andreil/katapult
1
0
Fork 0
mirror of https://github.com/andreili/katapult.git synced 2025-08-23 19:34:06 +02:00
Code Issues Packages Projects Releases Wiki Activity

deployer: Add support for a CanBoot "deployer"

Browse Source 
Support building a "flashing application" that one may run from an
existing bootloader.  This flashing application will then flash the
main CanBoot binary to the start of flash.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-07-27 21:54:47 -04:00 committed by Eric Callahan
parent ed2bf3e8b0
commit f4ac6470bf
16 changed files with 505 additions and 41 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
Makefile
View File

@ -23,6 +23,7 @@ PYTHON=python3
# Source files
src-y =
deployer-y =
dirs-y = src
# Default compiler flags
@ -38,10 +39,16 @@ OBJS_canboot.elf = $(patsubst %.c, $(OUT)src/%.o,$(src-y))
OBJS_canboot.elf += $(OUT)compile_time_request.o
CFLAGS_canboot.elf = $(CFLAGS) -Wl,--gc-sections
OBJS_deployer.elf = $(patsubst %.c, $(OUT)src/%.o,$(deployer-y))
OBJS_deployer.elf += $(OUT)deployer_ctr.o $(OUT)canboot_payload.o
CFLAGS_deployer.elf = $(CFLAGS) -Wl,--gc-sections
BUILDBINARY_FLAGS =
CPPFLAGS = -I$(OUT) -P -MD -MT $@
# Default targets
target-y := $(OUT)canboot.elf
target-y := $(OUT)canboot.elf $(OUT)canboot.bin
all:
@ -72,6 +79,27 @@ $(OUT)canboot.elf: $(OBJS_canboot.elf)
$(Q)$(CC) $(OBJS_canboot.elf) $(CFLAGS_canboot.elf) -o $@
$(Q)scripts/check-gcc.sh $@ $(OUT)compile_time_request.o
$(OUT)canboot.bin: $(OUT)canboot.elf ./scripts/buildbinary.py
@echo " Creating hex file $@"
$(Q)$(OBJCOPY) -O binary $< $(OUT)canboot.work
$(Q)$(PYTHON) ./scripts/buildbinary.py -b $(CONFIG_FLASH_START) -s $(CONFIG_APPLICATION_START) $(BUILDBINARY_FLAGS) $(OUT)canboot.work -c $(OUT)canboot_payload.c $@
$(OUT)canboot_payload.o: $(OUT)canboot.bin
@echo " Compiling $@"
$(Q)$(CC) $(CFLAGS) -c $(OUT)canboot_payload.c -o $@
################ CanBoot "deployer" build rules
target-$(CONFIG_BUILD_DEPLOYER) += $(OUT)deployer.elf $(OUT)deployer.bin
$(OUT)deployer.elf: $(OBJS_deployer.elf) $(OUT)canboot.bin
@echo " Linking $@"
$(Q)$(CC) $(OBJS_deployer.elf) $(CFLAGS_deployer.elf) -o $@
$(OUT)deployer.bin: $(OUT)deployer.elf
@echo " Creating hex file $@"
$(Q)$(OBJCOPY) -O binary $< $@
################ Compile time requests
$(OUT)%.o.ctr: $(OUT)%.o
@ -83,6 +111,12 @@ $(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scri
$(Q)$(PYTHON) ./scripts/buildcommands.py $(OUT)compile_time_request.txt $(OUT)compile_time_request.c
$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
$(OUT)deployer_ctr.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(deployer-y)) ./scripts/buildcommands.py
@echo " Building $@"
$(Q)cat $(patsubst %.c, $(OUT)src/%.o.ctr,$(deployer-y)) | tr -s '\0' '\n' > $(OUT)deployer_ctr.txt
$(Q)$(PYTHON) ./scripts/buildcommands.py $(OUT)deployer_ctr.txt $(OUT)deployer_ctr.c
$(Q)$(CC) $(CFLAGS) -c $(OUT)deployer_ctr.c -o $@
################ Auto generation of "board/" include file link
create-board-link:

