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AP_HAL_ChibiOS: Change linker script so vector table can be copied to RAM for external flash targets

This commit is contained in:
Martin Luessi 2023-06-01 08:48:36 -07:00 committed by Randy Mackay
parent 6487c46562
commit 47615b14cc
2 changed files with 378 additions and 2 deletions
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8
libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld
View File

@ -66,10 +66,14 @@ SECTIONS
. = 0;
_text = .;
startup : ALIGN(16) SUBALIGN(16)
/* Vector table: copied to RAM by startup script */
vectors : ALIGN(1024) SUBALIGN(16)
{
__textvectors_base__ = LOADADDR(vectors);
__vectors_base__ = .;
KEEP(*(.vectors))
} > default_flash
__vectors_end__ = .;
} > flashram AT > default_flash
constructors : ALIGN(4) SUBALIGN(4)
{

372
libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld Normal file
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@ -0,0 +1,372 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/*
this file is included by the board specific ldscript.ld which is
generated from hwdef.dat
*/
/* RAM region to be used for fast code. */
REGION_ALIAS("FASTCODE_RAM", flashram)
/* stack areas are configured to be in AXI RAM (ram0) to ensure the SSBL will load the image.
better performance can be achieved by using DTCM for stack but this will break SSBL. */
/* RAM region to be used for Main stack. This stack accommodates the processing
of all exceptions and interrupts*/
REGION_ALIAS("MAIN_STACK_RAM", flashram);
/* RAM region to be used for the process stack. This is the stack used by
the main() function.*/
REGION_ALIAS("PROCESS_STACK_RAM", flashram);
/* RAM region to be used for data segment.*/
REGION_ALIAS("DATA_RAM", ram0);
/* RAM region to be used for BSS segment.*/
REGION_ALIAS("BSS_RAM", ram0);
/* RAM region to be used for the default heap.*/
REGION_ALIAS("HEAP_RAM", ram0);
/* The ChibiOS crt code looks at all of the __ramx_xxxx__ sections
it will copy from __ramx_init_text__ to __ramx_init__ until __ramx_clear__ is hit
it will then clear from __ramx_clear__ to __ramx_no_init__
the number of areas actually used is determined by CRT0_AREAS_NUMBER
*/
/* AXI */
__ram0_start__ = ORIGIN(ram0);
__ram0_size__ = LENGTH(ram0);
__ram0_end__ = __ram0_start__ + __ram0_size__;
/* AXI for RAM functions */
__ram1_start__ = ORIGIN(flashram);
__ram1_size__ = LENGTH(flashram);
__ram1_end__ = __ram1_start__ + __ram1_size__;
/* DTCM */
__ram2_start__ = ORIGIN(dataram);
__ram2_size__ = LENGTH(dataram);
__ram2_end__ = __ram2_start__ + __ram2_size__;
/* ITCM for RAM functions */
__ram3_start__ = ORIGIN(instram);
__ram3_size__ = LENGTH(instram);
__ram3_end__ = __ram3_start__ + __ram3_size__;
ENTRY(Reset_Handler)
SECTIONS
{
. = 0;
_text = .;
/* Vector table: copied to RAM by startup script */
vectors : ALIGN(1024) SUBALIGN(16)
{
__textvectors_base__ = LOADADDR(vectors);
__vectors_base__ = .;
KEEP(*(.vectors))
__vectors_end__ = .;
} > flashram AT > default_flash
constructors : ALIGN(4) SUBALIGN(4)
{
__init_array_base__ = .;
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array))
__init_array_end__ = .;
} > default_flash
destructors : ALIGN(4) SUBALIGN(4)
{
__fini_array_base__ = .;
KEEP(*(.fini_array))
