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
katapult/lib/elf2uf2/main.cpp
Kevin O'Connor c0014efc4a rp2040: Resynchronize with upstream Klipper code and support rp2350 chips 
Synchronize with the latest Klipper code.  This pulls in the latest
lib/ files (needed to use the pico-sdk v2.0.0 version).  It updates to
latest can2040 code (needed for pico-sdk v2.0.0 support).  It
implements USB double buffering (as is now done in Klipper).  It adds
in support for additional UART pins (as is now done in Klipper).  It
adds support for rp2350 chips.

This replaces the execute in ram code previously implemented in
Katapult with the execute in ram code that is now standard in Klipper.

The CONFIG_RP2040_ADD_BOOT_SIGNATURE kconfig symbol was removed and
the build now always produces a katapult.withclear.uf2 file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2024-12-17 19:27:43 -05:00

351 lines
13 KiB
C++
Raw Permalink Blame History

/*
* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <cstdio>
#include <map>
#include <vector>
#include <cstring>
#include <cstdarg>
#include <algorithm>
#include "boot/uf2.h"
#include "elf.h"
typedef unsigned int uint;
#define ERROR_ARGS -1
#define ERROR_FORMAT -2
#define ERROR_INCOMPATIBLE -3
#define ERROR_READ_FAILED -4
#define ERROR_WRITE_FAILED -5
static char error_msg[512];
static bool verbose;
static int fail(int code, const char *format, ...) {
va_list args;
va_start(args, format);
vsnprintf(error_msg, sizeof(error_msg), format, args);
va_end(args);
return code;
}
static int fail_read_error() {
return fail(ERROR_READ_FAILED, "Failed to read input file");
}
static int fail_write_error() {
return fail(ERROR_WRITE_FAILED, "Failed to write output file");
}
// we require 256 (as this is the page size supported by the device)
#define LOG2_PAGE_SIZE 8u
#define PAGE_SIZE (1u << LOG2_PAGE_SIZE)
struct address_range {
enum type {
CONTENTS, // may have contents
NO_CONTENTS, // must be uninitialized
IGNORE // will be ignored
};
address_range(uint32_t from, uint32_t to, type type) : from(from), to(to), type(type) {}
address_range() : address_range(0, 0, IGNORE) {}
type type;
uint32_t to;
uint32_t from;
};
typedef std::vector<address_range> address_ranges;
#define MAIN_RAM_START 0x20000000u
#define MAIN_RAM_END 0x20082000u
#define FLASH_START 0x10000000u
#define FLASH_END 0x15000000u
#define XIP_SRAM_START 0x15000000u
#define XIP_SRAM_END 0x15004000u
#define MAIN_RAM_BANKED_START 0x21000000u
#define MAIN_RAM_BANKED_END 0x21040000u
const address_ranges rp2040_address_ranges_flash {
address_range(FLASH_START, FLASH_END, address_range::type::CONTENTS),
address_range(MAIN_RAM_START, MAIN_RAM_END, address_range::type::NO_CONTENTS),
address_range(MAIN_RAM_BANKED_START, MAIN_RAM_BANKED_END, address_range::type::NO_CONTENTS)
};
const address_ranges rp2040_address_ranges_ram {
address_range(MAIN_RAM_START, MAIN_RAM_END, address_range::type::CONTENTS),
address_range(XIP_SRAM_START, XIP_SRAM_END, address_range::type::CONTENTS),
address_range(0x00000000u, 0x00004000u, address_range::type::IGNORE) // for now we ignore the bootrom if present
};
struct page_fragment {
page_fragment(uint32_t file_offset, uint32_t page_offset, uint32_t bytes) : file_offset(file_offset), page_offset(page_offset), bytes(bytes) {}
uint32_t file_offset;
uint32_t page_offset;
uint32_t bytes;
};
static int usage() {
fprintf(stderr, "Usage: elf2uf2 (-v) <input ELF file> <output UF2 file>\n");
return ERROR_ARGS;
}
static int read_and_check_elf32_header(FILE *in, elf32_header& eh_out) {
if (1 != fread(&eh_out, sizeof(eh_out), 1, in)) {
return fail(ERROR_READ_FAILED, "Unable to read ELF header");
}
if (eh_out.common.magic != ELF_MAGIC) {
return fail(ERROR_FORMAT, "Not an ELF file");
}
if (eh_out.common.version != 1 || eh_out.common.version2 != 1) {
return fail(ERROR_FORMAT, "Unrecognized ELF version");
}
if (eh_out.common.arch_class != 1 || eh_out.common.endianness != 1) {
return fail(ERROR_INCOMPATIBLE, "Require 32 bit little-endian ELF");
