diff options
Diffstat (limited to 'firmware')
| -rw-r--r-- | firmware/Makefile | 8 | ||||
| -rw-r--r-- | firmware/Makefile.dfu | 537 | ||||
| -rw-r--r-- | firmware/TODO | 8 | ||||
| -rw-r--r-- | firmware/doc/dfu.txt | 42 | ||||
| -rw-r--r-- | firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld | 94 | ||||
| -rw-r--r-- | firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld | 109 | ||||
| -rw-r--r-- | firmware/src/dfu/dfu.c (renamed from firmware/src/os/dfu.c) | 12 | ||||
| -rw-r--r-- | firmware/src/dfu/dfu.h (renamed from firmware/src/os/dfu.h) | 11 | ||||
| -rw-r--r-- | firmware/src/os/main.c | 2 | ||||
| -rw-r--r-- | firmware/src/os/pcd_enumerate.c | 5 | ||||
| -rw-r--r-- | firmware/src/os/pcd_enumerate.h | 2 | ||||
| -rw-r--r-- | firmware/src/start/Cstartup.S | 348 | ||||
| -rw-r--r-- | firmware/src/start/Cstartup_app.S | 81 |
13 files changed, 1056 insertions, 203 deletions
diff --git a/firmware/Makefile b/firmware/Makefile index 3d8c42d..a916ae6 100644 --- a/firmware/Makefile +++ b/firmware/Makefile @@ -53,7 +53,7 @@ RUN_MODE=RUN_FROM_ROM #RUN_MODE=RUN_FROM_RAM ## We want to produce a full-flash image, but including DFU -IMGTYPE=-dfu-fullimage +IMGTYPE=-sam7dfu-app # with / at end PATH_TO_LINKSCRIPTS=link/ @@ -86,8 +86,8 @@ endif SRCARM += src/os/pcd_enumerate.c src/os/fifo.c src/os/dbgu.c \ src/os/led.c src/os/req_ctx.c src/os/trigger.c \ src/os/main.c src/os/syscalls.c src/os/usb_handler.c \ - src/os/usb_benchmark.c src/os/dfu.c src/start/Cstartup_SAM7.c \ - src/os/tc_cdiv.c src/os/pit.c src/os/pwm.c src/os/pio_irq.c + src/os/usb_benchmark.c src/os/tc_cdiv.c src/os/pit.c \ + src/os/pwm.c src/os/pio_irq.c ifeq ($(BOARD), PCD) # PCD support code @@ -134,7 +134,7 @@ ASRCLIB += lib/lib1funcs.S lib/div64.S endif # List Assembler source files here which must be assembled in ARM-Mode.. -ASRCARM = src/start/Cstartup.S $(ASRCLIB) +ASRCARM = src/start/Cstartup_app.S $(ASRCLIB) ## Output format. (can be ihex or binary) ## (binary i.e. for openocd and SAM-BA, hex i.e. for lpc21isp and uVision) diff --git a/firmware/Makefile.dfu b/firmware/Makefile.dfu new file mode 100644 index 0000000..5fcb4d3 --- /dev/null +++ b/firmware/Makefile.dfu @@ -0,0 +1,537 @@ +# Hey Emacs, this is a -*- makefile -*- +# +# WinARM makefile for the FreeRTOS-demo on LPC2138 +# based in information from the FreeRTOS LPC2106 example +# +# by Martin Thomas, Kaiserslautern, Germany +# <eversmith@heizung-thomas.de> +# +# based on the WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al. +# Released to the Public Domain +# Please read the make user manual! +# +# +# On command line: +# +# make all = Make software. +# +# make clean = Clean out built project files. +# +# make program = Download the hex file to the device +# +# (TODO: make filename.s = Just compile filename.c into the assembler code only) +# +# To rebuild project do "make clean" then "make all". +# +# Changelog: +# - 17. Feb. 2005 - added thumb-interwork support (mth) +# - 28. Apr. 2005 - added C++ support (mth) +# - 29. Arp. 2005 - changed handling for lst-Filename (mth) +# - 1. Nov. 2005 - exception-vector placement options (mth) +# - 15. Nov. 2005 - added library-search-path (EXTRA_LIB...) (mth) +# - 2. Dec. 2005 - fixed ihex and binary file extensions (mth) +# - 22. Feb. 2006 - added AT91LIBNOWARN setting (mth) +# - 19. Apr. 2006 - option FLASH_TOOL (default lpc21isp); variable IMGEXT (mth) +# - 19. Mai. 2006 - USE_THUMB_MODE switch, ROM_RUN->RUN_FROM_ROM RAM_RUN->RUN_FROM_RAM + + +FLASH_TOOL = AT91FLASH +#FLASH_TOOL = UVISION +#FLASH_TOOL = OPENOCD + +# MCU name and submodel +MCU = arm7tdmi +#SUBMDL = AT91SAM7S64 +SUBMDL = AT91SAM7S256 + +USE_THUMB_MODE = NO +#USE_THUMB_MODE = YES + +## Create ROM-Image (final) +RUN_MODE=RUN_FROM_ROM +## Create RAM-Image (debugging) - not used in this example +#RUN_MODE=RUN_FROM_RAM + +## We want to produce a full-flash image, but including DFU +IMGTYPE=-sam7dfu-dfu + +# with / at end +PATH_TO_LINKSCRIPTS=link/ + +#### not used in this example: +## Exception-Vector placement only supported for "ROM_RUN" +## (placement settings ignored when using "RAM_RUN") +## - Exception vectors in ROM: +#VECTOR_LOCATION=VECTORS_IN_ROM +## - Exception vectors in RAM: +#VECTOR_LOCATION=VECTORS_IN_RAM + +# Target file name (without extension). +TARGET:=dfu + +# List C source files here. (C dependencies are automatically generated.) +# use file-extension c for "c-only"-files +SRC = + +# List C source files here which must be compiled in ARM-Mode. +# use file-extension c for "c-only"-files + +SRCARM = src/start/Cstartup_SAM7.c src/dfu/dfu.c + +# List C++ source files here. +# use file-extension cpp for C++-files (use extension .cpp) +CPPSRC = + +# List C++ source files here which must be compiled in ARM-Mode. +# use file-extension cpp for C++-files (use extension .cpp) +#CPPSRCARM = $(TARGET).cpp +CPPSRCARM = + +# List Assembler source files here. +# Make them always end in a capital .S. Files ending in a