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PICO: Linker script and flash config updates.

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Linker script based on rp2350/memmap_default.ld from pico-sdk.
Fix to flash config (erase on sector boundaries).
This commit is contained in:
Matthew Selby 2025-05-13 10:03:04 +01:00
parent 22738b6492
commit c46c3825a0
2 changed files with 301 additions and 212 deletions
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13
src/platform/PICO/config_flash.c
View file

@ -47,19 +47,22 @@ void configClearFlags(void)
configStreamerResult_e configWriteWord(uintptr_t address, config_streamer_buffer_type_t *buffer)
{
// TODO: synchronise second core... see e.g. pico-examples flash_program, uses flash_safe_execute.
// pico-sdk flash_range functions use the offset from start of FLASH
uint32_t flash_offs = address - XIP_BASE;
uint32_t interrupts = save_and_disable_interrupts();
if (address == __config_start) {
if ((flash_offs % FLASH_SECTOR_SIZE) == 0) {
// Erase the flash sector before writing
flash_range_erase(address, FLASH_PAGE_SIZE);
flash_range_erase(flash_offs, FLASH_SECTOR_SIZE);
}
STATIC_ASSERT(CONFIG_STREAMER_BUFFER_SIZE == sizeof(config_streamer_buffer_type_t) * CONFIG_STREAMER_BUFFER_SIZE, "CONFIG_STREAMER_BUFFER_SIZE does not match written size");
// Write data to flash
// TODO: synchronise second core...
flash_range_program(address, buffer, CONFIG_STREAMER_BUFFER_SIZE);
flash_range_program(flash_offs, buffer, CONFIG_STREAMER_BUFFER_SIZE);
restore_interrupts(interrupts);
return CONFIG_RESULT_SUCCESS;

500
src/platform/PICO/link/pico_rp2350.ld
View file

@ -1,243 +1,329 @@
/* Specify the memory areas */
/* Based on GCC ARM embedded samples.
Defines the following symbols for use by code:
__exidx_start
__exidx_end
__etext
__data_start__
__preinit_array_start
__preinit_array_end
__init_array_start
__init_array_end
__fini_array_start
__fini_array_end
__data_end__
__bss_start__
__bss_end__
__end__
end
__HeapLimit
__StackLimit
__StackTop
__stack (== StackTop)
*/
MEMORY
{
FLASH_X (rx) : ORIGIN = 0x10000000, LENGTH = 16K
FLASH_CONFIG (r) : ORIGIN = 0x10004000, LENGTH = 16K
FLASH (rx) : ORIGIN = 0x10008000, LENGTH = 992K
RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 512K
SCRATCH_X(rwx) : ORIGIN = 0x20080000, LENGTH = 4k
SCRATCH_Y(rwx) : ORIGIN = 0x20081000, LENGTH = 4k
/* TODO: Assuming for now that target has >= 4MB boot flash */
FLASH (rx) : ORIGIN = 0x10000000, LENGTH = 4032K
FLASH_CONFIG (r) : ORIGIN = 0x103F0000, LENGTH = 64K
RAM(rwx) : ORIGIN = 0x20000000, LENGTH = 512k
SCRATCH_X(rwx) : ORIGIN = 0x20080000, LENGTH = 4k
SCRATCH_Y(rwx) : ORIGIN = 0x20081000, LENGTH = 4k
}
REGION_ALIAS("STACKRAM", RAM)
REGION_ALIAS("FASTRAM", RAM)
REGION_ALIAS("MOVABLE_FLASH", FLASH)
ENTRY(_entry_point)
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(STACKRAM) + LENGTH(STACKRAM) - 8; /* Reserve 2 x 4bytes for info across reset */
/* Base address where the config is stored. */
__config_start = ORIGIN(FLASH_CONFIG);
__config_end = ORIGIN(FLASH_CONFIG) + LENGTH(FLASH_CONFIG);
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH_X */
.isr_vector :
{
. = ALIGN(512);
PROVIDE (isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH_X
.flash_begin : {
__flash_binary_start = .;
} > FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
/* The bootrom will enter the image at the point indicated in your
IMAGE_DEF, which is usually the reset handler of your vector table.
