AP_HAL_ChibiOS: add config for supporting load from external flash
This commit is contained in:
Siddharth Purohit
Andrew Tridgell
parent
75bcc76189
commit
4ba2835de1
200
libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld
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200
libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld
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@ -0,0 +1,200 @@
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/*
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ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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this file is included by the board specific ldscript.ld which is
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generated from hwdef.dat
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*/
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/* RAM region to be used for Main stack. This stack accommodates the processing
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of all exceptions and interrupts*/
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REGION_ALIAS("MAIN_STACK_RAM", ram0);
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/* RAM region to be used for the process stack. This is the stack used by
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the main() function.*/
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REGION_ALIAS("PROCESS_STACK_RAM", ram0);
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/* RAM region to be used for data segment.*/
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REGION_ALIAS("DATA_RAM", ram0);
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/* RAM region to be used for BSS segment.*/
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REGION_ALIAS("BSS_RAM", ram0);
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/* RAM region to be used for the default heap.*/
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REGION_ALIAS("HEAP_RAM", ram0);
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__ram0_start__ = ORIGIN(ram0);
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__ram0_size__ = LENGTH(ram0);
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__ram0_end__ = __ram0_start__ + __ram0_size__;
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ENTRY(Reset_Handler)
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SECTIONS
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{
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. = 0;
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_text = .;
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startup : ALIGN(16) SUBALIGN(16)
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{
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KEEP(*(.vectors))
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} > irq_flash
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constructors : ALIGN(4) SUBALIGN(4)
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{
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__init_array_base__ = .;
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KEEP(*(SORT(.init_array.*)))
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KEEP(*(.init_array))
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__init_array_end__ = .;
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} > irq_flash
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destructors : ALIGN(4) SUBALIGN(4)
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{
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__fini_array_base__ = .;
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KEEP(*(.fini_array))
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KEEP(*(SORT(.fini_array.*)))
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__fini_array_end__ = .;
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} > irq_flash
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.text : ALIGN(4) SUBALIGN(4)
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{
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/* we want app_descriptor near the start of flash so a false
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positive isn't found by the bootloader (eg. ROMFS) */
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KEEP(*(.app_descriptor));
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*(.text)
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*(.text.*)
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*(.rodata)
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*(.rodata.*)
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*(.glue_7t)
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*(.glue_7)
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*(.gcc*)
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} > default_flash
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.irq : ALIGN(4) SUBALIGN(4)
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{
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*(.irq)
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} > irq_flash
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.ARM.extab :
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{
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*(.ARM.extab* .gnu.linkonce.armextab.*)
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} > default_flash
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.ARM.exidx : {
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__exidx_start = .;
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*(.ARM.exidx* .gnu.linkonce.armexidx.*)
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__exidx_end = .;
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} > default_flash
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.eh_frame_hdr :
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{
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*(.eh_frame_hdr)
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} > default_flash
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.eh_frame : ONLY_IF_RO
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{
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*(.eh_frame)
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} > default_flash
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.textalign : ONLY_IF_RO
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{
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. = ALIGN(8);
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} > default_flash
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/* Legacy symbol, not used anywhere.*/
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. = ALIGN(4);
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PROVIDE(_etext = .);
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/* Special section for exceptions stack.*/
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.mstack :
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{
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. = ALIGN(8);
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__main_stack_base__ = .;
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. += __main_stack_size__;
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. = ALIGN(8);
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__main_stack_end__ = .;
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} > MAIN_STACK_RAM
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/* Special section for process stack.*/
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.pstack :
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{
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__process_stack_base__ = .;
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__main_thread_stack_base__ = .;
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. += __process_stack_size__;
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. = ALIGN(8);
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__process_stack_end__ = .;
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__main_thread_stack_end__ = .;
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} > PROCESS_STACK_RAM
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.data : ALIGN(4)
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{
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. = ALIGN(4);
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PROVIDE(_textdata = LOADADDR(.data));
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PROVIDE(_data = .);
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__textdata_base__ = LOADADDR(.data);
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__data_base__ = .;
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*(.data)
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*(.data.*)
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*(.ramtext)
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. = ALIGN(4);
