mirror of
https://github.com/betaflight/betaflight.git
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PICO: Linker script and flash config updates.
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
parent
22738b6492
commit
c46c3825a0
2 changed files with 301 additions and 212 deletions
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@ -47,19 +47,22 @@ void configClearFlags(void)
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configStreamerResult_e configWriteWord(uintptr_t address, config_streamer_buffer_type_t *buffer)
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configStreamerResult_e configWriteWord(uintptr_t address, config_streamer_buffer_type_t *buffer)
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{
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{
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// TODO: synchronise second core... see e.g. pico-examples flash_program, uses flash_safe_execute.
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// pico-sdk flash_range functions use the offset from start of FLASH
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uint32_t flash_offs = address - XIP_BASE;
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uint32_t interrupts = save_and_disable_interrupts();
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uint32_t interrupts = save_and_disable_interrupts();
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if (address == __config_start) {
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if ((flash_offs % FLASH_SECTOR_SIZE) == 0) {
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// Erase the flash sector before writing
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// Erase the flash sector before writing
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flash_range_erase(address, FLASH_PAGE_SIZE);
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flash_range_erase(flash_offs, FLASH_SECTOR_SIZE);
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}
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}
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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");
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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");
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// Write data to flash
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// Write data to flash
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// TODO: synchronise second core...
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flash_range_program(flash_offs, buffer, CONFIG_STREAMER_BUFFER_SIZE);
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flash_range_program(address, buffer, CONFIG_STREAMER_BUFFER_SIZE);
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restore_interrupts(interrupts);
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restore_interrupts(interrupts);
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return CONFIG_RESULT_SUCCESS;
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return CONFIG_RESULT_SUCCESS;
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@ -1,243 +1,329 @@
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/* Specify the memory areas */
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/* Based on GCC ARM embedded samples.
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Defines the following symbols for use by code:
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__exidx_start
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__exidx_end
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__etext
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__data_start__
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__preinit_array_start
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__preinit_array_end
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__init_array_start
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__init_array_end
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__fini_array_start
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__fini_array_end
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__data_end__
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__bss_start__
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__bss_end__
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__end__
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end
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__HeapLimit
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__StackLimit
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__StackTop
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__stack (== StackTop)
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*/
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MEMORY
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MEMORY
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{
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{
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FLASH_X (rx) : ORIGIN = 0x10000000, LENGTH = 16K
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/* TODO: Assuming for now that target has >= 4MB boot flash */
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FLASH_CONFIG (r) : ORIGIN = 0x10004000, LENGTH = 16K
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FLASH (rx) : ORIGIN = 0x10000000, LENGTH = 4032K
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FLASH (rx) : ORIGIN = 0x10008000, LENGTH = 992K
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FLASH_CONFIG (r) : ORIGIN = 0x103F0000, LENGTH = 64K
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RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 512K
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RAM(rwx) : ORIGIN = 0x20000000, LENGTH = 512k
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SCRATCH_X(rwx) : ORIGIN = 0x20080000, LENGTH = 4k
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SCRATCH_X(rwx) : ORIGIN = 0x20080000, LENGTH = 4k
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SCRATCH_Y(rwx) : ORIGIN = 0x20081000, LENGTH = 4k
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SCRATCH_Y(rwx) : ORIGIN = 0x20081000, LENGTH = 4k
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}
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}
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REGION_ALIAS("STACKRAM", RAM)
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ENTRY(_entry_point)
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REGION_ALIAS("FASTRAM", RAM)
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REGION_ALIAS("MOVABLE_FLASH", FLASH)
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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 = ORIGIN(STACKRAM) + LENGTH(STACKRAM) - 8; /* Reserve 2 x 4bytes for info across reset */
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/* Base address where the config is stored. */
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__config_start = ORIGIN(FLASH_CONFIG);
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__config_end = ORIGIN(FLASH_CONFIG) + LENGTH(FLASH_CONFIG);
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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 = 0x800; /* required amount of stack */
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/* Define output sections */
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SECTIONS
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SECTIONS
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{
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{
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/* The startup code goes first into FLASH_X */
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.flash_begin : {
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.isr_vector :
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__flash_binary_start = .;
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{
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} > FLASH
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. = ALIGN(512);
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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_X
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/* The program code and other data goes into FLASH */
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/* The bootrom will enter the image at the point indicated in your
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.text :
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IMAGE_DEF, which is usually the reset handler of your vector table.
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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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The debugger will use the ELF entry point, which is the _entry_point
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KEEP (*(.fini))
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symbol, and in our case is *different from the bootrom's entry point.*
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This is used to go back through the bootrom on debugger launches only,
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to perform the same initial flash setup that would be performed on a
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cold boot.