lowercase .s +# will not be considered source files but generated files (assembler +# output from the compiler), and will be deleted upon "make clean"! +# Even though the DOS/Win* filesystem matches both .s and .S the same, +# it will preserve the spelling of the filenames, and gcc itself does +# care about how the name is spelled on its command-line. +ASRC = + +# List Assembler source files here which must be assembled in ARM-Mode.. +ASRCARM = src/start/Cstartup.S + +## Output format. (can be ihex or binary) +## (binary i.e. for openocd and SAM-BA, hex i.e. for lpc21isp and uVision) +#FORMAT = ihex +FORMAT = binary + +# Optimization level, can be [0, 1, 2, 3, s]. +# 0 = turn off optimization. s = optimize for size. +# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) +OPT = s +#OPT = 0 + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +#DEBUGF = stabs +DEBUGF = dwarf-2 + +# List any extra directories to look for include files here. +# Each directory must be seperated by a space. +#### FreeRTOS +EXTRAINCDIRS = + +# List any extra directories to look for library files here. +# Each directory must be seperated by a space. +#EXTRA_LIBDIRS = ../arm7_efsl_0_2_4 +EXTRA_LIBDIRS = + +## Using the Atmel AT91_lib produces warning with +## the default warning-levels. +## yes - disable these warnings; no - keep default settings +AT91LIBNOWARN = yes +#AT91LIBNOWARN = no + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 + +# Place -D or -U options for C here +CDEFS = -D$(RUN_MODE) -D__MS_types__ -D__LIBRFID__ + +ifdef DEBUG +CDEFS += -DDEBUG +endif + +ifdef OLIMEX +CDEFS += -DOLIMEX +endif + +ifeq ($(BOARD),PICC) +CDEFS += -DPICC +endif + +ifeq ($(BOARD),PCD) +CDEFS += -DPCD +endif + +# Place -I options here +CINCS = -Iinclude -Isrc + +# Place -D or -U options for ASM here +ADEFS = -D$(RUN_MODE) + +ifdef VECTOR_LOCATION +CDEFS += -D$(VECTOR_LOCATION) +ADEFS += -D$(VECTOR_LOCATION) +endif + +CDEFS += -D__$(SUBMDL)__ +ADEFS += -D__$(SUBMDL)__ + + +# Compiler flags. +# -g*: generate debugging information +# -O*: optimization level +# -f...: tuning, see GCC manual and avr-libc documentation +# -Wall...: warning level +# -Wa,...: tell GCC to pass this to the assembler. +# -adhlns...: create assembler listing +# +# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) +CFLAGS = -g$(DEBUGF) -DBOARD=PCD -DPCD +CFLAGS += $(CDEFS) $(CINCS) +CFLAGS += -O$(OPT) +CFLAGS += -Wall -Wextra -Wcast-align -Wimplicit -Wunused +CFLAGS += -Wpointer-arith -Wswitch +CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow +CFLAGS += -Wbad-function-cast -Wsign-compare -Waggregate-return +CFLAGS += -Wa,-adhlns=$(subst $(suffix $<),.lst,$<) +CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) +#CFLAGS += -ffunction-sections -fdata-sections + +# flags only for C +CONLYFLAGS += -Wnested-externs +CONLYFLAGS += $(CSTANDARD) + +ifneq ($(AT91LIBNOWARN),yes) +#AT91-lib warnings with: +CFLAGS += -Wcast-qual +CONLYFLAGS += -Wmissing-prototypes +CONLYFLAGS += -Wstrict-prototypes +CONLYFLAGS += -Wmissing-declarations +endif + +# flags only for C++ (arm-elf-g++) +# CPPFLAGS = -fno-rtti -fno-exceptions +CPPFLAGS = + +# Assembler flags. +# -Wa,...: tell GCC to pass this to the assembler. +# -ahlns: create listing +# -g$(DEBUGF): have the assembler create line number information +ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:.S=.lst),--g$(DEBUGF) -Iinclude/ -D__ASSEMBLY__ + + +#Additional libraries. + +# Extra libraries +# Each library-name must be seperated by a space. +# To add libxyz.a, libabc.a and libefsl.a: +# EXTRA_LIBS = xyz abc efsl +#EXTRA_LIBS = efsl +EXTRA_LIBS = + +#Support for newlibc-lpc (file: libnewlibc-lpc.a) +#NEWLIBLPC = -lnewlib-lpc + +MATH_LIB = #-lm + +# CPLUSPLUS_LIB = -lstdc++ + + +# Linker flags. +# -Wl,...: tell GCC to pass this to linker. +# -Map: create map file +# --cref: add cross reference to map file +LDFLAGS = -nostartfiles -Wl,-Map=$(TARGET).map,--cref +LDFLAGS += $(NEWLIBLPC) $(MATH_LIB) +LDFLAGS += -lc -lgcc +LDFLAGS += $(CPLUSPLUS_LIB) +LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) +LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) +#LDFLAGS += --gc-sections + +# Set Linker-Script Depending On Selected Memory and Controller +ifeq ($(RUN_MODE),RUN_FROM_RAM) +LDFLAGS +=-T$(PATH_TO_LINKSCRIPTS)$(SUBMDL)-RAM.ld +else +LDFLAGS +=-T$(PATH_TO_LINKSCRIPTS)$(SUBMDL)-ROM$(IMGTYPE).ld +endif + + +# --------------------------------------------------------------------------- +# Flash-Programming support using lpc21isp by Martin Maurer +# only for Philips LPC and Analog ADuC ARMs +# +# Settings and variables: +#LPC21ISP = lpc21isp +LPC21ISP = lpc21isp +LPC21ISP_PORT = com1 +LPC21ISP_BAUD = 38400 +LPC21ISP_XTAL = 12000 +LPC21ISP_FLASHFILE = $(TARGET).hex +# verbose output: +#LPC21ISP_DEBUG = -debug +# enter bootloader via RS232 DTR/RTS (only if hardware supports this +# feature - see Philips AppNote): +LPC21ISP_CONTROL = -control +# --------------------------------------------------------------------------- + + +# Define directories, if needed. +## DIRARM = c:/WinARM/ +## DIRARMBIN = $(DIRAVR)/bin/ +## DIRAVRUTILS = $(DIRAVR)/utils/bin/ + +# Define programs and commands. +SHELL = sh +CC = arm-elf-gcc +CPP = arm-elf-g++ +OBJCOPY = arm-elf-objcopy +OBJDUMP = arm-elf-objdump +SIZE = arm-elf-size +NM = arm-elf-nm +REMOVE = rm -f +COPY = cp + +# Define Messages +# English +MSG_ERRORS_NONE = Errors: none +MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------" +MSG_END = -------- end -------- +MSG_SIZE_BEFORE = Size before: +MSG_SIZE_AFTER = Size after: +MSG_FLASH = Creating load file for Flash: +MSG_EXTENDED_LISTING = Creating Extended Listing: +MSG_SYMBOL_TABLE = Creating Symbol Table: +MSG_LINKING = Linking: +MSG_COMPILING = Compiling C: +MSG_COMPILING_ARM = "Compiling C (ARM-only):" +MSG_COMPILINGCPP = Compiling C++: +MSG_COMPILINGCPP_ARM = "Compiling C++ (ARM-only):" +MSG_ASSEMBLING = Assembling: +MSG_ASSEMBLING_ARM = "Assembling (ARM-only):" +MSG_CLEANING = Cleaning project: +MSG_FORMATERROR = Can not handle output-format +MSG_LPC21_RESETREMINDER = You may have to bring the target in bootloader-mode now. + +# Define all object files. +COBJ = $(SRC:.c=.o) +AOBJ = $(ASRC:.S=.o) +COBJARM = $(SRCARM:.c=.o) +AOBJARM = $(ASRCARM:.S=.o) +CPPOBJ = $(CPPSRC:.cpp=.o) +CPPOBJARM = $(CPPSRCARM:.cpp=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(ASRCARM:.S=.lst) $(SRC:.c=.lst) $(SRCARM:.c=.lst) +LST += $(CPPSRC:.cpp=.lst) $(CPPSRCARM:.cpp=.lst) + +# Compiler flags to generate dependency files. +### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d +GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mcpu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) +ALL_ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: begin gccversion sizebefore build sizeafter finished end + +ifeq ($(FORMAT),ihex) +build: elf hex lss sym +hex: $(TARGET).hex +IMGEXT=hex +else +ifeq ($(FORMAT),binary) +build: elf bin lss sym +bin: $(TARGET).bin +IMGEXT=bin +else +$(error "$(MSG_FORMATERROR) $(FORMAT)") +endif +endif + +elf: $(TARGET).elf +lss: $(TARGET).lss +sym: $(TARGET).sym + +# Eye candy. +begin: + @echo + @echo $(MSG_BEGIN) + +finished: + @echo $(MSG_ERRORS_NONE) + +end: + @echo $(MSG_END) + @echo + + +# Display size of file. +HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex +ELFSIZE = $(SIZE) -A $(TARGET).elf +sizebefore: + @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi + +sizeafter: + @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi + + +# Display compiler version information. +gccversion : + @$(CC) --version + + +# Program the device. +# Program the device by using our relais card robot over USB +ifeq ($(FLASH_TOOL),AT91FLASH) +program: $(TARGET).$(IMGEXT) + ls -l $(TARGET).$(IMGEXT) + at91flash $(TARGET).$(IMGEXT) +else +ifeq ($(FLASH_TOOL),UVISION) +# Program the device with Keil's uVision (needs configured uVision-Workspace). +program: $(TARGET).$(IMGEXT) + @echo + @echo "Programming with uVision" + C:\Keil\uv3\Uv3.exe -f uvisionflash.Uv2 -ouvisionflash.txt +else +ifeq ($(FLASH_TOOL),OPENOCD) +# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script". +program: $(TARGET).$(IMGEXT) + @echo + @echo "Programming with OPENOCD" + C:\WinARM\utils\openocd\openocd_svn59\openocd.exe -f oocd_sam7_flash.cfg +else +# Program the device. - lpc21isp will not work for SAM7 +program: $(TARGET).$(IMGEXT) + @echo + @echo $(MSG_LPC21_RESETREMINDER) + $(LPC21ISP) $(LPC21ISP_OPTIONS) $(LPC21ISP_DEBUG) $(LPC21ISP_FLASHFILE) $(LPC21ISP_PORT) $(LPC21ISP_BAUD) $(LPC21ISP_XTAL) +endif +endif +endif + + +# Create final output file (.hex) from ELF output file. +%.hex: %.elf + @echo + @echo $(MSG_FLASH) $@ + $(OBJCOPY) -O $(FORMAT) $< $@ + +# Create final output file (.bin) from ELF output file. +%.bin: %.elf + @echo + @echo $(MSG_FLASH) $@ + $(OBJCOPY) -O $(FORMAT) $< $@ + + +# Create extended listing file from ELF output file. +# testing: option -C +%.lss: %.elf + @echo + @echo $(MSG_EXTENDED_LISTING) $@ + $(OBJDUMP) -h -S -C $< > $@ + + +# Create a symbol table from ELF output file. +%.sym: %.elf + @echo + @echo $(MSG_SYMBOL_TABLE) $@ + $(NM) -n $< > $@ + + +# Link: create ELF output file from object files. +.SECONDARY : $(TARGET).elf +.PRECIOUS : $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) $(CPPOBJ) $(CPPOBJARM) +%.elf: $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) $(CPPOBJ) $(CPPOBJARM) + @echo + @echo $(MSG_LINKING) $@ + $(CC) $(ALL_CFLAGS) $(AOBJARM) $(AOBJ) $(COBJARM) $(COBJ) $(CPPOBJ) $(CPPOBJARM) --output $@ $(LDFLAGS) + +# Compile: create object files from C source files. ARM/Thumb +$(COBJ) : %.o : %.c + @echo + @echo $(MSG_COMPILING) $< + $(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@ + +# Compile: create object files from C source files. ARM-only +$(COBJARM) : %.o : %.c + @echo + @echo $(MSG_COMPILING_ARM) $< + $(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@ + +# Compile: create object