}
if (eh_out.eh_size != sizeof(struct elf32_header)) {
return fail(ERROR_FORMAT, "Invalid ELF32 format");
}
if (eh_out.common.machine != EM_ARM) {
return fail(ERROR_FORMAT, "Not an ARM executable");
}
if (eh_out.common.abi != 0) {
return fail(ERROR_INCOMPATIBLE, "Unrecognized ABI");
}
if (eh_out.flags & EF_ARM_ABI_FLOAT_HARD) {
return fail(ERROR_INCOMPATIBLE, "HARD-FLOAT not supported");
}
return 0;
}
int check_address_range(const address_ranges& valid_ranges, uint32_t addr, uint32_t vaddr, uint32_t size, bool uninitialized, address_range &ar) {
for(const auto& range : valid_ranges) {
if (range.from <= addr && range.to >= addr + size) {
if (range.type == address_range::type::NO_CONTENTS && !uninitialized) {
return fail(ERROR_INCOMPATIBLE, "ELF contains memory contents for uninitialized memory");
}
ar = range;
if (verbose) {
printf("%s segment %08x->%08x (%08x->%08x)\n", uninitialized ? "Uninitialized" : "Mapped", addr,
addr + size, vaddr, vaddr+size);
}
return 0;
}
}
return fail(ERROR_INCOMPATIBLE, "Memory segment %08x->%08x is outside of valid address range for device", addr, addr+size);
}
int read_and_check_elf32_ph_entries(FILE *in, const elf32_header &eh, const address_ranges& valid_ranges, std::map<uint32_t, std::vector<page_fragment>>& pages) {
if (eh.ph_entry_size != sizeof(elf32_ph_entry)) {
return fail(ERROR_FORMAT, "Invalid ELF32 program header");
}
if (eh.ph_num) {
std::vector<elf32_ph_entry> entries(eh.ph_num);
if (eh.ph_num != fread(&entries[0], sizeof(struct elf32_ph_entry), eh.ph_num, in)) {
return fail_read_error();
}
for(uint i=0;i<eh.ph_num;i++) {
elf32_ph_entry& entry = entries[i];
if (entry.type == PT_LOAD && entry.memsz) {
address_range ar;
int rc;
uint mapped_size = std::min(entry.filez, entry.memsz);
if (mapped_size) {
rc = check_address_range(valid_ranges, entry.paddr, entry.vaddr, mapped_size, false, ar);
if (rc) return rc;
// we don't download uninitialized, generally it is BSS and should be zero-ed by crt0.S, or it may be COPY areas which are undefined
if (ar.type != address_range::type::CONTENTS) {
if (verbose) printf(" ignored\n");
continue;
}
uint addr = entry.paddr;
uint remaining = mapped_size;
uint file_offset = entry.offset;
while (remaining) {
uint off = addr & (PAGE_SIZE - 1);
uint len = std::min(remaining, PAGE_SIZE - off);
auto &fragments = pages[addr - off]; // list of fragments
// note if filesz is zero, we want zero init which is handled because the
// statement above creates an empty page fragment list
// check overlap with any existing fragments
for (const auto &fragment : fragments) {
if ((off < fragment.page_offset + fragment.bytes) !=
((off + len) <= fragment.page_offset)) {
fail(ERROR_FORMAT, "In memory segments overlap");
}
}
fragments.push_back(
page_fragment{file_offset,off,len});
addr += len;
file_offset += len;
remaining -= len;
}
}
if (entry.memsz > entry.filez) {
// we have some uninitialized data too
rc = check_address_range(valid_ranges, entry.paddr + entry.filez, entry.vaddr + entry.filez, entry.memsz - entry.filez, true,
ar);
if (rc) return rc;
}
}
}
}
return 0;
}
int realize_page(FILE *in, const std::vector<page_fragment> &fragments, uint8_t *buf, uint buf_len) {
assert(buf_len >= PAGE_SIZE);
for(auto& frag : fragments) {
assert(frag.page_offset >= 0 && frag.page_offset < PAGE_SIZE && frag.page_offset + frag.bytes <= PAGE_SIZE);
if (fseek(in, frag.file_offset, SEEK_SET)) {
return fail_read_error();
}
if (1 != fread(buf + frag.page_offset, frag.bytes, 1, in)) {
return fail_read_error();
}
}
return 0;
}
static bool is_address_valid(const address_ranges& valid_ranges, uint32_t addr) {
for(const auto& range : valid_ranges) {
if (range.from <= addr && range.to > addr) {
return true;
}
}
return false;
}
static bool is_address_initialized(const address_ranges& valid_ranges, uint32_t addr) {
for(const auto& range : valid_ranges) {
if (range.from <= addr && range.to > addr) {
return address_range::type::CONTENTS == range.type;
}
}
return false;
}