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*/
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. = ALIGN(4);
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.text : {
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_etext = .; /* define a global symbols at end of code */
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__logical_binary_start = .;
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} >FLASH
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KEEP (*(.vectors))
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KEEP (*(.binary_info_header))
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__binary_info_header_end = .;
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KEEP (*(.embedded_block))
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__embedded_block_end = .;
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KEEP (*(.reset))
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/* TODO revisit this now memset/memcpy/float in ROM */
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/* bit of a hack right now to exclude all floating point and time critical (e.g. memset, memcpy) code from
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* FLASH ... we will include any thing excluded here in .data below by default */
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*(.init)
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*libgcc.a:cmse_nonsecure_call.o
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*(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a:) .text*)
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*(.fini)
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/* Pull all c'tors into .text */
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*crtbegin.o(.ctors)
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*crtbegin?.o(.ctors)
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*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
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*(SORT(.ctors.*))
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*(.ctors)
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/* Followed by destructors */
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*crtbegin.o(.dtors)
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*crtbegin?.o(.dtors)
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*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
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*(SORT(.dtors.*))
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*(.dtors)
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.ARM.extab :
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. = ALIGN(4);
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{
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/* preinit data */
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*(.ARM.extab* .gnu.linkonce.armextab.*)
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PROVIDE_HIDDEN (__preinit_array_start = .);
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} >FLASH
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KEEP(*(SORT(.preinit_array.*)))
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KEEP(*(.preinit_array))
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PROVIDE_HIDDEN (__preinit_array_end = .);
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. = ALIGN(4);
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/* init data */
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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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. = ALIGN(4);
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/* finit data */
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PROVIDE_HIDDEN (__fini_array_start = .);
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*(SORT(.fini_array.*))
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*(.fini_array)
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PROVIDE_HIDDEN (__fini_array_end = .);
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*(.eh_frame*)
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. = ALIGN(4);
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} > FLASH
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/* Note the boot2 section is optional, and should be discarded if there is
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no reference to it *inside* the binary, as it is not called by the
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bootrom. (The bootrom performs a simple best-effort XIP setup and
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leaves it to the binary to do anything more sophisticated.) However
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there is still a size limit of 256 bytes, to ensure the boot2 can be
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stored in boot RAM.
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Really this is a "XIP setup function" -- the name boot2 is historic and
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refers to its dual-purpose on RP2040, where it also handled vectoring
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from the bootrom into the user image.
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*/
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.boot2 : {
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__boot2_start__ = .;
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*(.boot2)
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__boot2_end__ = .;
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} > FLASH
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ASSERT(__boot2_end__ - __boot2_start__ <= 256,
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"ERROR: Pico second stage bootloader must be no more than 256 bytes in size")
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.rodata : {
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*(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a:) .rodata*)
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*(.srodata*)
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. = ALIGN(4);
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*(SORT_BY_ALIGNMENT(SORT_BY_NAME(.flashdata*)))
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. = ALIGN(4);
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} > FLASH
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.ARM.extab :
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{
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*(.ARM.extab* .gnu.linkonce.armextab.*)
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} > FLASH
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.ARM :
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{
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__exidx_start = .;
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__exidx_start = .;
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*(.ARM.exidx*) __exidx_end = .;
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.ARM.exidx :
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} >FLASH
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{