29
scripts/buildbinary.py
View File

@ -13,6 +13,29 @@ Rerun "make menuconfig" and either increase the APPLICATION_START or
disable features to reduce the final binary size.
"""
C_TEMPLATE = """
/* DO NOT EDIT! This is an autogenerated file. See scripts/buildbinary.py. */
#include <stdint.h>
#include "deployer.h"
const uint8_t deployer_canboot_binary[] = {
%s
};
const uint32_t deployer_canboot_binary_size = %d;
"""
def format_c_code(data):
ldata = len(data)
data = data + (b"\xff" * (8 - (ldata % 8)))
vals = [" "]
for i, d in enumerate(data):
vals.append("0x%02x," % (d,))
if i % 14 == 13:
vals.append("\n ")
return C_TEMPLATE % ("".join(vals), ldata)
def update_lpc176x_checksum(data):
data28 = data[:28]
words = struct.unpack('<IIIIIII', data28)
@ -25,6 +48,7 @@ def main():
parser.add_argument("-s", "--start", help="Address of application start")
parser.add_argument("-l", "--lpc176x", action='store_true',
help="Perform lpc176x checksum")
parser.add_argument("-c", "--code", help="C code file containing binary")
parser.add_argument("input_file", help="Raw binary filename")
parser.add_argument("output_file", help="Final binary filename")
args = parser.parse_args()
@ -45,6 +69,11 @@ def main():
if args.lpc176x:
data = update_lpc176x_checksum(data)
if args.code:
f = open(args.code, 'w')
f.write(format_c_code(data))
f.close()
f = open(args.output_file, 'wb')
f.write(data)
f.close()

5
src/Kconfig
View File

@ -99,6 +99,11 @@ config STATUS_LED_PIN
string "Status LED GPIO Pin"
depends on ENABLE_LED
config BUILD_DEPLOYER
bool
default y if DEPLOYER_START != 0
default n
# The HAVE_x options allow boards to disable support for some commands
# if the hardware does not support the feature.
config HAVE_CHIPID

2
src/Makefile
View File

@ -2,3 +2,5 @@
src-y += sched.c bootentry.c command.c flashcmd.c initial_pins.c
src-$(CONFIG_ENABLE_LED) += led.c
deployer-y += deployer.c

100
src/deployer.c Normal file
View File

@ -0,0 +1,100 @@
// Main code for canboot deployer application
//
// Copyright (C) 2016-2022 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memcmp
#include "autoconf.h" // CONFIG_BLOCK_SIZE
#include "board/flash.h" // flash_write_block
#include "board/io.h" // readb
#include "board/misc.h" // try_request_canboot
#include "deployer.h" // deployer_is_active
#include "sched.h" // sched_check_periodic
// The CanBoot "deployer application" is running
int
deployer_is_active(void)
{
return 1;
}
// Implement simple delay mechanism
void
udelay(uint32_t usecs)
{
uint32_t end = timer_read_time() + timer_from_us(usecs);
while (timer_is_before(timer_read_time(), end))
;
}
// Wrapper for Klipper compatibility
void
sched_wake_tasks(void)
{
}
// Note that a task is ready to run
void
sched_wake_task(struct task_wake *w)
{
writeb(&w->wake, 1);
}
// Check if a task is ready to run (as indicated by sched_wake_task)
uint8_t
sched_check_wake(struct task_wake *w)
{
if (!readb(&w->wake))
return 0;
writeb(&w->wake, 0);
return 1;
}
// Halt the processor
static void
halt(void)
{
for (;;)
;
}
// Init followed by CanBoot flashing
void
sched_main(void)
{
timer_setup();
// Run all init functions marked with DECL_INIT()
extern void ctr_run_initfuncs(void);
ctr_run_initfuncs();
// Check if flash has already been written
void *fstart = (void*)CONFIG_FLASH_START;
uint32_t cbsize = deployer_canboot_binary_size;
if (memcmp(fstart, deployer_canboot_binary, cbsize) == 0) {
try_request_canboot();
halt();
}
// Write CanBoot to flash
const uint8_t *p = deployer_canboot_binary, *end = &p[cbsize];
while (p < end) {
uint32_t data[CONFIG_BLOCK_SIZE / 4];
memset(data, 0xff, sizeof(data));
uint32_t c = CONFIG_BLOCK_SIZE;
if (p + c > end)
c = end - p;
memcpy(data, p, c);
int ret = flash_write_block((uint32_t)fstart, data);
if (ret < 0)
// An error occurred - halt to try avoiding endless boot loops
halt();
p += c;
fstart += c;
}
flash_complete();
// Flash completed - reboot into canboot
try_request_canboot();
}