KEEP(*(SORT(.fini_array.*)))
__fini_array_end__ = .;
} > default_flash
/* INSTRUCTION_RAM area is fast-access ITCM used for RAM-based code, 64k on H7 */
.fastramfunc : ALIGN(4) SUBALIGN(4)
{
. = ALIGN(4);
__ram3_init_text__ = LOADADDR(.fastramfunc);
__ram3_init__ = .;
/* performance critical sections of ChibiOS */
/* ChibiOS won't boot unless these are excluded */
EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o) *libch.a:ch*.*(.text*)
*libch.a:nvic.*(.text*)
*libch.a:bouncebuffer.*(.text*)
*libch.a:stm32_util.*(.text*)
*libch.a:stm32_dma.*(.text*)
*libch.a:memstreams.*(.text*)
*libch.a:malloc.*(.text*)
*libch.a:hrt.*(.text*)
EXCLUDE_FILE (*hal_lld.o) *libch.a:hal*.*(.text*)
/* a selection of performance critical functions driven CPUInfo results */
lib/lib*.a:Semaphores.*(.text*)
lib/lib*.a:AP_Math.*(.text*)
lib/lib*.a:vector3.*(.text*)
lib/lib*.a:matrix3.*(.text*)
/* only used on debug builds */
/**libg_nano.a:*memset*(.text*)
*libg_nano.a:*memcpy*(.text*)*/
*libm.a:*(.text*)
/* For some reason boards won't boot if libc is in RAM, but will with debug on */
/**libc_nano.a:*(.text* .rodata*)
*libstdc++_nano.a:(.text* .rodata*)*/
*(.fastramfunc)
. = ALIGN(4);
} > instram AT > default_flash
.ram3 (NOLOAD) : ALIGN(4)
{
. = ALIGN(4);
__ram3_clear__ = .;
. = ALIGN(4);
__ram3_noinit__ = .;
. = ALIGN(4);
__ram3_free__ = .;
. = ALIGN(4);
} > instram
/* FLASH_RAM area is primarily used for RAM-based code and data, 256k allocation on H7 */
.ramfunc : ALIGN(4) SUBALIGN(4)
{
. = ALIGN(4);
__ram1_init_text__ = LOADADDR(.ramfunc);
__ram1_init__ = .;
/* a selection of larger performance critical functions */
lib/lib*.a:*Filter.*(.text* .rodata*)
lib/lib*.a:*Filter2p.*(.text* .rodata*)
lib/lib*.a:SPIDevice.*(.text* .rodata*)
lib/lib*.a:I2CDevice.*(.text* .rodata*)
lib/lib*.a:Util.*(.text* .rodata*)
lib/lib*.a:Device.*(.text* .rodata*)
lib/lib*.a:Scheduler.*(.text* .rodata*)
lib/lib*.a:shared_dma.*(.text* .rodata*)
lib/lib*.a:RingBuffer.*(.text* .rodata*)
lib/lib*.a:crc.*(.text* .rodata*)
lib/lib*.a:matrixN.*(.text* .rodata*)
lib/lib*.a:matrix_alg.*(.text* .rodata*)
lib/lib*.a:AP_NavEKF3*.*(.text* .rodata*)
lib/lib*.a:AP_NavEKF_*.*(.text* .rodata*)
lib/lib*.a:EKF*.*(.text* .rodata*)
lib/lib*.a:AP_Compass_Backend.*(.text* .rodata*)
lib/lib*.a:AP_RCProtocol_Backend.*(.text* .rodata*)
lib/lib*.a:AP_RCProtocol.*(.text* .rodata*)
lib/lib*.a:AP_RCProtocol_CRSF.*(.text* .rodata*)
lib/lib*.a:AP_RCTelemetry.*(.text* .rodata*)
lib/lib*.a:AP_CRSF_Telem.*(.text* .rodata*)
lib/lib*.a:vector2.*(.text* .rodata*)
lib/lib*.a:quaternion.*(.text* .rodata*)
lib/lib*.a:polygon.*(.text* .rodata*)
lib/lib*.a:flash.*(.text* .rodata*) /* flash ops in RAM so that both banks can be erased */
/* uncomment these to test CPUInfo in FLASH_RAM */
/*Tools/CPUInfo/CPUInfo.*(.text* .rodata*)
Tools/CPUInfo/EKF_Maths.*(.text* .rodata*)*/
*(.ramfunc*)
. = ALIGN(4);
} > flashram AT > default_flash
.ram1 (NOLOAD) : ALIGN(4)
{
. = ALIGN(4);
__ram1_clear__ = .;
. = ALIGN(4);
__ram1_noinit__ = .;
. = ALIGN(4);
__ram1_free__ = .;
. = ALIGN(4);
} > flashram
/* DATA_RAM area is DTCM primarily used for RAM-based data, e.g. vtables */
.ramdata : ALIGN(4)
{
. = ALIGN(4);
__ram2_init_text__ = LOADADDR(.ramdata);
__ram2_init__ = .;
/* performance critical sections of ChibiOS */