static bool is_address_mapped(const std::map<uint32_t, std::vector<page_fragment>>& pages, uint32_t addr) {
uint32_t page = addr & ~(PAGE_SIZE - 1);
if (!pages.count(page)) return false;
// todo check actual address within page
return true;
}
int elf2uf2(FILE *in, FILE *out) {
elf32_header eh;
std::map<uint32_t, std::vector<page_fragment>> pages;
int rc = read_and_check_elf32_header(in, eh);
bool ram_style = false;
address_ranges valid_ranges = {};
if (!rc) {
ram_style = is_address_initialized(rp2040_address_ranges_ram, eh.entry);
if (verbose) {
if (ram_style) {
printf("Detected RAM binary\n");
} else {
printf("Detected FLASH binary\n");
}
}
valid_ranges = ram_style ? rp2040_address_ranges_ram : rp2040_address_ranges_flash;
rc = read_and_check_elf32_ph_entries(in, eh, valid_ranges, pages);
}
if (rc) return rc;
if (pages.empty()) {
return fail(ERROR_INCOMPATIBLE, "The input file has no memory pages");
}
uint page_num = 0;
if (ram_style) {
uint32_t expected_ep_main_ram = UINT32_MAX;
uint32_t expected_ep_xip_sram = UINT32_MAX;
for(auto& page_entry : pages) {
if ( ((page_entry.first >= MAIN_RAM_START) && (page_entry.first < MAIN_RAM_END)) && (page_entry.first < expected_ep_main_ram) ) {
expected_ep_main_ram = page_entry.first | 0x1;
} else if ( ((page_entry.first >= XIP_SRAM_START) && (page_entry.first < XIP_SRAM_END)) && (page_entry.first < expected_ep_xip_sram) ) {
expected_ep_xip_sram = page_entry.first | 0x1;
}
}
uint32_t expected_ep = (UINT32_MAX != expected_ep_main_ram) ? expected_ep_main_ram : expected_ep_xip_sram;
if (eh.entry == expected_ep_xip_sram) {
return fail(ERROR_INCOMPATIBLE, "B0/B1 Boot ROM does not support direct entry into XIP_SRAM\n");
} else if (eh.entry != expected_ep) {
return fail(ERROR_INCOMPATIBLE, "A RAM binary should have an entry point at the beginning: %08x (not %08x)\n", expected_ep, eh.entry);
}
static_assert(0 == (MAIN_RAM_START & (PAGE_SIZE - 1)), "");
// currently don't require this as entry point is now at the start, we don't know where reset vector is
#if 0
uint8_t buf[PAGE_SIZE];
rc = realize_page(in, pages[MAIN_RAM_START], buf, sizeof(buf));
if (rc) return rc;
uint32_t sp = ((uint32_t *)buf)[0];
uint32_t ip = ((uint32_t *)buf)[1];
if (!is_address_mapped(pages, ip)) {
return fail(ERROR_INCOMPATIBLE, "Vector table at %08x is invalid: reset vector %08x is not in mapped memory",
MAIN_RAM_START, ip);
}
if (!is_address_valid(valid_ranges, sp - 4)) {
return fail(ERROR_INCOMPATIBLE, "Vector table at %08x is invalid: stack pointer %08x is not in RAM",
MAIN_RAM_START, sp);
}
#endif
}
uf2_block block;
block.magic_start0 = UF2_MAGIC_START0;
block.magic_start1 = UF2_MAGIC_START1;
block.flags = UF2_FLAG_FAMILY_ID_PRESENT;
block.payload_size = PAGE_SIZE;
block.num_blocks = (uint32_t)pages.size();
block.file_size = RP2040_FAMILY_ID;
block.magic_end = UF2_MAGIC_END;
for(auto& page_entry : pages) {
block.target_addr = page_entry.first;
block.block_no = page_num++;
if (verbose) {
printf("Page %d / %d %08x\n", block.block_no, block.num_blocks, block.target_addr);
}
memset(block.data, 0, sizeof(block.data));
rc = realize_page(in, page_entry.second, block.data, sizeof(block.data));
if (rc) return rc;
if (1 != fwrite(&block, sizeof(uf2_block), 1, out)) {
return fail_write_error();
}
}
return 0;
}
int main(int argc, char **argv) {
int arg = 1;
if (arg < argc && !strcmp(argv[arg], "-v")) {
verbose = true;
arg++;
}
if (argc < arg + 2) {
return usage();
}
const char *in_filename = argv[arg++];
FILE *in = fopen(in_filename, "rb");
if (!in) {
fprintf(stderr, "Can't open input file '%s'\n", in_filename);
return ERROR_ARGS;
}
const char *out_filename = argv[arg++];
FILE *out = fopen(out_filename, "wb");
if (!out) {
fprintf(stderr, "Can't open output file '%s'\n", out_filename);
return ERROR_ARGS;
}
int rc = elf2uf2(in, out);
fclose(in);
fclose(out);
if (rc) {
remove(out_filename);
if (error_msg[0]) {
fprintf(stderr, "ERROR: %s\n", error_msg);
}
}
return rc;
}
Reference in New Issue View Git Blame Copy Permalink