12
src/deployer.h Normal file
View File

@ -0,0 +1,12 @@
#ifndef __DEPLOYER_H
#define __DEPLOYER_H
#include <stdint.h> // uint8_t
int deployer_is_active(void);
// Code in out/canboot_payload.c generated by scripts/buildbinary.py
extern const uint8_t deployer_canboot_binary[];
extern const uint32_t deployer_canboot_binary_size;
#endif // deployer.h

119
src/generic/armcm_boot.c Normal file
View File

@ -0,0 +1,119 @@
// ARM Cortex-M vector table and initial bootup handling
//
// Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "armcm_boot.h" // DECL_ARMCM_IRQ
#include "autoconf.h" // CONFIG_MCU
#include "board/internal.h" // SysTick
#include "command.h" // DECL_CONSTANT_STR
#include "misc.h" // dynmem_start
// Export MCU type
DECL_CONSTANT_STR("MCU", CONFIG_MCU);
// Symbols created by armcm_link.lds.S linker script
extern uint32_t _data_start, _data_end, _data_flash;
extern uint32_t _bss_start, _bss_end, _stack_start;
extern uint32_t _stack_end;
/****************************************************************
* Basic interrupt handlers
****************************************************************/
static void __noreturn
reset_handler_stage_two(void)
{
int i;
// Clear all enabled user interrupts and user pending interrupts
for (i = 0; i < ARRAY_SIZE(NVIC->ICER); i++) {
NVIC->ICER[i] = 0xFFFFFFFF;
__DSB();
NVIC->ICPR[i] = 0xFFFFFFFF;
}
// Reset all user interrupt priorities
for (i = 0; i < ARRAY_SIZE(NVIC->IP); i++)
NVIC->IP[i] = 0;
// Disable SysTick interrupt
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk;
__DSB();
// Clear pending pendsv and systick interrupts
SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk | SCB_ICSR_PENDSTCLR_Msk;
// Reset all system interrupt priorities
#if __CORTEX_M >= 7
for (i = 0; i < ARRAY_SIZE(SCB->SHPR); i++)
SCB->SHPR[i] = 0;
#else
for (i = 0; i < ARRAY_SIZE(SCB->SHP); i++)
SCB->SHP[i] = 0;
#endif
__DSB();
__ISB();
__enable_irq();
// Copy global variables from flash to ram
uint32_t count = (&_data_end - &_data_start) * 4;
__builtin_memcpy(&_data_start, &_data_flash, count);
// Clear the bss segment
__builtin_memset(&_bss_start, 0, (&_bss_end - &_bss_start) * 4);
barrier();
// Initializing the C library isn't needed...
//__libc_init_array();
// Run the main board specific code
armcm_main();
// The armcm_main() call should not return
for (;;)
;
}
// Initial code entry point - invoked by the processor after a reset
// Reset interrupts and stack to take control from bootloaders
void
ResetHandler(void)
{
__disable_irq();
// Explicitly load the stack pointer, jump to stage two
asm volatile("mov sp, %0\n bx %1"
: : "r"(&_stack_end), "r"(reset_handler_stage_two));
}
DECL_ARMCM_IRQ(ResetHandler, -15);
// Code called for any undefined interrupts
void
DefaultHandler(void)
{
for (;;)
;
}
/****************************************************************
* Dynamic memory range
****************************************************************/
// Return the start of memory available for dynamic allocations
void *
dynmem_start(void)
{
return &_bss_end;
}
// Return the end of memory available for dynamic allocations
void *
dynmem_end(void)
{
return &_stack_start;
}

