From 355230433a13c1295a1aed62e95dc4212c131741 Mon Sep 17 00:00:00 2001 From: rahulg Date: Sat, 30 Mar 2024 16:15:30 +0530 Subject: [PATCH] Revert "ITCM Flash Linker Changes" This reverts commit 665d8478a2afd5cb35e1f2f8903bcb1d6db67f59. --- .../nuttx-config/scripts/script-itcm.ld | 190 ++++++++++++++++++ .../px4/fmu-v5/nuttx-config/scripts/script.ld | 18 +- 2 files changed, 199 insertions(+), 9 deletions(-) create mode 100644 boards/px4/fmu-v5/nuttx-config/scripts/script-itcm.ld diff --git a/boards/px4/fmu-v5/nuttx-config/scripts/script-itcm.ld b/boards/px4/fmu-v5/nuttx-config/scripts/script-itcm.ld new file mode 100644 index 000000000000..bfe820f91e82 --- /dev/null +++ b/boards/px4/fmu-v5/nuttx-config/scripts/script-itcm.ld @@ -0,0 +1,190 @@ +/**************************************************************************** + * scripts/script.ld + * + * Copyright (C) 2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The STM32F765IIT6 has 2048 KiB of main FLASH memory. This FLASH memory + * can be accessed from either the AXIM interface at address 0x0800:0000 or + * from the ITCM interface at address 0x0020:0000. + * + * Additional information, including the option bytes, is available at at + * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM). + * + * In the STM32F765IIT6, two different boot spaces can be selected through + * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and + * BOOT_ADD1 option bytes: + * + * 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0]. + * ST programmed value: Flash on ITCM at 0x0020:0000 + * 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0]. + * ST programmed value: System bootloader at 0x0010:0000 + * + * NuttX does not modify these option byes. On the unmodified NUCLEO-144 + * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will + * boot from address 0x0020:0000 in ITCM FLASH. + * + * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM). + * SRAM is split up into three blocks: + * + * 1) 128 KiB of DTCM SRM beginning at address 0x2000:0000 + * 2) 368 KiB of SRAM1 beginning at address 0x2002:0000 + * 3) 16 KiB of SRAM2 beginning at address 0x2007:c000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank) + * organization (256 bits read width) + */ + +MEMORY +{ + FLASH_ITCM (rx) : ORIGIN = 0x00208000, LENGTH = 2016K + FLASH_AXIM (rx) : ORIGIN = 0x08008000, LENGTH = 2016K + + ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K + DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K + SRAM1 (rwx) : ORIGIN = 0x20020000, LENGTH = 368K + SRAM2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) +EXTERN(_bootdelay_signature) +EXTERN(_main_toc) + +SECTIONS +{ + .text : ALIGN_WITH_INPUT { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.main_toc) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > FLASH_ITCM AT > FLASH_AXIM + + /* + * Init functions (static constructors and the like) + */ + .init_section : ALIGN_WITH_INPUT { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > FLASH_ITCM AT > FLASH_AXIM + + + .ARM.extab : ALIGN_WITH_INPUT { + *(.ARM.extab*) + } > FLASH_ITCM AT > FLASH_AXIM + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > FLASH_ITCM AT > FLASH_AXIM + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : ALIGN_WITH_INPUT { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > SRAM1 AT > FLASH_AXIM + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > SRAM1 + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } + + .ramfunc : { + _sramfuncs = .; + *(.ramfunc .ramfunc.*) + . = ALIGN(4); + _eramfuncs = .; + } > ITCM_RAM AT > FLASH_AXIM + + _framfuncs = LOADADDR(.ramfunc); + + /* Start of the image signature. This + * has to be in the end of the image + */ + .signature : { + _boot_signature = ALIGN(4); + } > FLASH_ITCM AT > FLASH_AXIM +} diff --git a/boards/px4/fmu-v5/nuttx-config/scripts/script.ld b/boards/px4/fmu-v5/nuttx-config/scripts/script.ld index bfe820f91e82..d73a97deb9ce 100644 --- a/boards/px4/fmu-v5/nuttx-config/scripts/script.ld +++ b/boards/px4/fmu-v5/nuttx-config/scripts/script.ld @@ -94,7 +94,7 @@ EXTERN(_main_toc) SECTIONS { - .text : ALIGN_WITH_INPUT { + .text : { _stext = ABSOLUTE(.); *(.vectors) . = ALIGN(32); @@ -117,31 +117,31 @@ SECTIONS *(.gnu.linkonce.r.*) _etext = ABSOLUTE(.); - } > FLASH_ITCM AT > FLASH_AXIM + } > FLASH_AXIM /* * Init functions (static constructors and the like) */ - .init_section : ALIGN_WITH_INPUT { + .init_section : { _sinit = ABSOLUTE(.); KEEP(*(.init_array .init_array.*)) _einit = ABSOLUTE(.); - } > FLASH_ITCM AT > FLASH_AXIM + } > FLASH_AXIM - .ARM.extab : ALIGN_WITH_INPUT { + .ARM.extab : { *(.ARM.extab*) - } > FLASH_ITCM AT > FLASH_AXIM + } > FLASH_AXIM __exidx_start = ABSOLUTE(.); .ARM.exidx : { *(.ARM.exidx*) - } > FLASH_ITCM AT > FLASH_AXIM + } > FLASH_AXIM __exidx_end = ABSOLUTE(.); _eronly = ABSOLUTE(.); - .data : ALIGN_WITH_INPUT { + .data : { _sdata = ABSOLUTE(.); *(.data .data.*) *(.gnu.linkonce.d.*) @@ -186,5 +186,5 @@ SECTIONS */ .signature : { _boot_signature = ALIGN(4); - } > FLASH_ITCM AT > FLASH_AXIM + } > FLASH_AXIM }