files from C++ source files. ARM/Thumb +$(CPPOBJ) : %.o : %.cpp + @echo + @echo $(MSG_COMPILINGCPP) $< + $(CPP) -c $(ALL_CFLAGS) $(CPPFLAGS) $< -o $@ + +# Compile: create object files from C++ source files. ARM-only +$(CPPOBJARM) : %.o : %.cpp + @echo + @echo $(MSG_COMPILINGCPP_ARM) $< + $(CPP) -c $(ALL_CFLAGS) $(CPPFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. ARM/Thumb +## does not work - TODO - hints welcome +##$(COBJ) : %.s : %.c +## $(CC) $(THUMB) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. ARM/Thumb +$(AOBJ) : %.o : %.S + @echo + @echo $(MSG_ASSEMBLING) $< + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. ARM-only +$(AOBJARM) : %.o : %.S + @echo + @echo $(MSG_ASSEMBLING_ARM) $< + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + +# Target: clean project. +clean: begin clean_list finished end + + +clean_list : + @echo + @echo $(MSG_CLEANING) + $(REMOVE) $(TARGET).hex + $(REMOVE) $(TARGET).bin + $(REMOVE) $(TARGET).obj + $(REMOVE) $(TARGET).elf + $(REMOVE) $(TARGET).map + $(REMOVE) $(TARGET).obj + $(REMOVE) $(TARGET).a90 + $(REMOVE) $(TARGET).sym + $(REMOVE) $(TARGET).lnk + $(REMOVE) $(TARGET).lss + $(REMOVE) $(COBJ) + $(REMOVE) $(CPPOBJ) + $(REMOVE) $(AOBJ) + $(REMOVE) $(COBJARM) + $(REMOVE) $(CPPOBJARM) + $(REMOVE) $(AOBJARM) + $(REMOVE) $(LST) + $(REMOVE) $(SRC:.c=.s) + $(REMOVE) $(SRC:.c=.d) + $(REMOVE) $(SRCARM:.c=.s) + $(REMOVE) $(SRCARM:.c=.d) + $(REMOVE) $(CPPSRC:.cpp=.s) + $(REMOVE) $(CPPSRC:.cpp=.d) + $(REMOVE) $(CPPSRCARM:.cpp=.s) + $(REMOVE) $(CPPSRCARM:.cpp=.d) + $(REMOVE) .dep/* + + +# Include the dependency files. +-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) + + +# Listing of phony targets. +.PHONY : all begin finish end sizebefore sizeafter gccversion \ +build elf hex bin lss sym clean clean_list program + diff --git a/firmware/TODO b/firmware/TODO index eea1974..c63fb89 100644 --- a/firmware/TODO +++ b/firmware/TODO @@ -12,16 +12,12 @@ USB: - Add DFU descriptor to host DFU: -- implement DFU protocol for memory and flash +- implement DFU protocol for bootloader flash partition - add capability to copy and execute DFU from RAM +- Get rid of lots of constant values and replace them by proper defines Generic: - -Later, for PICCsim: -- Implement SSC code for sampling subcarrier -- Implement SSC code for generating subcarrier -- Implement Manchester coding - Way Later, for librfid: - Implement parts (or all of) 14443 in firmware as alternative configuration diff --git a/firmware/doc/dfu.txt b/firmware/doc/dfu.txt index 9b40c3c..78fe5a6 100644 --- a/firmware/doc/dfu.txt +++ b/firmware/doc/dfu.txt @@ -86,4 +86,46 @@ dfu_api x x flash (const anyway) dfu_state x x RAM +preconditions: + - dfu code assumes to be loaded to address zero to make it work from both ram and rom + +startup: + - exception vectors (in flash) + - call lowlevel_init + - setup user/supervisor/FIQ/IRQ stack + - relocate dfu_state + - if DFU switch is pressed + - jump to dfu_main in flash + - relocate all of DFU .text/.data into ram (including exception vectors) + - initialize DFU .bss + - remap RAM to address zero + + - if DFU switch is not pressed jump to entry address of app + - Cstartup_app.S + - relocate application .data + - initialize application .bss + - jump to appliction main + - application uses dfu_api in flash, pointing to in-flash data + - application calls dfu_switch() + - disable all interupts but USB + - relocate all of DFU .text/.data into ram (including exception vectors) + - remap RAM to address zero + - check whether app has already remapped RAM before !?! + +memory map: + +load_addr run_Addr +0x00100000 0x00000000 exception vectors (DFU Cstartup) + Cstartup_SAM7 + + 0x00200000 + + +DFU constants: +_etext: +_data: 0x200000 +_edata: + +APP contants: +_data: _edata_dfu diff --git a/firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld b/firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld new file mode 100644 index 0000000..32bd787 --- /dev/null +++ b/firmware/link/AT91SAM7S256-ROM-sam7dfu-app.ld @@ -0,0 +1,94 @@ +/* Memory Definitions */ + +MEMORY +{ + FLASH (rx) : ORIGIN = 0x00101000, LENGTH = (0x00040000 - 0x1000) + DATA (rw) : ORIGIN = 0x00200024, LENGTH = (0x00010000 - 0x24) + STACK (rw) : ORIGIN = 0x00210000, LENGTH = 0x00000000 +} + + +/* Section Definitions */ + +SECTIONS +{ + . = 0x00000000; + /* first section is .text which is used for code */ + .text 0x00101000: AT ( 0x00000000 ) { + src/start/Cstartup_app.o (.text) + * (.text) + * (.rodata*) + . = ALIGN(4); + } >FLASH + + _etext = . ; + PROVIDE (etext = .); + + /* 0x00200000 ... */ + .data 0x00200024: AT ( ADDR(.text) + SIZEOF(.text) - ADDR(.text) ) { + _data = . ; + * (.data) + . = ALIGN(4); + } >DATA + + _edata = . ; + PROVIDE (edata = .); + + /* .bss section which is used for uninitialized data */ + .bss : { + __bss_start = . ; + __bss_start__ = . ; + *(.bss) + *(COMMON) + } >DATA + + . = ALIGN(4); + __bss_end__ = . ; + __bss_end__ = . ; + + PROVIDE (main = .); + + _end = . ; + + . = ALIGN(4); + .int_data : { + *(.internal_ram_top) + } >STACK + + PROVIDE (end = .); + + /* 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) } + /* DWARF debug sections. + Symbols in the DWARF debugging sections are relative to the beginning + of the section so we begin them at 0. */ + /* DWARF 1 */ + .debug 0 : { *(.debug) } + .line 0 : { *(.line) } + /* GNU DWARF 1 extensions */ + .debug_srcinfo 0 : { *(.debug_srcinfo) } + .debug_sfnames 0 : { *(.debug_sfnames) } + /* DWARF 1.1 and DWARF 2 */ + .debug_aranges 0 : { *(.debug_aranges) } + .debug_pubnames 0 : { *(.debug_pubnames) } + /* DWARF 2 */ + .