mr-tropic: Fix runtime error on new GCC

boards/nxp/mr-tropic/src/CMakeLists.txt

@@ -42,8 +42,12 @@ px4_add_library(drivers_board
 	imxrt_flexspi_nor_boot.c
 	imxrt_flexspi_nor_flash.c
 	imxrt_flexspi_storage.c
+	imxrt_ocram_initialize.c
 )
 
+# Force compiler not to use builtin functions (like memcpy)
+# to optimize for loops in init.c (imxrt_ocram_initialize)
+set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
 
 target_link_libraries(drivers_board
 	PRIVATE

boards/nxp/mr-tropic/src/imxrt_flexspi_storage.c

@@ -575,12 +575,13 @@ int imxrt_flexspi_storage_initialize(void)
 
 	if (g_flexspi_nor.flexspi) {
 		ret = OK;
-	}
 
-	FLEXSPI_UPDATE_LUT(g_flexspi_nor.flexspi,
+
-			   0,
+		FLEXSPI_UPDATE_LUT(g_flexspi_nor.flexspi,
-			   (const uint32_t *)g_flexspi_nor_lut,
+				   0,
-			   sizeof(g_flexspi_nor_lut) / 4);
+				   (const uint32_t *)g_flexspi_nor_lut,
+				   sizeof(g_flexspi_nor_lut) / 4);
+	}
 
 	/* Register the MTD driver so that it can be accessed from the
 	 * VFS.

boards/nxp/mr-tropic/src/imxrt_ocram_initialize.c

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file imxrt_ocram_initialize.c
+ *
+ * PX4 fmu-v6xrt RAM startup early startup code.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "arm_internal.h"
+#include "imxrt_iomuxc.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+__BEGIN_DECLS
+extern const uint64_t _fitcmfuncs;   /* Copy source address in FLASH */
+extern uint64_t _sitcmfuncs;         /* Copy destination start address in ITCM */
+extern uint64_t _eitcmfuncs;         /* Copy destination end address in ITCM */
+extern uint64_t _sdtcm;              /* Copy destination start address in DTCM */
+extern uint64_t _edtcm;              /* Copy destination end address in DTCM */
+__END_DECLS
+
+/****************************************************************************
+ * Name: imxrt_ocram_initialize
+ *
+ * Description:
+ *   Called off reset vector to reconfigure the flexRAM
+ *   and finish the FLASH to RAM Copy.
+ *   CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin
+ *
+ ****************************************************************************/
+
+__EXPORT void imxrt_ocram_initialize(void)
+{
+	uint32_t regval;
+	register uint64_t *src;
+	register uint64_t *dest;
+
+	/* FlexRAM Configuration
+	 *    F = 64K ITCM
+	 *    A = 64K DTCM
+	 *    5 = 64K OCRAM
+	 *    So 0xFFFFFFAA is
+	 *    384K FlexRAM ITCM
+	 *    128K FlexRAM DTCM
+	 * */
+
+	putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17);
+	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
+	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
+
+	/* Copy any necessary code sections from FLASH to ITCM. The process is the
+	* same as the code copying from FLASH to RAM above. */
+	for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
+	     dest < (uint64_t *)&_eitcmfuncs;) {
+		*dest++ = *src++;
+	}
+
+	/* Clear .dtcm.  We'll do this inline (vs. calling memset) just to be
+	* certain that there are no issues with the state of global variables.
+	*/
+
+	for (dest = &_sdtcm; dest < &_edtcm;) {
+		*dest++ = 0;
+	}
+}

boards/nxp/mr-tropic/src/init.c

@@ -104,11 +104,6 @@ extern void led_off(int led);
 
 extern uint32_t _srodata;            /* Start of .rodata */
 extern uint32_t _erodata;            /* End of .rodata */
-extern const uint64_t _fitcmfuncs;   /* Copy source address in FLASH */
-extern uint64_t _sitcmfuncs;         /* Copy destination start address in ITCM */
-extern uint64_t _eitcmfuncs;         /* Copy destination end address in ITCM */
-extern uint64_t _sdtcm;              /* Copy destination start address in DTCM */
-extern uint64_t _edtcm;              /* Copy destination end address in DTCM */
 __END_DECLS
 
 /************************************************************************************
@@ -139,8 +134,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
@@ -192,50 +192,6 @@ void imxrt_flash_setup_prefetch_partition(void)
 	ARM_DMB();
 }
 
-/****************************************************************************
- * Name: imxrt_ocram_initialize
- *
- * Description:
- *   Called off reset vector to reconfigure the flexRAM
- *   and finish the FLASH to RAM Copy.
- *
- ****************************************************************************/
-
-__EXPORT void imxrt_ocram_initialize(void)
-{
-	uint32_t regval;
-	register uint64_t *src;
-	register uint64_t *dest;
-
-	/* FlexRAM Configuration
-	 *    F = 64K ITCM
-	 *    A = 64K DTCM
-	 *    5 = 64K OCRAM
-	 *    So 0xFFFFFFAA is
-	 *    384K FlexRAM ITCM
-	 *    128K FlexRAM DTCM
-	 * */
-
-	putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17);
-	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
-	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
-
-	/* Copy any necessary code sections from FLASH to ITCM. The process is the
-	* same as the code copying from FLASH to RAM above. */
-	for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
-	     dest < (uint64_t *)&_eitcmfuncs;) {
-		*dest++ = *src++;
-	}
-
-	/* Clear .dtcm.  We'll do this inline (vs. calling memset) just to be
-	* certain that there are no issues with the state of global variables.
-	*/
-
-	for (dest = &_sdtcm; dest < &_edtcm;) {
-		*dest++ = 0;
-	}
-}
-
 /****************************************************************************
  * Name: imxrt_boardinitialize
  *