mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 06:23:34 +08:00
Peter van der PerkandDavid Sidrane
1250563ed1
* rt106x: Use platform SPI hal layer * rt106x: Add romapi support and reboot to isp/bootloader * bootloader: imxrt_common: Add rt106x support * NXP MR-Tropic initial commit * Add missing file for mr-tropic bootloader * nxp-mr-tropic:Bootloader Alow Assertion debugging & Keep Ram Vectors * nxp-mr-tropic: Firmware Boot from bootloader * nxp-mr-tropic:Add Bootloader bin file * mr-tropic: Update config and linker Fixes enet issues with write-back and some code cleanup. Furthermore increase NOR LittleFS to 256kB to reflect on linker * Update NuttX * mr-tropic: fix itcm apping and add mr-tropic to itcm check --------- Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
103 lines
3.9 KiB
C
103 lines
3.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file imxrt_ocram_initialize.c
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*
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* PX4 fmu-v6xrt RAM startup early startup code.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "arm_internal.h"
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#include "imxrt_iomuxc.h"
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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__BEGIN_DECLS
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extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */
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extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */
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extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */
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extern uint64_t _sdtcm; /* Copy destination start address in DTCM */
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extern uint64_t _edtcm; /* Copy destination end address in DTCM */
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__END_DECLS
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/****************************************************************************
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* Name: imxrt_ocram_initialize
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*
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* Description:
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* Called off reset vector to reconfigure the flexRAM
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* and finish the FLASH to RAM Copy.
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* CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin
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*
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****************************************************************************/
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__EXPORT void imxrt_ocram_initialize(void)
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{
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uint32_t regval;
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register uint64_t *src;
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register uint64_t *dest;
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/* FlexRAM Configuration
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* F = 64K ITCM
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* A = 64K DTCM
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* 5 = 64K OCRAM
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* So 0xFFFFFFAA is
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* 384K FlexRAM ITCM
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* 128K FlexRAM DTCM
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* */
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putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17);
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regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
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putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
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/* Copy any necessary code sections from FLASH to ITCM. The process is the
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* same as the code copying from FLASH to RAM above. */
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for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
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dest < (uint64_t *)&_eitcmfuncs;) {
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*dest++ = *src++;
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}
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/* Clear .dtcm. We'll do this inline (vs. calling memset) just to be
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* certain that there are no issues with the state of global variables.
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*/
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for (dest = &_sdtcm; dest < &_edtcm;) {
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*dest++ = 0;
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}
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}
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