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + /* SGI/MIPS DWARF 2 extensions */ + .debug_weaknames 0 : { *(.debug_weaknames) } + .debug_funcnames 0 : { *(.debug_funcnames) } + .debug_typenames 0 : { *(.debug_typenames) } + .debug_varnames 0 : { *(.debug_varnames) } + +} diff --git a/firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld b/firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld new file mode 100644 index 0000000..03cd6e0 --- /dev/null +++ b/firmware/link/AT91SAM7S256-ROM-sam7dfu-dfu.ld @@ -0,0 +1,109 @@ +/* Memory Definitions */ + +MEMORY +{ + FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 0x00040000 + DATA (rw) : ORIGIN = 0x00200000, LENGTH = 0x00010000 + STACK (rw) : ORIGIN = 0x00210000, LENGTH = 0x00000000 +} + + +/* Section Definitions */ + +SECTIONS +{ + . = 0x00000000; + /* first section is .text which is used for code */ + .text 0x00000000: AT ( 0x00000000 ) { + * (.reset) + * (.text) + * (.rodata) + . = ALIGN(4); + } >FLASH + + _etext = . ; + PROVIDE (etext = .); + + .data.shared (0x00200020): AT (LOADADDR(.text) + SIZEOF(.text)) { + * (.data.shared) + . = ALIGN(4); + } >DATA + + /* 0x00200000 ... */ + .data (0x00200000 + SIZEOF(.text)): AT ( LOADADDR(.text) + SIZEOF(.text) + SIZEOF(.data.shared)) { + _data = . ; + * (.vectram) + * (.data) + . = ALIGN(4); + } >DATA + + _edata = . ; + PROVIDE (edata = .); + + /* dfu.functab addresses are valid as long as DFU is in flash, i.e. only while + * application calls those functions. Once executing in DFU mode, we are + * re-located to ram */ + .dfu.functab 0x00000fd0: AT ( ADDR(.dfu.functab) - ADDR(.text) ) { + *(.dfu.functab) + . = ALIGN(4096); + } >FLASH + + + /* .bss section which is used for uninitialized data */ + .bss : { + __bss_start = . ; + __bss_start__ = . ; + *(.bss) + *(COMMON) + } >DATA + + . = ALIGN(4); + __bss_end__ = . ; + __bss_end__ = . ; + + PROVIDE (main = .); + + _end = . ; + + . = ALIGN(4); + .int_data : { + *(.internal_ram_top) + } >STACK + + PROVIDE (end = .); + + /* 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) } + /* DWARF debug sections. + Symbols in the DWARF debugging sections are relative to the beginning + of the section so we begin them at 0. */ + /* DWARF 1 */ + .debug 0 : { *(.debug) } + .line 0 : { *(.line) } + /* GNU DWARF 1 extensions */ + .debug_srcinfo 0 : { *(.debug_srcinfo) } + .debug_sfnames 0 : { *(.debug_sfnames) } + /* DWARF 1.1 and DWARF 2 */ + .debug_aranges 0 : { *(.debug_aranges) } + .debug_pubnames 0 : { *(.debug_pubnames) } + /* DWARF 2 */ + .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + /* SGI/MIPS DWARF 2 extensions */ + .debug_weaknames 0 : { *(.debug_weaknames) } + .debug_funcnames 0 : { *(.debug_funcnames) } + .debug_typenames 0 : { *(.debug_typenames) } + .debug_varnames 0 : { *(.debug_varnames) } + +} diff --git a/firmware/src/os/dfu.c b/firmware/src/dfu/dfu.c index f2bc0ca..f50b564 100644 --- a/firmware/src/os/dfu.c +++ b/firmware/src/dfu/dfu.c @@ -11,9 +11,8 @@ #include <usb_dfu.h> #include <lib_AT91SAM7.h> -#include <os/dfu.h> +#include <dfu/dfu.h> #include <os/pcd_enumerate.h> -#include <os/req_ctx.h> #include "../openpcd.h" /* If debug is enabled, we need to access debug functions from flash @@ -29,7 +28,7 @@ #endif -void __dfufunc udp_init(void) +static void __dfufunc udp_init(void) { /* Set the PLL USB Divider */ AT91C_BASE_CKGR->CKGR_PLLR |= AT91C_CKGR_USBDIV_1; @@ -107,7 +106,7 @@ static void __dfufunc udp_ep0_send_stall(void) static u_int8_t status; static u_int8_t *ptr; -static u_int8_t dfu_state; +static __dfudata u_int32_t dfu_state; static int __dfufunc handle_dnload(u_int16_t val, u_int16_t len) { @@ -149,7 +148,7 @@ static __dfufunc int handle_upload(u_int16_t val, u_int16_t len) { DEBUGE("upload "); if (len > AT91C_IFLASH_PAGE_SIZE - || ptr > AT91C_IFLASH_SIZE) { + || ptr > AT91C_IFLASH_SIZE - 0x1000) { /* Too big */ dfu_state = DFU_STATE_dfuERROR; status = DFU_STATUS_errADDRESS; @@ -226,7 +225,7 @@ int __dfufunc dfu_ep0_handler(u_int8_t req_type, u_int8_t req, handle_dnload(val, len); break; case USB_REQ_DFU_UPLOAD: - ptr = 0; + ptr = 0x00101000; /* Flash base address for app */ dfu_state = DFU_STATE_dfuUPLOAD_IDLE; handle_upload(val, len); break; @@ -667,6 +666,7 @@ void __dfufunc dfu_main(void) } const struct dfuapi __dfufunctab dfu_api = { + .udp_init = &udp_init, .ep0_send_data = &udp_ep0_send_data, .ep0_send_zlp = &udp_ep0_send_zlp, .ep0_send_stall = &udp_ep0_send_stall, diff --git a/firmware/src/os/dfu.h b/firmware/src/dfu/dfu.h index 8786044..992a4f2 100644 --- a/firmware/src/os/dfu.h +++ b/firmware/src/dfu/dfu.h @@ -13,8 +13,6 @@ #include <usb_ch9.h> #include <usb_dfu.h> -#include "dbgu.h" - /* USB DFU functional descriptor */ #define DFU_FUNC_DESC { \ .bLength = USB_DT_DFU_SIZE, \ @@ -38,9 +36,10 @@ .iInterface = 1, \ } -#define __dfufunc __attribute__ ((long_call, section (".dfu.func"))) -#define __dfustruct __attribute__ ((section (".dfu.struct"))) const #define __dfufunctab __attribute__ ((section (".dfu.functab"))) +#define __dfudata __attribute__ ((section (".data.shared"))) +#define __dfufunc +#define __dfustruct const #if 0 extern void __dfufunc udp_ep0_send_data(const char *data, u_int32_t length); @@ -55,9 +54,6 @@ extern static u_int8_t dfu_state; struct udp_pcd; #endif - -extern void __dfufunc udp_init(void); - struct _dfu_desc { struct usb_config_descriptor ucfg; struct usb_interface_descriptor uif[2]; @@ -65,6 +61,7 @@ struct _dfu_desc { }; struct dfuapi { + void (*udp_init)(void); void (*ep0_send_data)(const char *data, u_int32_t len); void (*ep0_send_zlp)(void); void (*ep0_send_stall)(void); diff --git a/firmware/src/os/main.c b/firmware/src/os/main.c index 4b7a7a2..878fdbf 100644 --- a/firmware/src/os/main.c +++ b/firmware/src/os/main.c @@ -3,7 +3,6 @@ #include <include/lib_AT91SAM7.h> #include <os/dbgu.h> #include <os/led.h> -#include <os/dfu.h> #include <os/main.h> #include <os/power.h> #include <os/pcd_enumerate.h> @@ -20,7 +19,6 @@ int main(void) _init_func(); /* initialize USB */ - udp_init(); udp_open(); // Enable User Reset and set its minimal assertion to 960 us diff --git a/firmware/src/os/pcd_enumerate.c b/firmware/src/os/pcd_enumerate.c index cded8c8..40bd88e 100644 --- a/firmware/src/os/pcd_enumerate.c +++ b/firmware/src/os/pcd_enumerate.c @@ -23,7 +23,7 @@ #include <os/pcd_enumerate.h> #include <os/req_ctx.h> -#include <os/dfu.h> +#include <dfu/dfu.h> #include "../openpcd.h" #include <os/dbgu.h> @@ -41,6 +41,7 @@ #ifdef CONFIG_DFU #define DFU_API_LOCATION ((const struct dfuapi *) 0x00102100) static const struct dfuapi *dfu = DFU_API_LOCATION; +#define udp_init dfu->udp_init #define udp_ep0_send_data dfu->ep0_send_data #define udp_ep0_send_zlp dfu->ep0_send_zlp #define udp_ep0_send_stall dfu->ep0_send_stall @@ -328,6 +329,7 @@ static void udp_irq(void) void udp_open(void) { DEBUGPCRF("entering"); + udp_init(); upcd.pUdp = AT91C_BASE_UDP; upcd.cur_config = 0; upcd.cur_rcv_bank = AT91C_UDP_RX_DATA_BK0; @@ -340,7 +342,6 @@ void udp_open(void) /* End-of-Bus-Reset is always enabled */ /* Set the Pull up resistor */ - AT91F_PIO_CfgOutput(AT91C_BASE_PIOA, OPENPCD_PIO_UDP_PUP); AT91F_PIO_SetOutput(AT91C_BASE_PIOA, OPENPCD_PIO_UDP_PUP); } diff --git a/firmware/src/os/pcd_enumerate.h b/firmware/src/os/pcd_enumerate.h index 57ff88c..813243e 100644 --- a/firmware/src/os/pcd_enumerate.h +++ b/firmware/src/os/pcd_enumerate.h @@ -5,7 +5,7 @@ #include <sys/types.h> #include <asm/atomic.h> #include "openpcd.h" -#include "dfu.h" +#include <dfu/dfu.h> struct req_ctx; diff --git a/firmware/src/start/Cstartup.S b/firmware/src/start/Cstartup.S index e91fd86..e7d5714 100644 --- a/firmware/src/start/Cstartup.S +++ b/firmware/src/start/Cstartup.S @@ -76,165 +76,22 @@ .text .arm .section .vectram, "ax" -resetvecR: B resetvecR -undefvecR: B undefvecR -swivecR: B swivecR -pabtvecR: B pabtvecR -dabtvecR: B dabtvecR -rsvdvecR: B rsvdvecR -irqvecR: B IRQ_Handler_EntryR -fiqvecR: -FIQ_Handler_EntryR: - -/*- Switch in SVC/User Mode to allow User Stack access for C code */ -/* because the FIQ is not yet acknowledged*/ - -/*- Save and r0 in FIQ_Register */ - mov r9,r0 - ldr r0 , [r8, #AIC_FVR] - msr CPSR_c,#I_BIT | F_BIT | ARM_MODE_SVC - -/*- Save scratch/used registers and LR in User Stack */ - stmfd sp!, { r1-r3, r12, lr} - -/*- Branch to the routine pointed by the AIC_FVR */ - mov r14, pc - bx r0 - -/*- Restore scratch/used registers and LR from User Stack */ - ldmia sp!, { r1-r3, r12, lr} - -/*- Leave Interrupts disabled and switch back in FIQ mode */ - msr CPSR_c, #I_BIT | F_BIT | ARM_MODE_FIQ - -/*- Restore the R0 ARM_MODE_SVC register */ - mov r0,r9 - -/*- Restore the Program Counter using the LR_fiq directly in the PC */ - subs pc,lr,#4 - - .global IRQ_Handler_EntryR - .func IRQ_Handler_EntryR - -IRQ_Handler_EntryR: - -/*- Manage Exception Entry */ -/*- Adjust and save LR_irq in IRQ stack */ - sub lr, lr, #4 - stmfd sp!, {lr} - -/*- Save SPSR need to be saved for nested interrupt */ - mrs r14, SPSR - stmfd sp!, {r14} - -/*- Save and r0 in IRQ stack */ - stmfd sp!, {r0} - -/*- Write in the IVR to support Protect Mode */ -/*- No effect in Normal Mode */ -/*- De-assert the NIRQ and clear the source in Protect Mode */ - ldr r14, =AT91C_BASE_AIC - ldr r0 , [r14, #AIC_IVR] - str r14, [r14, #AIC_IVR] - -/*- Enable Interrupt