KEEP (*(.init))
KEEP (*(.fini))
The debugger will use the ELF entry point, which is the _entry_point
symbol, and in our case is *different from the bootrom's entry point.*
This is used to go back through the bootrom on debugger launches only,
to perform the same initial flash setup that would be performed on a
cold boot.
*/
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.text : {
__logical_binary_start = .;
KEEP (*(.vectors))
KEEP (*(.binary_info_header))
__binary_info_header_end = .;
KEEP (*(.embedded_block))
__embedded_block_end = .;
KEEP (*(.reset))
/* TODO revisit this now memset/memcpy/float in ROM */
/* bit of a hack right now to exclude all floating point and time critical (e.g. memset, memcpy) code from
* FLASH ... we will include any thing excluded here in .data below by default */
*(.init)
*libgcc.a:cmse_nonsecure_call.o
*(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a:) .text*)
*(.fini)
/* Pull all c'tors into .text */
*crtbegin.o(.ctors)
*crtbegin?.o(.ctors)
*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
*(SORT(.ctors.*))
*(.ctors)
/* Followed by destructors */
*crtbegin.o(.dtors)
*crtbegin?.o(.dtors)
*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
*(SORT(.dtors.*))
*(.dtors)
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} >FLASH
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP(*(SORT(.preinit_array.*)))
KEEP(*(.preinit_array))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
/* init data */
PROVIDE_HIDDEN (__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
/* finit data */
PROVIDE_HIDDEN (__fini_array_start = .);
*(SORT(.fini_array.*))
*(.fini_array)
PROVIDE_HIDDEN (__fini_array_end = .);
*(.eh_frame*)
. = ALIGN(4);
} > FLASH
/* Note the boot2 section is optional, and should be discarded if there is
no reference to it *inside* the binary, as it is not called by the
bootrom. (The bootrom performs a simple best-effort XIP setup and
leaves it to the binary to do anything more sophisticated.) However
there is still a size limit of 256 bytes, to ensure the boot2 can be
stored in boot RAM.
Really this is a "XIP setup function" -- the name boot2 is historic and
refers to its dual-purpose on RP2040, where it also handled vectoring
from the bootrom into the user image.
*/
.boot2 : {
__boot2_start__ = .;
*(.boot2)
__boot2_end__ = .;
} > FLASH
ASSERT(__boot2_end__ - __boot2_start__ <= 256,
"ERROR: Pico second stage bootloader must be no more than 256 bytes in size")
.rodata : {
*(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a:) .rodata*)
*(.srodata*)
. = ALIGN(4);
*(SORT_BY_ALIGNMENT(SORT_BY_NAME(.flashdata*)))
. = ALIGN(4);
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM :
{
__exidx_start = .;
*(.ARM.exidx*) __exidx_end = .;
} >FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
__exidx_end = .;
.pg_registry :
{
PROVIDE_HIDDEN (__pg_registry_start = .);
KEEP (*(.pg_registry))
KEEP (*(SORT(.pg_registry.*)))
PROVIDE_HIDDEN (__pg_registry_end = .);
} >FLASH
.pg_resetdata :
{
PROVIDE_HIDDEN (__pg_resetdata_start = .);
KEEP (*(.pg_resetdata))
PROVIDE_HIDDEN (__pg_resetdata_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
/* Machine inspectable binary information */
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
__binary_info_start = .;
.binary_info :
{
KEEP(*(.binary_info.keep.*))
*(.binary_info.*)
} > FLASH
__binary_info_end = .;
. = ALIGN(4);
*(.after_data.*)
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__mutex_array_start = .);
KEEP(*(SORT(.mutex_array.*)))