76
src/generic/armcm_deployer.lds.S Normal file
View File

@ -0,0 +1,76 @@
// CanBoot "deployer" ARM Cortex-M linker script
//
// Copyright (C) 2019-2022 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "autoconf.h" // CONFIG_FLASH_START
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
OUTPUT_ARCH(arm)
MEMORY
{
rom (rx) : ORIGIN = CONFIG_DEPLOYER_START , LENGTH = CONFIG_FLASH_SIZE
ram (rwx) : ORIGIN = CONFIG_RAM_START , LENGTH = CONFIG_RAM_SIZE
}
SECTIONS
{
.text : {
. = ALIGN(4);
_text_vectortable_start = .;
KEEP(*(.vector_table))
_text_vectortable_end = .;
#if CONFIG_APPLICATION_START > CONFIG_DEPLOYER_START
. = CONFIG_APPLICATION_START - CONFIG_DEPLOYER_START ;
#endif
*(.text .text.*)
*(.rodata .rodata*)
} > rom
. = ALIGN(4);
_data_flash = .;
#if CONFIG_ARMCM_RAM_VECTORTABLE
.ram_vectortable (NOLOAD) : {
_ram_vectortable_start = .;
. = . + ( _text_vectortable_end - _text_vectortable_start ) ;
_ram_vectortable_end = .;
} > ram
#endif
.data : AT (_data_flash)
{
. = ALIGN(4);
_data_start = .;
*(.ramfunc .ramfunc.*);
*(.data .data.*);
. = ALIGN(4);
_data_end = .;
} > ram
.bss (NOLOAD) :
{
. = ALIGN(4);
_bss_start = .;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_bss_end = .;
} > ram
_stack_start = CONFIG_RAM_START + CONFIG_RAM_SIZE - CONFIG_STACK_SIZE ;
.stack _stack_start (NOLOAD) :
{
. = . + CONFIG_STACK_SIZE;
_stack_end = .;
} > ram
/DISCARD/ : {
// The .init/.fini sections are used by __libc_init_array(), but
// that isn't needed so no need to include them in the binary.
*(.init)
*(.fini)
}
}

20
src/generic/armcm_reset.c Normal file
View File

@ -0,0 +1,20 @@
// Generic reset command handler for ARM Cortex-M boards
//
// Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "autoconf.h" // CONFIG_FLASH_START
#include "board/internal.h" // NVIC_SystemReset
#include "board/irq.h" // irq_disable
#include "board/misc.h" // try_request_canboot
void
try_request_canboot(void)
{
uint32_t *bl_vectors = (uint32_t *)(CONFIG_FLASH_START & 0xFF000000);
uint64_t *req_sig = (uint64_t *)bl_vectors[0];
irq_disable();
*req_sig = REQUEST_CANBOOT;
NVIC_SystemReset();
}

2
src/generic/misc.h
View File

@ -18,6 +18,8 @@ void application_read_flash(uint32_t address, uint32_t *dest);
int application_check_valid(void);
void application_jump(void);
void try_request_canboot(void);
void timer_setup(void);
uint32_t timer_from_us(uint32_t us);

23
src/lpc176x/Kconfig
View File

@ -57,6 +57,28 @@ config FLASH_START
hex
default 0x0000
######################################################################
# Bootloader
######################################################################
choice
prompt "Build CanBoot deployment application"
config LPC176X_FLASH_START_0000
bool "Do not build"
config LPC176X_FLASH_START_4000
bool "16KiB bootloader"
endchoice
config DEPLOYER_START
hex
default 0x4000 if LPC176X_FLASH_START_4000
default 0
######################################################################
# Communication inteface
######################################################################
choice
prompt "Communication interface"
config LPC_USB
@ -70,6 +92,7 @@ choice
select SERIAL
endchoice
######################################################################
# Flash settings
######################################################################