and Switch in Supervisor Mode */ - msr CPSR_c, #ARM_MODE_SVC - -/*- Save scratch/used registers and LR in User Stack */ - stmfd sp!, { r1-r3, r12, r14} - -/*- Branch to the routine pointed by the AIC_IVR */ - mov r14, pc - bx r0 -/*- Restore scratch/used registers and LR from User Stack*/ - ldmia sp!, { r1-r3, r12, r14} - -/*- Disable Interrupt and switch back in IRQ mode */ - msr CPSR_c, #I_BIT | ARM_MODE_IRQ - -/*- Mark the End of Interrupt on the AIC */ - ldr r14, =AT91C_BASE_AIC - str r14, [r14, #AIC_EOICR] - -/*- Restore SPSR_irq and r0 from IRQ stack */ - ldmia sp!, {r0} - -/*- Restore SPSR_irq and r0 from IRQ stack */ - ldmia sp!, {r14} - msr SPSR_cxsf, r14 - -/*- Restore adjusted LR_irq from IRQ stack directly in the PC */ - ldmia sp!, {pc}^ - - .size IRQ_Handler_EntryR, . - IRQ_Handler_EntryR - .endfunc - - .global remap - .func remap -_remap: -# led1on -# Remap RAM to 0x00000000 for DFU + .global _remap_call_dfu + .func _remap_call_dfu +_remap_call_dfu: + led1on + /* Remap RAM to 0x00000000 for DFU */ ldr r1, =AT91C_BASE_AIC mov r2, #0x01 str r2, [r1, #AIC_MCR_RCR] + + ldr r4, =dfu_main + bx r4 - /* prepare c function call to main */ - mov r0, #0 /* argc = 0 */ - ldr lr,=exit - ldr r10,=main - -#ifdef CONFIG_DFU_SWITCH - /* check whether bootloader button is pressed */ - ldr r1, =AT91C_PMC_PCER - mov r2, #(1 << AT91C_ID_PIOA) - str r2, [r1] - - ldr r1, =AT91C_BASE_PIOA - ldr r2, [r1, #PIOA_PDSR] - tst r2, #PIO_BOOTLDR - ldrne r10,=dfu_main -#endif - - bx r10 - .size remap, . - remap + .size _remap_call_dfu, . - _remap_call_dfu .endfunc -/* "exit" dummy added by mthomas to avoid sbrk write read etc. needed - by the newlib default "exit" */ - .global exit - .func exit -exit: - b . - .size exit, . - exit - .endfunc - -/*--------------------------------------------------------------- -//* ?EXEPTION_VECTOR -//* This module is only linked if needed for closing files. -//*---------------------------------------------------------------*/ - .global AT91F_Default_FIQ_handler - .func AT91F_Default_FIQ_handler -AT91F_Default_FIQ_handler: - b AT91F_Default_FIQ_handler - .size AT91F_Default_FIQ_handler, . - AT91F_Default_FIQ_handler - .endfunc - - .global AT91F_Default_IRQ_handler - .func AT91F_Default_IRQ_handler -AT91F_Default_IRQ_handler: - b AT91F_Default_IRQ_handler - .size AT91F_Default_IRQ_handler, . - AT91F_Default_IRQ_handler - .endfunc - - .global AT91F_Spurious_handler - .func AT91F_Spurious_handler -AT91F_Spurious_handler: - b AT91F_Spurious_handler - .size AT91F_Spurious_handler, . - AT91F_Spurious_handler - .endfunc - - #;------------------------------------------------------------------------------ #;- Section Definition @@ -255,9 +112,6 @@ Top_Stack: * .text is used instead of .section .text so it works with arm-aout too. */ .section .reset .text - .global _startup - .func _startup -_startup: reset: /*------------------------------------------------------------------------------ //*- Exception vectors @@ -277,17 +131,108 @@ swivec: pabtvec: B pabtvec /* 0x0C Prefetch Abort */ dabtvec: - B dabtvec /* 0x10 Data Abort */ + b dabtvec /* 0x10 Data Abort */ rsvdvec: - B rsvdvec /* 0x14 reserved */ + b rsvdvec /* 0x14 reserved */ irqvec: - B irqvec /* 0x18 IRQ */ -fiqvec: - B fiqvec /* 0x1c FIQ */ + b IRQ_Handler_Entry /* 0x18 IRQ */ +fiqvec: + b FIQ_Handler_Entry + /* 0x1c FIQ */ +dfu_state_dummy: + .word 0 + +FIQ_Handler_Entry: + +/*- Switch in SVC/User Mode to allow User Stack access for C code */ +/* because the FIQ is not yet acknowledged*/ + +/*- Save and r0 in FIQ_Register */ + mov r9, r0 + ldr r0, [r8, #AIC_FVR] + msr CPSR_c, #I_BIT | F_BIT | ARM_MODE_SVC + + /*- Save scratch/used registers and LR in User Stack */ + stmfd sp!, { r1-r3, r12, lr} + + /*- Branch to the routine pointed by the AIC_FVR */ + mov r14, pc + bx r0 + + /*- Restore scratch/used registers and LR from User Stack */ + ldmia sp!, { r1-r3, r12, lr} + + /*- Leave Interrupts disabled and switch back in FIQ mode */ + msr CPSR_c, #I_BIT | F_BIT | ARM_MODE_FIQ + + /*- Restore the R0 ARM_MODE_SVC register */ + mov r0,r9 + + /*- Restore the Program Counter using the LR_fiq directly in the PC */ + subs pc, lr, #4 + + .global IRQ_Handler_Entry + .func IRQ_Handler_Entry + +IRQ_Handler_Entry: + + /*- Manage Exception Entry */ + /*- Adjust and save LR_irq in IRQ stack */ + sub lr, lr, #4 + stmfd sp!, {lr} + + /*- Save SPSR need to be saved for nested interrupt */ + mrs r14, SPSR + stmfd sp!, {r14} + + /*- Save and r0 in IRQ stack */ + stmfd sp!, {r0} + + /*- Write in the IVR to support Protect Mode */ + /*- No effect in Normal Mode */ + /*- De-assert the NIRQ and clear the source in Protect Mode */ + ldr r14, =AT91C_BASE_AIC + ldr r0 , [r14, #AIC_IVR] + str r14, [r14, #AIC_IVR] + + /*- Enable Interrupt and Switch in Supervisor Mode */ + msr CPSR_c, #ARM_MODE_SVC + + /*- Save scratch/used registers and LR in User Stack */ + stmfd sp!, { r1-r3, r12, r14} + + /*- Branch to the routine pointed by the AIC_IVR */ + mov r14, pc + bx r0 + + /*- Restore scratch/used registers and LR from User Stack*/ + ldmia sp!, { r1-r3, r12, r14} + + /*- Disable Interrupt and switch back in IRQ mode */ + msr CPSR_c, #I_BIT | ARM_MODE_IRQ + + /*- Mark the End of Interrupt on the AIC */ + ldr r14, =AT91C_BASE_AIC + str r14, [r14, #AIC_EOICR] + + /*- Restore SPSR_irq and r0 from IRQ stack */ + ldmia sp!, {r0} + + /*- Restore SPSR_irq and r0 from IRQ stack */ + ldmia sp!, {r14} + msr SPSR_cxsf, r14 + + /*- Restore adjusted LR_irq from IRQ stack directly in the PC */ + ldmia sp!, {pc}^ + + .size IRQ_Handler_Entry, . - IRQ_Handler_Entry + .endfunc .align 0 .RAM_TOP: .word Top_Stack + .global _startup + .func _startup InitReset: /*------------------------------------------------------------------------------ /*- Low level Init (PMC, AIC, ? ....) by C function AT91F_LowLevelInit @@ -348,16 +293,7 @@ InitReset: msr CPSR_c, #ARM_MODE_SVC mov r13, r0 /* Init stack Sup */ -/*- Relocate DFU .data section (Copy from ROM to RAM)*/ - ldr r1, =_etext_dfu - ldr r2, =_data_dfu - ldr r3, =_edata_dfu -LoopRelDFU: cmp r2, r3 - ldrlo r0, [r1], #4 - strlo r0, [r2], #4 - blo LoopRelDFU - -# Relocate .data section (Copy from ROM to RAM) +# Relocate DFU .data section (Copy from ROM to RAM) LDR R1, =_etext LDR R2, =_data LDR R3, =_edata @@ -366,7 +302,7 @@ LoopRel: CMP R2, R3 STRLO R0, [R2], #4 BLO LoopRel -# Clear .bss section (Zero init) +# Clear DFU .bss section (Zero init) MOV R0, #0 LDR R1, =__bss_start__ LDR R2, =__bss_end__ @@ -374,13 +310,75 @@ LoopZI: CMP R1, R2 STRLO R0, [R1], #4 BLO LoopZI - led1on + /* prepare c function call to main */ + mov r0, #0 /* argc = 0 */ + ldr lr, =exit + ldr r10, =0x00101000 - ldr r0, =_remap - bx r0 +#ifdef CONFIG_DFU_SWITCH + /* check whether bootloader button is pressed */ + ldr r1, =AT91C_PMC_PCER + mov r2, #(1 << AT91C_ID_PIOA) + str r2, [r1] + ldr r1, =AT91C_BASE_PIOA + ldr r2, [r1, #PIOA_PDSR] + tst r2, #PIO_BOOTLDR + bne _reloc_dfu_text +#endif + + bx r10 + +_reloc_dfu_text: + + ldr r1, =0x00100000 + ldr r2, =0x00200000 + ldr r3, =_etext + add r3, r3, r2 +loop_rel_t: cmp r2, r3 + ldrlo r4, [r1], #4 + strlo r4, [r2], #4 + blo loop_rel_t + ldr r4, =_remap_call_dfu + bx r4 + .size _startup, . - _startup .endfunc - + +/* "exit" dummy to avoid sbrk write read etc. needed by the newlib default "exit" */ + .global exit + .func exit +exit: + b . + .size exit, . - exit + .endfunc + +/*--------------------------------------------------------------- +//* ?EXEPTION_VECTOR +//* This module is only linked if needed for closing files. +//*---------------------------------------------------------------*/ + .global AT91F_Default_FIQ_handler + .func AT91F_Default_FIQ_handler +AT91F_Default_FIQ_handler: + b AT91F_Default_FIQ_handler + .size AT91F_Default_FIQ_handler, . - AT91F_Default_FIQ_handler + .endfunc + + .global AT91F_Default_IRQ_handler + .func AT91F_Default_IRQ_handler +AT91F_Default_IRQ_handler: + b AT91F_Default_IRQ_handler + .size AT91F_Default_IRQ_handler, . - AT91F_Default_IRQ_handler + .endfunc + + .global AT91F_Spurious_handler + .func AT91F_Spurious_handler +AT91F_Spurious_handler: + b AT91F_Spurious_handler + .size AT91F_Spurious_handler, . - AT91F_Spurious_handler + .endfunc + + + .end diff --git a/firmware/src/start/Cstartup_app.S b/firmware/src/start/Cstartup_app.S new file mode 100644 index 0000000..4a2187a --- /dev/null +++ b/firmware/src/start/Cstartup_app.S @@ -0,0 +1,81 @@ +/* Cstartup header for the application to be started by at91dfu + * (C) 2006 by Harald Welte <hwelte@hmw-consulting.de> */ + +//#define DEBUG_LL + +#ifdef DEBUG_LL +/* Debugging macros for switching on/off LED1 (green) */ +#define PIOA_PER 0xFFFFF400 +#define PIOA_OER 0xFFFFF410 +#define PIOA_SODR 0xFFFFF430 +#define PIOA_CODR 0xFFFFF434 +#define LED1 25 /* this only works on OpenPICC, not Olimex */ + .macro led1on + ldr r2, =PIOA_CODR + mov r1, #(1 << LED1) + str r1, [r2] + .endm + .macro led1off + ldr r2, =PIOA_SODR + mov r1, #(1 << LED1) + str r1, [r2] + .endm + .macro ledinit + ldr r2, =PIOA_PER + mov r1, #(1 << LED1) + str r1, [r2] + ldr r2, =PIOA_OER + str r1, [r2] + led1off + .endm +#else + .macro ledinit + .endm + .macro led1on + .endm + .macro led1off + .endm +#endif + + .global _startup + .func _startup +_startup: + /* Relocate .data section (copy from Flash to RAM) */ + ldr r1, =_etext + ldr r2, =_data + ldr r3, =_edata +loop_r: cmp r2, r3 + ldrlo r0, [r1], #4 + strlo r0, [r2], #4 + blo loop_r + + /* Clear .bss section (Zero init) */ + mov r0, #0 + ldr r1, =__bss_start__ + ldr r2, =__bss_end__ +loop_z: cmp r1, r2 + strlo r0, [r1], #4 + blo loop_z + + led1on + + /* prepare C function call to main */ + mov r0, #0 /* argc = 0 */ + ldr lr, =exit + ldr r10, =main + + bx r10 + + .size _startup, . - _startup + .endfunc + +/* "exit" dummy to avoid sbrk write read etc. needed by the newlib default "exit" */ + .global exit + .func exit +exit: + b . + .size exit, . - exit + .endfunc + + .end + |