KEEP(*(.mutex_array))
PROVIDE_HIDDEN (__mutex_array_end = .);
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT >FLASH
.ram_vector_table (NOLOAD): {
*(.ram_vector_table)
} > RAM
/* Uninitialized data section */
. = ALIGN(4);
.bss (NOLOAD) :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(SORT_BY_ALIGNMENT(.bss*))
*(COMMON)
.uninitialized_data (NOLOAD): {
. = ALIGN(4);
*(.uninitialized_data*)
} > RAM
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
.data : {
__data_start__ = .;
*(vtable)
/* Uninitialized data section */
. = ALIGN(4);
.sram2 (NOLOAD) :
{
/* This is used by the startup in order to initialize the .sram2 secion */
_ssram2 = .; /* define a global symbol at sram2 start */
__sram2_start__ = _ssram2;
*(.sram2)
*(SORT_BY_ALIGNMENT(.sram2*))
*(.time_critical*)
. = ALIGN(4);
_esram2 = .; /* define a global symbol at sram2 end */
__sram2_end__ = _esram2;
} >RAM
/* remaining .text and .rodata; i.e. stuff we exclude above because we want it in RAM */
*(.text*)
. = ALIGN(4);
*(.rodata*)
. = ALIGN(4);
/* used during startup to initialized fastram_data */
_sfastram_idata = LOADADDR(.fastram_data);
*(.data*)
*(.sdata*)
/* Initialized FAST_DATA section for unsuspecting developers */
.fastram_data :
{
. = ALIGN(4);
_sfastram_data = .; /* create a global symbol at data start */
*(.fastram_data) /* .data sections */
*(.fastram_data*) /* .data* sections */
. = ALIGN(4);
*(.after_data.*)
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__mutex_array_start = .);
KEEP(*(SORT(.mutex_array.*)))
KEEP(*(.mutex_array))
PROVIDE_HIDDEN (__mutex_array_end = .);
. = ALIGN(4);
_efastram_data = .; /* define a global symbol at data end */
} >FASTRAM AT >FLASH
*(.jcr)
. = ALIGN(4);
} > RAM AT> FLASH
. = ALIGN(4);
.fastram_bss (NOLOAD) :
{
_sfastram_bss = .;
__fastram_bss_start__ = _sfastram_bss;
*(.fastram_bss)
*(SORT_BY_ALIGNMENT(.fastram_bss*))
.tdata : {
. = ALIGN(4);
*(.tdata .tdata.* .gnu.linkonce.td.*)
/* All data end */
__tdata_end = .;
} > RAM AT> FLASH
PROVIDE(__data_end__ = .);
. = ALIGN(4);
_efastram_bss = .;
__fastram_bss_end__ = _efastram_bss;
} >FASTRAM
/* __etext is (for backwards compatibility) the name of the .data init source pointer (...) */
__etext = LOADADDR(.data);
/* used during startup to initialized dmaram_data */
_sdmaram_idata = LOADADDR(.dmaram_data);
.tbss (NOLOAD) : {
. = ALIGN(4);
__bss_start__ = .;
__tls_base = .;
*(.tbss .tbss.* .gnu.linkonce.tb.*)
*(.tcommon)
. = ALIGN(32);
.dmaram_data :
{
PROVIDE(dmaram_start = .);
_sdmaram = .;
_dmaram_start__ = _sdmaram;
_sdmaram_data = .; /* create a global symbol at data start */
*(.dmaram_data) /* .data sections */
*(.dmaram_data*) /* .data* sections */
. = ALIGN(32);
_edmaram_data = .; /* define a global symbol at data end */
} >RAM AT >FLASH
__tls_end = .;
} > RAM
. = ALIGN(32);
.dmaram_bss (NOLOAD) :
{
_sdmaram_bss = .;
__dmaram_bss_start__ = _sdmaram_bss;
*(.dmaram_bss)
*(SORT_BY_ALIGNMENT(.dmaram_bss*))
. = ALIGN(32);
_edmaram_bss = .;
__dmaram_bss_end__ = _edmaram_bss;
} >RAM
.bss (NOLOAD) : {
. = ALIGN(4);
__tbss_end = .;
. = ALIGN(32);
.DMA_RAM (NOLOAD) :
{
KEEP(*(.DMA_RAM))
PROVIDE(dmaram_end = .);
_edmaram = .;
_dmaram_end__ = _edmaram;
} >RAM
*(SORT_BY_ALIGNMENT(SORT_BY_NAME(.bss*)))
*(COMMON)
PROVIDE(__global_pointer$ = . + 2K);
*(.sbss*)
. = ALIGN(4);
__bss_end__ = .;
} > RAM
.DMA_RW_AXI (NOLOAD) :
{
. = ALIGN(32);
PROVIDE(dmarwaxi_start = .);
_sdmarwaxi = .;
_dmarwaxi_start__ = _sdmarwaxi;
KEEP(*(.DMA_RW_AXI))
PROVIDE(dmarwaxi_end = .);