22
src/lpc176x/Makefile
View File

@ -6,26 +6,26 @@ CROSS_PREFIX=arm-none-eabi-
dirs-y += src/lpc176x src/generic lib/lpc176x/device
CFLAGS += -mthumb -mcpu=cortex-m3 -Ilib/lpc176x/device -Ilib/cmsis-core
CFLAGS += -Wno-nonnull
CFLAGS_canboot.elf += --specs=nano.specs --specs=nosys.specs
CFLAGS_canboot.elf += -T $(OUT)src/generic/armcm_link.ld
$(OUT)canboot.elf: $(OUT)src/generic/armcm_link.ld
# Add source files
src-y += lpc176x/main.c lpc176x/gpio.c lpc176x/flash.c
src-y += generic/armcm_canboot.c generic/armcm_irq.c
src-y += generic/armcm_timer.c generic/crc16_ccitt.c
src-y += ../lib/lpc176x/device/system_LPC17xx.c
mcu-y = lpc176x/main.c lpc176x/gpio.c lpc176x/flash.c
mcu-y += generic/armcm_irq.c generic/armcm_timer.c generic/crc16_ccitt.c
mcu-y += ../lib/lpc176x/device/system_LPC17xx.c
src-y += generic/armcm_canboot.c $(mcu-y)
src-$(CONFIG_USBSERIAL) += lpc176x/usbserial.c lpc176x/chipid.c
src-$(CONFIG_USBSERIAL) += generic/usb_cdc.c
src-$(CONFIG_SERIAL) += lpc176x/serial.c generic/serial_irq.c
BUILDBINARY_FLAGS = -l
# Build the additional bin output file
target-y += $(OUT)canboot.bin
$(OUT)canboot.bin: $(OUT)canboot.elf ./scripts/buildbinary.py
@echo " Creating hex file $@"
$(Q)$(OBJCOPY) -O binary $< $(OUT)canboot.work
$(Q)$(PYTHON) ./scripts/buildbinary.py -b $(CONFIG_FLASH_START) -s $(CONFIG_APPLICATION_START) -l $(OUT)canboot.work $@
# Deployer build
deployer-y += generic/armcm_boot.c generic/armcm_reset.c $(mcu-y)
CFLAGS_deployer.elf += --specs=nano.specs --specs=nosys.specs
CFLAGS_deployer.elf += -T $(OUT)src/generic/armcm_deployer.ld
$(OUT)deployer.elf: $(OUT)src/generic/armcm_deployer.ld

8
src/sched.c
View File

@ -7,8 +7,16 @@
#include "board/io.h" // readb
#include "board/misc.h" // jump_to_application
#include "bootentry.h" // bootentry_check
#include "deployer.h" // deployer_is_active
#include "sched.h" // sched_check_periodic
// The main CanBoot code is running (not the deployer application)
int
deployer_is_active(void)
{
return 0;
}
// Implement simple delay mechanism
void
udelay(uint32_t usecs)

