +34,7 @@ SECTIONS
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.isr_vector :
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{
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. = ALIGN(4);
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PROVIDE (isr_vector_table_base = .);
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KEEP(*(.isr_vector)) /* Startup code */
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. = ALIGN(4);
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} >FLASH
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152
stm32_flash_f103_128k_opbl.ld
Normal file
152
stm32_flash_f103_128k_opbl.ld
Normal file
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@ -0,0 +1,152 @@
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/*
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*****************************************************************************
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**
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** File : stm32_flash.ld
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**
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** Abstract : Linker script for STM32F103CB Device with
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** 128KByte FLASH, 20KByte RAM
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**
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*****************************************************************************
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*/
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/* Entry Point */
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ENTRY(Reset_Handler)
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/* Highest address of the user mode stack */
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_estack = 0x20005000; /* end of 20K RAM */
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/* Generate a link error if heap and stack don't fit into RAM */
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_Min_Heap_Size = 0; /* required amount of heap */
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_Min_Stack_Size = 0x400; /* required amount of stack */
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/* Specify the memory areas. Flash is limited for last 2K for configuration storage */
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MEMORY
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{
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FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 126K - 0x03000 /* last 2kb used for config storage first 12k for OP Bootloader*/
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RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
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MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
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}
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/* Define output sections */
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SECTIONS
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{
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/* The startup code goes first into FLASH */
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.isr_vector :
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{
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. = ALIGN(4);
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PROVIDE (isr_vector_table_base = .);
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KEEP(*(.isr_vector)) /* Startup code */
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. = ALIGN(4);
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} >FLASH
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/* The program code and other data goes into FLASH */
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.text :
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{
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. = ALIGN(4);
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*(.text) /* .text sections (code) */
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*(.text*) /* .text* sections (code) */
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*(.rodata) /* .rodata sections (constants, strings, etc.) */
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*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
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*(.glue_7) /* glue arm to thumb code */
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*(.glue_7t) /* glue thumb to arm code */
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*(.eh_frame)
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KEEP (*(.init))
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KEEP (*(.fini))
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. = ALIGN(4);
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_etext = .; /* define a global symbols at end of code */
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} >FLASH
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.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
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.ARM : {
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__exidx_start = .;
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*(.ARM.exidx*)
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__exidx_end = .;
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} >FLASH
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.preinit_array :
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{
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PROVIDE_HIDDEN (__preinit_array_start = .);
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KEEP (*(.preinit_array*))
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PROVIDE_HIDDEN (__preinit_array_end = .);
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} >FLASH
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.init_array :
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{
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PROVIDE_HIDDEN (__init_array_start = .);
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KEEP (*(SORT(.init_array.*)))
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KEEP (*(.init_array*))
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PROVIDE_HIDDEN (__init_array_end = .);
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} >FLASH
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.fini_array :
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{
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PROVIDE_HIDDEN (__fini_array_start = .);
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KEEP (*(.fini_array*))
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KEEP (*(SORT(.fini_array.*)))
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PROVIDE_HIDDEN (__fini_array_end = .);
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} >FLASH
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/* used by the startup to initialize data */
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_sidata = .;
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/* Initialized data sections goes into RAM, load LMA copy after code */
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.data :
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{
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. = ALIGN(4);
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_sdata = .; /* create a global symbol at data start */
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*(.data) /* .data sections */
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*(.data*) /* .data* sections */
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. = ALIGN(4);
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_edata = .; /* define a global symbol at data end */
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} >RAM AT> FLASH
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/* Uninitialized data section */
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. = ALIGN(4);
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.bss :
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{
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/* This is used by the startup in order to initialize the .bss secion */
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_sbss = .; /* define a global symbol at bss start */
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__bss_start__ = _sbss;
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*(.bss)
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*(.bss*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = .; /* define a global symbol at bss end */
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__bss_end__ = _ebss;
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} >RAM
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/* User_heap_stack section, used to check that there is enough RAM left */
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._user_heap_stack :
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{
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. = ALIGN(4);
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PROVIDE ( end = . );
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PROVIDE ( _end = . );
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. = . + _Min_Heap_Size;
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. = . + _Min_Stack_Size;
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. = ALIGN(4);
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} >RAM
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/* MEMORY_bank1 section, code must be located here explicitly */
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/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
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.memory_b1_text :
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{
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*(.mb1text) /* .mb1text sections (code) */
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*(.mb1text*) /* .mb1text* sections (code) */
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*(.mb1rodata) /* read-only data (constants) */
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*(.mb1rodata*)
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} >MEMORY_B1
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/* Remove information from the standard libraries */
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/DISCARD/ :
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{
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libc.a ( * )
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libm.a ( * )
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libgcc.a ( * )
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}
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.ARM.attributes 0 : { *(.ARM.attributes) }
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}
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