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PROVIDE(_edata = .);
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__data_end__ = .;
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} > DATA_RAM AT > default_flash
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.bss (NOLOAD) : ALIGN(4)
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{
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. = ALIGN(4);
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__bss_base__ = .;
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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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__bss_end__ = .;
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PROVIDE(end = .);
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} > BSS_RAM
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.ram0_init : ALIGN(4)
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{
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. = ALIGN(4);
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__ram0_init_text__ = LOADADDR(.ram0_init);
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__ram0_init__ = .;
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*(.ram0_init)
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*(.ram0_init.*)
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. = ALIGN(4);
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} > ram0 AT > default_flash
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.ram0 (NOLOAD) : ALIGN(4)
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{
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. = ALIGN(4);
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__ram0_clear__ = .;
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*(.ram0_clear)
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*(.ram0_clear.*)
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. = ALIGN(4);
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__ram0_noinit__ = .;
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*(.ram0)
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*(.ram0.*)
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. = ALIGN(4);
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__ram0_free__ = .;
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} > ram0
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/* The default heap uses the (statically) unused part of a RAM section.*/
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.heap (NOLOAD) :
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{
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. = ALIGN(8);
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__heap_base__ = .;
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. = ORIGIN(HEAP_RAM) + LENGTH(HEAP_RAM);
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__heap_end__ = .;
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} > HEAP_RAM
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}
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@ -769,12 +769,14 @@ def write_mcu_config(f):
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f.write('\n// location of loaded firmware\n')
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f.write('#define FLASH_LOAD_ADDRESS 0x%08x\n' % (0x08000000 + flash_reserve_start*1024))
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f.write('#define EXTERNAL_PROG_FLASH_MB %u\n' % get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int))
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env_vars['EXTERNAL_PROG_FLASH_MB'] = get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int)
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if args.bootloader:
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f.write('#define FLASH_BOOTLOADER_LOAD_KB %u\n' % get_config('FLASH_BOOTLOADER_LOAD_KB', type=int))
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f.write('#define FLASH_RESERVE_END_KB %u\n' % get_config('FLASH_RESERVE_END_KB', default=0, type=int))
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f.write('#define APP_START_OFFSET_KB %u\n' % get_config('APP_START_OFFSET_KB', default=0, type=int))
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else:
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f.write('#define PORT_IRQ_ATTRIBUTES __attribute__((section(".irq")))')
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f.write('\n')
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ram_map = get_mcu_config('RAM_MAP', True)
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@ -922,6 +924,7 @@ def write_ldscript(fname):
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ram_map = get_mcu_config('RAM_MAP', True)
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flash_base = 0x08000000 + flash_reserve_start * 1024
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ext_flash_base = 0x90000000
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if not args.bootloader:
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flash_length = flash_size - (flash_reserve_start + flash_reserve_end)
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@ -939,8 +942,10 @@ def write_ldscript(fname):
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ram_reserve_start = get_config('RAM_RESERVE_START', default=0, type=int)
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ram0_start += ram_reserve_start
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ram0_len -= ram_reserve_start
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f.write('''/* generated ldscript.ld */
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ext_flash_length = get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int)
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if ext_flash_length == 0 or args.bootloader:
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env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 0
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f.write('''/* generated ldscript.ld */
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MEMORY
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{
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flash : org = 0x%08x, len = %uK
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@ -949,12 +954,31 @@ MEMORY
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INCLUDE common.ld
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''' % (flash_base, flash_length, ram0_start, ram0_len))
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else:
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if ext_flash_length > 32:
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error("We only support 24bit addressing over external flash")
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env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 1
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f.write('''/* generated ldscript.ld */
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MEMORY
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{
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default_flash : org = 0x%08x, len = %uM
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irq_flash : org = 0x%08x, len = %uK
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ram0 : org = 0x%08x, len = %u
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}
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INCLUDE common_extf.ld
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''' % (ext_flash_base, ext_flash_length,
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flash_base, flash_length,
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ram0_start, ram0_len))
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def copy_common_linkerscript(outdir, hwdef):
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dirpath = os.path.dirname(hwdef)
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shutil.copy(os.path.join(dirpath, "../common/common.ld"),
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os.path.join(outdir, "common.ld"))
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if not get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int) or args.bootloader:
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shutil.copy(os.path.join(dirpath, "../common/common.ld"),
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os.path.join(outdir, "common.ld"))
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else:
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shutil.copy(os.path.join(dirpath, "../common/common_extf.ld"),
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os.path.join(outdir, "common_extf.ld"))
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def get_USB_IDs():
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'''return tuple of USB VID/PID'''
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