_edmarwaxi = .;
_dmarwaxi_end__ = _edmarwaxi;
} >RAM
.heap (NOLOAD):
{
__end__ = .;
end = __end__;
KEEP(*(.heap*))
} > RAM
/* historically on GCC sbrk was growing past __HeapLimit to __StackLimit, however
to be more compatible, we now set __HeapLimit explicitly to where the end of the heap is */
__HeapLimit = ORIGIN(RAM) + LENGTH(RAM);
.persistent_data (NOLOAD) :
{
__persistent_data_start__ = .;
*(.persistent_data)
. = ALIGN(4);
__persistent_data_end__ = .;
} >RAM
/* Start and end symbols must be word-aligned */
.scratch_x : {
__scratch_x_start__ = .;
*(.scratch_x.*)
. = ALIGN(4);
__scratch_x_end__ = .;
} > SCRATCH_X AT > FLASH
__scratch_x_source__ = LOADADDR(.scratch_x);
.scratch_y : {
__scratch_y_start__ = .;
*(.scratch_y.*)
. = ALIGN(4);
__scratch_y_end__ = .;
} > SCRATCH_Y AT > FLASH
__scratch_y_source__ = LOADADDR(.scratch_y);
/* .stack*_dummy section doesn't contains any symbols. It is only
* used for linker to calculate size of stack sections, and assign
* values to stack symbols later
*
* stack1 section may be empty/missing if platform_launch_core1 is not used */
/* by default we put core 0 stack at the end of scratch Y, so that if core 1
* stack is not used then all of SCRATCH_X is free.
*/
.stack1_dummy (NOLOAD):
{
*(.stack1*)
} > SCRATCH_X
.stack_dummy (NOLOAD):
{
KEEP(*(.stack*))
} > SCRATCH_Y
/* keep embedded end block as final entry into FLASH
* - helps protect against partial/corrupt load into flash
*/
.flash_end : {
KEEP(*(.embedded_end_block*))
PROVIDE(__flash_binary_end = .);
} > FLASH =0xaa
/* User_heap_stack section, used to check that there is enough RAM left */
_heap_stack_end = ORIGIN(STACKRAM)+LENGTH(STACKRAM) - 8; /* 8 bytes to allow for alignment */
_heap_stack_begin = _heap_stack_end - _Min_Stack_Size - _Min_Heap_Size;
. = _heap_stack_begin;
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >STACKRAM = 0xa5
/* Base address where the config is stored. */
__config_start = ORIGIN(FLASH_CONFIG);
__config_end = ORIGIN(FLASH_CONFIG) + LENGTH(FLASH_CONFIG);
.pg_registry :
{
PROVIDE_HIDDEN (__pg_registry_start = .);
KEEP (*(.pg_registry))
KEEP (*(SORT(.pg_registry.*)))
PROVIDE_HIDDEN (__pg_registry_end = .);
} >FLASH
.pg_resetdata :
{
PROVIDE_HIDDEN (__pg_resetdata_start = .);
KEEP (*(.pg_resetdata))
PROVIDE_HIDDEN (__pg_resetdata_end = .);
} >FLASH
/* stack limit is poorly named, but historically is maximum heap ptr */
__StackLimit = ORIGIN(RAM) + LENGTH(RAM);
__StackOneTop = ORIGIN(SCRATCH_X) + LENGTH(SCRATCH_X);
__StackTop = ORIGIN(SCRATCH_Y) + LENGTH(SCRATCH_Y);
__StackOneBottom = __StackOneTop - SIZEOF(.stack1_dummy);
__StackBottom = __StackTop - SIZEOF(.stack_dummy);
PROVIDE(__stack = __StackTop);
/* picolibc and LLVM */
PROVIDE (__heap_start = __end__);
PROVIDE (__heap_end = __HeapLimit);
PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1));
PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
/* llvm-libc */
PROVIDE (_end = __end__);
PROVIDE (__llvm_libc_heap_limit = __HeapLimit);
/* Check if data + heap + stack exceeds RAM limit */
ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed")
ASSERT( __binary_info_header_end - __logical_binary_start <= 1024, "Binary info must be in first 1024 bytes of the binary")
ASSERT( __embedded_block_end - __logical_binary_start <= 4096, "Embedded block must be in first 4096 bytes of the binary")
/* todo assert on extra code */
/* Remove information from the standard libraries */
/DISCARD/ :
@ -247,5 +333,5 @@ SECTIONS
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}