/* ChibiOS won't boot unless these are excluded */
EXCLUDE_FILE (*vectors.o *crt0_v7m.o *crt1.o) *libch.a:ch*.*(.rodata*)
*libch.a:nvic.*(.rodata*)
*libch.a:bouncebuffer.*(.rodata*)
*libch.a:stm32_util.*(.rodata*)
*libch.a:stm32_dma.*(.rodata*)
*libch.a:memstreams.*(.rodata*)
*libch.a:malloc.*(.rodata*)
*libch.a:hrt.*(.rodata*)
EXCLUDE_FILE (*hal_lld.o) *libch.a:hal*.*(.rodata*)
/* a selection of performance critical functions driven CPUInfo results */
lib/lib*.a:Semaphores.*(.rodata*)
lib/lib*.a:AP_Math.*(.rodata*)
lib/lib*.a:vector3.*(.rodata*)
lib/lib*.a:matrix3.*(.rodata*)
*libm.a:*(.rodata*)
*(.ramdata*)
. = ALIGN(4);
} > dataram AT > default_flash
.ram2 (NOLOAD) : ALIGN(4)
{
. = ALIGN(4);
__ram2_clear__ = .;
. = ALIGN(4);
__ram2_noinit__ = .;
. = ALIGN(4);
__ram2_free__ = .;
. = ALIGN(4);
} > dataram
.text : ALIGN(4) SUBALIGN(4)
{
/* we want app_descriptor near the start of flash so a false
positive isn't found by the bootloader (eg. ROMFS) */
KEEP(*libch.a:vectors.o);
KEEP(*libch.a:crt0_v7m.o);
KEEP(*libch.a:crt1.o);
KEEP(*libch.a:board.o);
KEEP(*(.apsec_data));
KEEP(*(.app_descriptor));
*(.text)
*(.text.*)
*(.rodata)
*(.rodata.*)
*(.glue_7t)
*(.glue_7)
*(.gcc*)
} > default_flash
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > default_flash
.ARM.exidx : {
__exidx_start = .;
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
__exidx_end = .;
} > default_flash
.eh_frame_hdr :
{
*(.eh_frame_hdr)
} > default_flash
.eh_frame : ONLY_IF_RO
{
*(.eh_frame)
} > default_flash
.textalign : ONLY_IF_RO
{
. = ALIGN(8);
} > default_flash
/* Legacy symbol, not used anywhere.*/
. = ALIGN(4);
PROVIDE(_etext = .);
/* Special section for exceptions stack.*/
.mstack :
{
. = ALIGN(8);
__main_stack_base__ = .;
. += __main_stack_size__;
. = ALIGN(8);
__main_stack_end__ = .;
} > MAIN_STACK_RAM
/* Special section for process stack.*/
.pstack :
{
__process_stack_base__ = .;
__main_thread_stack_base__ = .;
. += __process_stack_size__;
. = ALIGN(8);
__process_stack_end__ = .;
__main_thread_stack_end__ = .;
} > PROCESS_STACK_RAM
.data : ALIGN(4)
{
. = ALIGN(4);
PROVIDE(_textdata = LOADADDR(.data));
PROVIDE(_data = .);
__textdata_base__ = LOADADDR(.data);
__data_base__ = .;
*(.data)
*(.data.*)
*(.ramtext)
. = ALIGN(4);
PROVIDE(_edata = .);
__data_end__ = .;
} > DATA_RAM AT > default_flash
.bss (NOLOAD) : ALIGN(4)
{
. = ALIGN(4);
__bss_base__ = .;
*(.bss)
*(.bss.*)
*(COMMON)
. = ALIGN(4);
__bss_end__ = .;
PROVIDE(end = .);
} > BSS_RAM
.ram0_init : ALIGN(4)
{
. = ALIGN(4);
__ram0_init_text__ = LOADADDR(.ram0_init);
__ram0_init__ = .;
*(.ram0_init)
*(.ram0_init.*)
. = ALIGN(4);
} > ram0 AT > default_flash
.ram0 (NOLOAD) : ALIGN(4)
{
. = ALIGN(4);
__ram0_clear__ = .;
*(.ram0_clear)
*(.ram0_clear.*)
. = ALIGN(4);
__ram0_noinit__ = .;
*(.ram0)
*(.ram0.*)
. = ALIGN(4);
__ram0_free__ = .;
} > ram0
/* The default heap uses the (statically) unused part of a RAM section.*/
.heap (NOLOAD) :
{
. = ALIGN(8);
__heap_base__ = .;
. = ORIGIN(HEAP_RAM) + LENGTH(HEAP_RAM);
__heap_end__ = .;
} > HEAP_RAM
/* The crash log uses the unused part of a flash section.*/
.crash_log (NOLOAD) :
{
. = ALIGN(32);
__crash_log_base__ = .;
. = ORIGIN(default_flash) + LENGTH(default_flash);
__crash_log_end__ = .;
} > default_flash
}