diff --git a/boards/px4/fmu-v6xrt/src/CMakeLists.txt b/boards/px4/fmu-v6xrt/src/CMakeLists.txt index e34b9a134c..1ab333085b 100644 --- a/boards/px4/fmu-v6xrt/src/CMakeLists.txt +++ b/boards/px4/fmu-v6xrt/src/CMakeLists.txt @@ -75,9 +75,14 @@ else() imxrt_flexspi_nor_boot.c imxrt_flexspi_nor_flash.c imxrt_clockconfig.c + imxrt_ocram_initialize.c ${SRCS} ) + # 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 arch_board_hw_info diff --git a/boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c b/boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c new file mode 100644 index 0000000000..5a063bd46a --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * 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; + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + + putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17); + putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18); + regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); + putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, 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; + } + +#if defined(CONFIG_BOOT_RUNFROMISRAM) + const uint32_t *src; + uint32_t *dest; + + for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size), + dest = (uint32_t *)(g_boot_data.start + g_boot_data.size); + dest < (uint32_t *) &_etext;) { + *dest++ = *src++; + } + +#endif +} diff --git a/boards/px4/fmu-v6xrt/src/init.c b/boards/px4/fmu-v6xrt/src/init.c index 4b2edbc658..57ac95ce20 100644 --- a/boards/px4/fmu-v6xrt/src/init.c +++ b/boards/px4/fmu-v6xrt/src/init.c @@ -109,11 +109,6 @@ 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 /************************************************************************************ @@ -225,65 +220,7 @@ void imxrt_flash_setup_prefetch_partition(void) ARM_ISB(); 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; - - /* Reallocate - * Final Configuration is - * No DTCM - * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) - * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) - * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) - * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) - * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) - * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) - * 256k System OCRAM M4 (2020:0000-2023:ffff) - */ - - putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17); - putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18); - regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); - putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, 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; - } - -#if defined(CONFIG_BOOT_RUNFROMISRAM) - const uint32_t *src; - uint32_t *dest; - - for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size), - dest = (uint32_t *)(g_boot_data.start + g_boot_data.size); - dest < (uint32_t *) &_etext;) { - *dest++ = *src++; - } - -#endif -} /**************************************************************************** * Name: imxrt_boardinitialize