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*(.ARM.exidx* .gnu.linkonce.armexidx.*)
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} > FLASH
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__exidx_end = .;
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.pg_registry :
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/* Machine inspectable binary information */
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{
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PROVIDE_HIDDEN (__pg_registry_start = .);
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KEEP (*(.pg_registry))
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KEEP (*(SORT(.pg_registry.*)))
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PROVIDE_HIDDEN (__pg_registry_end = .);
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} >FLASH
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.pg_resetdata :
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{
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PROVIDE_HIDDEN (__pg_resetdata_start = .);
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KEEP (*(.pg_resetdata))
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PROVIDE_HIDDEN (__pg_resetdata_end = .);
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} >FLASH
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/* used by the startup to initialize data */
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_sidata = LOADADDR(.data);
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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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. = ALIGN(4);
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_sdata = .; /* create a global symbol at data start */
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__binary_info_start = .;
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*(.data) /* .data sections */
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.binary_info :
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*(.data*) /* .data* sections */
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{
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KEEP(*(.binary_info.keep.*))
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*(.binary_info.*)
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} > FLASH
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__binary_info_end = .;
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. = ALIGN(4);
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. = ALIGN(4);
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*(.after_data.*)
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. = ALIGN(4);
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/* preinit data */
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PROVIDE_HIDDEN (__mutex_array_start = .);
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KEEP(*(SORT(.mutex_array.*)))
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KEEP(*(.mutex_array))
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PROVIDE_HIDDEN (__mutex_array_end = .);
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. = ALIGN(4);
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.ram_vector_table (NOLOAD): {
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_edata = .; /* define a global symbol at data end */
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*(.ram_vector_table)
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} >RAM AT >FLASH
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} > RAM
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/* Uninitialized data section */
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.uninitialized_data (NOLOAD): {
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. = ALIGN(4);
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. = ALIGN(4);
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.bss (NOLOAD) :
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*(.uninitialized_data*)
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{
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} > RAM
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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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*(SORT_BY_ALIGNMENT(.bss*))
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*(COMMON)
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. = ALIGN(4);
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.data : {
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_ebss = .; /* define a global symbol at bss end */
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__data_start__ = .;
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__bss_end__ = _ebss;
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*(vtable)
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} >RAM
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/* Uninitialized data section */
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*(.time_critical*)
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. = ALIGN(4);
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.sram2 (NOLOAD) :
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{
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/* This is used by the startup in order to initialize the .sram2 secion */
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_ssram2 = .; /* define a global symbol at sram2 start */
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__sram2_start__ = _ssram2;
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*(.sram2)
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*(SORT_BY_ALIGNMENT(.sram2*))
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. = ALIGN(4);
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/* remaining .text and .rodata; i.e. stuff we exclude above because we want it in RAM */
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_esram2 = .; /* define a global symbol at sram2 end */
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*(.text*)
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__sram2_end__ = _esram2;
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. = ALIGN(4);
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} >RAM
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*(.rodata*)
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. = ALIGN(4);
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/* used during startup to initialized fastram_data */
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*(.data*)
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_sfastram_idata = LOADADDR(.fastram_data);
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*(.sdata*)
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/* Initialized FAST_DATA section for unsuspecting developers */
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. = ALIGN(4);
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.fastram_data :
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*(.after_data.*)
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{
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. = ALIGN(4);
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. = ALIGN(4);
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/* preinit data */
