From fb00294243840a8beaf35ff391ee09fccb9080ee Mon Sep 17 00:00:00 2001 From: Bertrand Songis Date: Fri, 8 Nov 2019 14:36:44 +0100 Subject: [PATCH] It's now possible to compile HORUS firmware without bootloader --- radio/src/CMakeLists.txt | 2 +- radio/src/targets/horus/CMakeLists.txt | 16 +- .../targets/horus/startup_stm32f42_43xxx.s | 2 +- radio/src/targets/horus/stm32f4_flash.ld | 3 - .../targets/horus/stm32f4_flash_bootloader.ld | 192 ++++++++++++++++++ radio/src/targets/nv14/stm32f4_flash.ld | 3 - .../targets/nv14/stm32f4_flash_bootloader.ld | 4 +- 7 files changed, 210 insertions(+), 12 deletions(-) create mode 100644 radio/src/targets/horus/stm32f4_flash_bootloader.ld diff --git a/radio/src/CMakeLists.txt b/radio/src/CMakeLists.txt index 90e9d578d..e186b0157 100644 --- a/radio/src/CMakeLists.txt +++ b/radio/src/CMakeLists.txt @@ -486,7 +486,7 @@ if(NOT MSVC) set(SRC ${SRC} bin_allocator.cpp) endif() - if(PCB STREQUAL XLITE OR PCB STREQUAL XLITES OR PCB STREQUAL X9D OR PCB STREQUAL X9D+ OR PCB STREQUAL X9E OR PCB STREQUAL X9LITE OR PCB STREQUAL X7 OR PCB STREQUAL X3 OR PCB STREQUAL X9LITES OR PCB STREQUAL X10 OR PCB STREQUAL X12S) + if(BOOTLOADER) add_subdirectory(targets/common/arm/stm32/bootloader) include_directories(${CMAKE_CURRENT_BINARY_DIR}/targets/common/arm/stm32/bootloader) set(RADIO_DEPENDENCIES ${RADIO_DEPENDENCIES} bootloader) diff --git a/radio/src/targets/horus/CMakeLists.txt b/radio/src/targets/horus/CMakeLists.txt index 3364b4996..7174cadfc 100644 --- a/radio/src/targets/horus/CMakeLists.txt +++ b/radio/src/targets/horus/CMakeLists.txt @@ -13,7 +13,13 @@ set(HAPTIC YES) set(GUI_DIR colorlcd) set(NAVIGATION_TYPE horus) set(TARGET_DIR horus) -set(LINKER_SCRIPT targets/horus/stm32f4_flash.ld) + +if(BOOTLOADER) + set(LINKER_SCRIPT targets/horus/stm32f4_flash_bootloader.ld) +else() + set(LINKER_SCRIPT targets/horus/stm32f4_flash.ld) +endif() + set(RAMBACKUP YES) set(PPM_LIMITS_SYMETRICAL YES) set(USB_SERIAL ON CACHE BOOL "Enable USB serial (CDC)") @@ -162,9 +168,15 @@ set(FIRMWARE_TARGET_SRC startup_stm32f42_43xxx.s ../common/arm/stm32/heartbeat_driver.cpp ../common/arm/stm32/sdio_sd.c - ../common/arm/loadboot.cpp ) +if(BOOTLOADER) + set(FIRMWARE_TARGET_SRC + ${FIRMWARE_TARGET_SRC} + ../common/arm/loadboot.cpp + ) +endif() + set(SRC ${SRC} io/frsky_firmware_update.cpp diff --git a/radio/src/targets/horus/startup_stm32f42_43xxx.s b/radio/src/targets/horus/startup_stm32f42_43xxx.s index e87226bf2..68671dc34 100644 --- a/radio/src/targets/horus/startup_stm32f42_43xxx.s +++ b/radio/src/targets/horus/startup_stm32f42_43xxx.s @@ -114,7 +114,7 @@ LoopPaintMainStack: /* Call the clock system intitialization function.*/ bl SystemInit /* Call C++ constructors for static objects */ - bl __libc_init_array + bl __libc_init_array /* Call the application's entry point.*/ bl main bx lr diff --git a/radio/src/targets/horus/stm32f4_flash.ld b/radio/src/targets/horus/stm32f4_flash.ld index 7ab6ee4f0..40b089e5a 100644 --- a/radio/src/targets/horus/stm32f4_flash.ld +++ b/radio/src/targets/horus/stm32f4_flash.ld @@ -52,9 +52,6 @@ SECTIONS CREATE_OBJECT_SYMBOLS - KEEP(*(.bootloader)) /* Bootloader code */ - - . = 0x20000; /* Set the start of the main program */ _stext = .; /* Provide the name for the start of this section */ . = ALIGN(4); KEEP(*(.isr_vector)) /* Startup code */ diff --git a/radio/src/targets/horus/stm32f4_flash_bootloader.ld b/radio/src/targets/horus/stm32f4_flash_bootloader.ld new file mode 100644 index 000000000..7ab6ee4f0 --- /dev/null +++ b/radio/src/targets/horus/stm32f4_flash_bootloader.ld @@ -0,0 +1,192 @@ +/* +***************************************************************************** +** +** File : stm32f4_flash.ld +** +** Abstract : Linker script for STM32F439 Device with +** 2MByte FLASH, 192KByte SRAM, 64KByte CCM +** +** Set heap size, stack size and stack location according +** to application requirements. +** +** Set memory bank area and size if external memory is used. +** +** Target : STMicroelectronics STM32 +** +***************************************************************************** +*/ + +/* Entry Point */ +ENTRY(Reset_Handler) + +/* Highest address of the user mode stack */ +_estack = 0x10010000; /* end of 64K CCM */ +_heap_end = 0xD0800000; /* end of 8192K SDRAM */ + +/* Generate a link error if heap and stack don't fit into RAM */ +_Min_Heap_Size = 0; /* required amount of heap */ +_Main_Stack_Size = 1024; /* required amount of stack for interrupt stack (Main stack) */ + +/* Main stack end */ +_main_stack_start = _estack - _Main_Stack_Size; + +/* Specify the memory areas */ +MEMORY +{ + FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 2048K + RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 192K + CCM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K + MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K + SDRAM(xrw) : ORIGIN = 0xD0000000, LENGTH = 8192K +} + +/* Define output sections */ +SECTIONS +{ + /* The startup code goes first into FLASH */ + + /* The program code and other data goes into FLASH */ + .text : + { + FILL(0xFFFF) + + CREATE_OBJECT_SYMBOLS + + KEEP(*(.bootloader)) /* Bootloader code */ + + . = 0x20000; /* Set the start of the main program */ + _stext = .; /* Provide the name for the start of this section */ + . = ALIGN(4); + KEEP(*(.isr_vector)) /* Startup code */ + KEEP(*(.fwversiondata)) + *(.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) + + KEEP (*(.init)) + KEEP (*(.fini)) + + . = ALIGN(4); + _etext = .; /* define a global symbols at end of code */ + } >FLASH + + .ARM.extab : + { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH + .ARM : { + __exidx_start = .; + *(.ARM.exidx*) + __exidx_end = .; + } >FLASH + + .preinit_array : + { + PROVIDE_HIDDEN (__preinit_array_start = .); + KEEP (*(.preinit_array*)) + PROVIDE_HIDDEN (__preinit_array_end = .); + } >FLASH + + .init_array : + { + PROVIDE_HIDDEN (__init_array_start = .); + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array*)) + PROVIDE_HIDDEN (__init_array_end = .); + } >FLASH + + .fini_array : + { + PROVIDE_HIDDEN (__fini_array_start = .); + KEEP (*(.fini_array*)) + KEEP (*(SORT(.fini_array.*))) + PROVIDE_HIDDEN (__fini_array_end = .); + } >FLASH + + /* used by the startup to initialize data */ + _sidata = .; + + /* Initialized data sections goes into RAM, load LMA copy after code */ + .data : AT ( _sidata ) + { + . = ALIGN(4); + _sdata = .; /* create a global symbol at data start */ + *(.data) /* .data sections */ + *(.data*) /* .data* sections */ + . = ALIGN(4); + _edata = .; /* define a global symbol at data end */ + } >CCM + + /* Uninitialized data section */ + . = ALIGN(4); + .bss : + { + /* 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) + *(.bss*) + *(COMMON) + . = ALIGN(4); + _ebss = .; /* define a global symbol at bss end */ + } >CCM + + /* Non-zeroed data section */ + . = ALIGN(4); + .noinit (NOLOAD) : + { + *(.noinit) + } >CCM + + /* collect all uninitialized .ccm sections */ + .ram (NOLOAD) : + { + . = ALIGN(4); + _sram = .; + *(.ram) + } >RAM + + /* User_heap_stack section, used to check that there is enough RAM left */ + ._user_heap_stack : + { + . = ALIGN(4); + . = . + _Min_Heap_Size; + . = . + _Main_Stack_Size; + . = ALIGN(4); + } >RAM + + /* MEMORY_bank1 section, code must be located here explicitly */ + /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */ + .memory_b1_text : + { + *(.mb1text) /* .mb1text sections (code) */ + *(.mb1text*) /* .mb1text* sections (code) */ + *(.mb1rodata) /* read-only data (constants) */ + *(.mb1rodata*) + } >MEMORY_B1 + + .sdram (NOLOAD) : + { + *(.sdram) + *(.sdram*) + *(.sdram_rodata) + *(.sdram_rodata*) + . = ALIGN(4); + _eram = .; + } >SDRAM + + PROVIDE ( end = _eram ); + PROVIDE ( _end = _eram ); + + /* Remove information from the standard libraries */ + /DISCARD/ : + { + libc.a ( * ) + libm.a ( * ) + libgcc.a ( * ) + } + + .ARM.attributes 0 : { *(.ARM.attributes) } +} diff --git a/radio/src/targets/nv14/stm32f4_flash.ld b/radio/src/targets/nv14/stm32f4_flash.ld index 1f631f4eb..069d9d855 100644 --- a/radio/src/targets/nv14/stm32f4_flash.ld +++ b/radio/src/targets/nv14/stm32f4_flash.ld @@ -52,9 +52,6 @@ SECTIONS CREATE_OBJECT_SYMBOLS - - - _stext = .; /* Provide the name for the start of this section */ . = ALIGN(4); KEEP(*(.isr_vector)) /* Startup code */ diff --git a/radio/src/targets/nv14/stm32f4_flash_bootloader.ld b/radio/src/targets/nv14/stm32f4_flash_bootloader.ld index 93eb39de4..7892fe6dd 100644 --- a/radio/src/targets/nv14/stm32f4_flash_bootloader.ld +++ b/radio/src/targets/nv14/stm32f4_flash_bootloader.ld @@ -4,7 +4,7 @@ ** File : stm32f4_flash.ld ** ** Abstract : Linker script for STM32F439 Device with -** 1MByte FLASH, 192KByte SRAM, 64KByte CCM +** 2MByte FLASH, 192KByte SRAM, 64KByte CCM ** ** Set heap size, stack size and stack location according ** to application requirements. @@ -33,7 +33,7 @@ _main_stack_start = _estack - _Main_Stack_Size; /* Specify the memory areas */ MEMORY { - FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K + FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 2048K RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 192K CCM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K