31
src/stm32/Kconfig
View File

@ -138,6 +138,10 @@ config CLOCK_FREQ
default 64000000 if MACH_STM32G0
default 400000000 if MACH_STM32H7 # 400Mhz is max Klipper currently supports
config FLASH_START
hex
default 0x8000000
config FLASH_SIZE
hex
default 0x4000 if MACH_STM32F031
@ -189,7 +193,9 @@ config STM32F103GD_DISABLE_SWD
######################################################################
choice
prompt "Bootloader offset" if 0
prompt "Build CanBoot deployment application"
config STM32_FLASH_START_0000
bool "Do not build"
config STM32_FLASH_START_2000
bool "8KiB bootloader" if MACH_STM32F103 || MACH_STM32F070 || MACH_STM32G0 || MACH_STM32F0x2
config STM32_FLASH_START_5000
@ -209,21 +215,32 @@ choice
config STM32_FLASH_START_800
bool "2KiB bootloader (HID Bootloader)" if MACH_STM32F103
config STM32_FLASH_START_1000
bool "4KiB bootloader" if MACH_STM32F1 || MACH_STM32F0
config STM32_FLASH_START_4000
bool "16KiB bootloader (HID Bootloader)" if MACH_STM32F207 || MACH_STM32F401 || MACH_STM32F4x5 || MACH_STM32F103 || MACH_STM32F072
config STM32_FLASH_START_20000
bool "128KiB bootloader (SKR SE BX v2.0)" if MACH_STM32H743
config STM32_FLASH_START_0000
bool "No bootloader"
endchoice
config FLASH_START
config DEPLOYER_START
hex
default 0x8000000
default 0x8000800 if STM32_FLASH_START_800
default 0x8001000 if STM32_FLASH_START_1000
default 0x8002000 if STM32_FLASH_START_2000
default 0x8004000 if STM32_FLASH_START_4000
default 0x8005000 if STM32_FLASH_START_5000
default 0x8007000 if STM32_FLASH_START_7000
default 0x8008000 if STM32_FLASH_START_8000
default 0x8008800 if STM32_FLASH_START_8800
default 0x800C000 if STM32_FLASH_START_C000
default 0x8010000 if STM32_FLASH_START_10000
default 0x8020000 if STM32_FLASH_START_20000
default 0x8020200 if STM32_FLASH_START_20200
default 0
config ARMCM_RAM_VECTORTABLE
bool
default y if MACH_STM32F0 && FLASH_START != 0x8000000
default y if MACH_STM32F0 && DEPLOYER_START != 0
default n

43
src/stm32/Makefile
View File

@ -25,26 +25,27 @@ CFLAGS_canboot.elf += -T $(OUT)src/generic/armcm_link.ld
$(OUT)canboot.elf: $(OUT)src/generic/armcm_link.ld
# Add source files
src-y += stm32/gpio.c stm32/flash.c stm32/clockline.c
src-y += generic/armcm_canboot.c generic/armcm_irq.c generic/crc16_ccitt.c
src-$(CONFIG_MACH_STM32F0) += ../lib/stm32f0/system_stm32f0xx.c
src-$(CONFIG_MACH_STM32F0) += stm32/stm32f0.c stm32/stm32f0_timer.c
src-$(CONFIG_MACH_STM32F0) += stm32/gpioperiph.c
mcu-y = stm32/gpio.c stm32/flash.c stm32/clockline.c
mcu-y += generic/armcm_irq.c generic/crc16_ccitt.c
mcu-$(CONFIG_MACH_STM32F0) += ../lib/stm32f0/system_stm32f0xx.c
mcu-$(CONFIG_MACH_STM32F0) += stm32/stm32f0.c stm32/stm32f0_timer.c
mcu-$(CONFIG_MACH_STM32F0) += stm32/gpioperiph.c
src-$(CONFIG_MACH_STM32F1) += ../lib/stm32f1/system_stm32f1xx.c
src-$(CONFIG_MACH_STM32F1) += stm32/stm32f1.c generic/armcm_timer.c
mcu-$(CONFIG_MACH_STM32F1) += ../lib/stm32f1/system_stm32f1xx.c
mcu-$(CONFIG_MACH_STM32F1) += stm32/stm32f1.c generic/armcm_timer.c
src-$(CONFIG_MACH_STM32F2) += ../lib/stm32f2/system_stm32f2xx.c
src-$(CONFIG_MACH_STM32F2) += stm32/stm32f4.c generic/armcm_timer.c
src-$(CONFIG_MACH_STM32F2) += stm32/gpioperiph.c
mcu-$(CONFIG_MACH_STM32F2) += ../lib/stm32f2/system_stm32f2xx.c
mcu-$(CONFIG_MACH_STM32F2) += stm32/stm32f4.c generic/armcm_timer.c
mcu-$(CONFIG_MACH_STM32F2) += stm32/gpioperiph.c
src-$(CONFIG_MACH_STM32F4) += ../lib/stm32f4/system_stm32f4xx.c
src-$(CONFIG_MACH_STM32F4) += stm32/stm32f4.c generic/armcm_timer.c
src-$(CONFIG_MACH_STM32F4) += stm32/gpioperiph.c
mcu-$(CONFIG_MACH_STM32F4) += ../lib/stm32f4/system_stm32f4xx.c
mcu-$(CONFIG_MACH_STM32F4) += stm32/stm32f4.c generic/armcm_timer.c
mcu-$(CONFIG_MACH_STM32F4) += stm32/gpioperiph.c
src-$(CONFIG_MACH_STM32G0) += stm32/stm32f0_timer.c
src-$(CONFIG_MACH_STM32G0) += stm32/stm32g0.c stm32/gpioperiph.c
mcu-$(CONFIG_MACH_STM32G0) += stm32/stm32f0_timer.c
mcu-$(CONFIG_MACH_STM32G0) += stm32/stm32g0.c stm32/gpioperiph.c
src-y += generic/armcm_canboot.c $(mcu-y)
usb-src-$(CONFIG_HAVE_STM32_USBFS) := stm32/usbfs.c
usb-src-$(CONFIG_HAVE_STM32_USBOTG) := stm32/usbotg.c
src-$(CONFIG_USBSERIAL) += $(usb-src-y) stm32/chipid.c generic/usb_cdc.c
@ -58,10 +59,8 @@ canbus-src-$(CONFIG_HAVE_STM32_CANBUS) += stm32/can.c
canbus-src-$(CONFIG_HAVE_STM32_FDCANBUS) += stm32/fdcan.c
src-$(CONFIG_CANSERIAL) += $(canbus-src-y) generic/canbus.c stm32/chipid.c
# Binary output file rules
target-y += $(OUT)canboot.bin
$(OUT)canboot.bin: $(OUT)canboot.elf ./scripts/buildbinary.py
@echo " Creating hex file $@"
$(Q)$(OBJCOPY) -O binary $< $(OUT)canboot.work
$(Q)$(PYTHON) ./scripts/buildbinary.py -b $(CONFIG_FLASH_START) -s $(CONFIG_APPLICATION_START) $(OUT)canboot.work $@
# Deployer build
deployer-y += generic/armcm_boot.c generic/armcm_reset.c $(mcu-y)
CFLAGS_deployer.elf += --specs=nano.specs --specs=nosys.specs
CFLAGS_deployer.elf += -T $(OUT)src/generic/armcm_deployer.ld
$(OUT)deployer.elf: $(OUT)src/generic/armcm_deployer.ld

18
src/stm32/stm32f0.c
View File

@ -8,6 +8,7 @@
#include "board/armcm_boot.h" // armcm_main
#include "board/irq.h" // irq_disable
#include "command.h" // DECL_CONSTANT_STR
#include "deployer.h" // deployer_is_active
#include "internal.h" // enable_pclock
#include "sched.h" // sched_main
@ -131,6 +132,21 @@ hsi14_setup(void)
* Startup
****************************************************************/
// Copy vector table and remap ram so new vector table is used
static void
enable_ram_vectortable(void)
{
// Symbols created by armcm_link.lds.S linker script
extern uint32_t _ram_vectortable_start, _ram_vectortable_end;
extern uint32_t _text_vectortable_start;
uint32_t count = (&_ram_vectortable_end - &_ram_vectortable_start) * 4;
__builtin_memcpy(&_ram_vectortable_start, &_text_vectortable_start, count);
barrier();
SYSCFG->CFGR1 |= 3 << SYSCFG_CFGR1_MEM_MODE_Pos;
}
// Main entry point - called from armcm_boot.c:ResetHandler()
void
armcm_main(void)
@ -138,6 +154,8 @@ armcm_main(void)
SystemInit();
enable_pclock(SYSCFG_BASE);
if (CONFIG_ARMCM_RAM_VECTORTABLE && deployer_is_active())
enable_ram_vectortable();
// Set flash latency
FLASH->ACR = (1 << FLASH_ACR_LATENCY_Pos) | FLASH_ACR_PRFTBE;