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_sfastram_data = .; /* create a global symbol at data start */
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PROVIDE_HIDDEN (__mutex_array_start = .);
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*(.fastram_data) /* .data sections */
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KEEP(*(SORT(.mutex_array.*)))
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*(.fastram_data*) /* .data* sections */
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KEEP(*(.mutex_array))
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PROVIDE_HIDDEN (__mutex_array_end = .);
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. = ALIGN(4);
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*(.jcr)
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_efastram_data = .; /* define a global symbol at data end */
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. = ALIGN(4);
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} >FASTRAM AT >FLASH
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} > RAM AT> FLASH
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. = ALIGN(4);
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.tdata : {
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.fastram_bss (NOLOAD) :
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. = ALIGN(4);
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{
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*(.tdata .tdata.* .gnu.linkonce.td.*)
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_sfastram_bss = .;
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/* All data end */
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__fastram_bss_start__ = _sfastram_bss;
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__tdata_end = .;
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*(.fastram_bss)
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} > RAM AT> FLASH
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*(SORT_BY_ALIGNMENT(.fastram_bss*))
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PROVIDE(__data_end__ = .);
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. = ALIGN(4);
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/* __etext is (for backwards compatibility) the name of the .data init source pointer (...) */
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_efastram_bss = .;
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__etext = LOADADDR(.data);
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__fastram_bss_end__ = _efastram_bss;
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} >FASTRAM
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/* used during startup to initialized dmaram_data */
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.tbss (NOLOAD) : {
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_sdmaram_idata = LOADADDR(.dmaram_data);
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. = ALIGN(4);
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__bss_start__ = .;
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__tls_base = .;
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*(.tbss .tbss.* .gnu.linkonce.tb.*)
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*(.tcommon)
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. = ALIGN(32);
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__tls_end = .;
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.dmaram_data :
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} > RAM
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{
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PROVIDE(dmaram_start = .);
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_sdmaram = .;
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_dmaram_start__ = _sdmaram;
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_sdmaram_data = .; /* create a global symbol at data start */
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*(.dmaram_data) /* .data sections */
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*(.dmaram_data*) /* .data* sections */
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|
||||||
. = ALIGN(32);
|
|
||||||
_edmaram_data = .; /* define a global symbol at data end */
|
|
||||||
} >RAM AT >FLASH
|
|
||||||
|
|
||||||
. = ALIGN(32);
|
.bss (NOLOAD) : {
|
||||||
.dmaram_bss (NOLOAD) :
|
. = ALIGN(4);
|
||||||
{
|
__tbss_end = .;
|
||||||
_sdmaram_bss = .;
|
|
||||||
__dmaram_bss_start__ = _sdmaram_bss;
|
|
||||||
*(.dmaram_bss)
|
|
||||||
*(SORT_BY_ALIGNMENT(.dmaram_bss*))
|
|
||||||
. = ALIGN(32);
|
|
||||||
_edmaram_bss = .;
|
|
||||||
__dmaram_bss_end__ = _edmaram_bss;
|
|
||||||
} >RAM
|
|
||||||
|
|
||||||
. = ALIGN(32);
|
*(SORT_BY_ALIGNMENT(SORT_BY_NAME(.bss*)))
|
||||||
.DMA_RAM (NOLOAD) :
|
*(COMMON)
|
||||||
{
|
PROVIDE(__global_pointer$ = . + 2K);
|
||||||
KEEP(*(.DMA_RAM))
|
*(.sbss*)
|
||||||
PROVIDE(dmaram_end = .);
|
. = ALIGN(4);
|
||||||
_edmaram = .;
|
__bss_end__ = .;
|
||||||
_dmaram_end__ = _edmaram;
|
} > RAM
|
||||||
} >RAM
|
|
||||||
|
|
||||||
.DMA_RW_AXI (NOLOAD) :
|
.heap (NOLOAD):
|
||||||
{
|
{
|
||||||
. = ALIGN(32);
|
__end__ = .;
|
||||||
PROVIDE(dmarwaxi_start = .);
|
end = __end__;
|
||||||
_sdmarwaxi = .;
|
KEEP(*(.heap*))
|
||||||
_dmarwaxi_start__ = _sdmarwaxi;
|
} > RAM
|
||||||
KEEP(*(.DMA_RW_AXI))
|
/* historically on GCC sbrk was growing past __HeapLimit to __StackLimit, however
|
||||||
PROVIDE(dmarwaxi_end = .);
|
to be more compatible, we now set __HeapLimit explicitly to where the end of the heap is */
|
||||||
_edmarwaxi = .;
|
__HeapLimit = ORIGIN(RAM) + LENGTH(RAM);
|
||||||
_dmarwaxi_end__ = _edmarwaxi;
|
|
||||||
} >RAM
|
|
||||||
|
|
||||||
.persistent_data (NOLOAD) :
|
/* Start and end symbols must be word-aligned */
|
||||||
{
|
.scratch_x : {
|
||||||
__persistent_data_start__ = .;
|
__scratch_x_start__ = .;
|
||||||
*(.persistent_data)
|
*(.scratch_x.*)
|
||||||
. = ALIGN(4);
|
. = ALIGN(4);
|
||||||
__persistent_data_end__ = .;
|
__scratch_x_end__ = .;
|
||||||
} >RAM
|
} > 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 */
|
/* Base address where the config is stored. */
|
||||||
_heap_stack_end = ORIGIN(STACKRAM)+LENGTH(STACKRAM) - 8; /* 8 bytes to allow for alignment */
|
__config_start = ORIGIN(FLASH_CONFIG);
|
||||||
_heap_stack_begin = _heap_stack_end - _Min_Stack_Size - _Min_Heap_Size;
|
__config_end = ORIGIN(FLASH_CONFIG) + LENGTH(FLASH_CONFIG);
|
||||||
. = _heap_stack_begin;
|
|
||||||
._user_heap_stack :
|
.pg_registry :
|
||||||
{
|
{
|
||||||
. = ALIGN(4);
|
PROVIDE_HIDDEN (__pg_registry_start = .);
|
||||||
PROVIDE ( end = . );
|
KEEP (*(.pg_registry))
|
||||||
PROVIDE ( _end = . );
|
KEEP (*(SORT(.pg_registry.*)))
|
||||||
. = . + _Min_Heap_Size;
|
PROVIDE_HIDDEN (__pg_registry_end = .);
|
||||||
. = . + _Min_Stack_Size;
|
} >FLASH
|
||||||
. = ALIGN(4);
|
|
||||||
} >STACKRAM = 0xa5
|
.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 */
|
/* Remove information from the standard libraries */
|
||||||
/DISCARD/ :
|
/DISCARD/ :
|
||||||
|
|
@ -247,5 +333,5 @@ SECTIONS
|
||||||
libgcc.a ( * )
|
libgcc.a ( * )
|
||||||
}
|
}
|
||||||
|
|
||||||
.ARM.attributes 0 : { *(.ARM.attributes) }
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue