From bb89a2341cca1aad79bc6d5f3532008541c9e428 Mon Sep 17 00:00:00 2001 From: Ulf Lilleengen Date: Thu, 1 Dec 2022 18:26:22 +0100 Subject: feat: embassy-boot for rp2040 Add embassy-boot support for RP2040, with examples for the Raspberry Pi Pico. Co-authored-by: Mathias Koch --- examples/boot/bootloader/rp/.cargo/config.toml | 8 ++++ examples/boot/bootloader/rp/Cargo.toml | 29 +++++++++++++++ examples/boot/bootloader/rp/README.md | 17 +++++++++ examples/boot/bootloader/rp/build.rs | 28 ++++++++++++++ examples/boot/bootloader/rp/memory.x | 19 ++++++++++ examples/boot/bootloader/rp/src/main.rs | 51 ++++++++++++++++++++++++++ 6 files changed, 152 insertions(+) create mode 100644 examples/boot/bootloader/rp/.cargo/config.toml create mode 100644 examples/boot/bootloader/rp/Cargo.toml create mode 100644 examples/boot/bootloader/rp/README.md create mode 100644 examples/boot/bootloader/rp/build.rs create mode 100644 examples/boot/bootloader/rp/memory.x create mode 100644 examples/boot/bootloader/rp/src/main.rs (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/.cargo/config.toml b/examples/boot/bootloader/rp/.cargo/config.toml new file mode 100644 index 000000000..18bd4dfe8 --- /dev/null +++ b/examples/boot/bootloader/rp/.cargo/config.toml @@ -0,0 +1,8 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +runner = "probe-run --chip RP2040" + +[build] +target = "thumbv6m-none-eabi" + +[env] +DEFMT_LOG = "trace" diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml new file mode 100644 index 000000000..580ced22e --- /dev/null +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -0,0 +1,29 @@ +[package] +edition = "2021" +name = "rp-bootloader-example" +version = "0.1.0" +description = "Example bootloader for RP2040 chips" +license = "MIT OR Apache-2.0" + +[dependencies] +defmt = { version = "0.3", optional = true } +defmt-rtt = { version = "0.4", optional = true } + +embassy-rp = { path = "../../../../embassy-rp", default-features = false, features = ["nightly"] } +embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false } +cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] } +cortex-m-rt = { version = "0.7" } +embedded-storage = "0.3.0" +embedded-storage-async = "0.3.0" +cfg-if = "1.0.0" + +[features] +defmt = [ + "dep:defmt", + "embassy-boot-rp/defmt", + "embassy-rp/defmt", +] +debug = ["defmt-rtt", "defmt"] + +[profile.release] +debug = true diff --git a/examples/boot/bootloader/rp/README.md b/examples/boot/bootloader/rp/README.md new file mode 100644 index 000000000..064e87273 --- /dev/null +++ b/examples/boot/bootloader/rp/README.md @@ -0,0 +1,17 @@ +# Bootloader for RP2040 + +The bootloader uses `embassy-boot` to interact with the flash. + +# Usage + +Flashing the bootloader + +``` +cargo flash --release --chip RP2040 +``` + +To debug, use `cargo run` and enable the debug feature flag + +``` rust +cargo run --release --features debug +``` diff --git a/examples/boot/bootloader/rp/build.rs b/examples/boot/bootloader/rp/build.rs new file mode 100644 index 000000000..c201704ad --- /dev/null +++ b/examples/boot/bootloader/rp/build.rs @@ -0,0 +1,28 @@ +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); + + println!("cargo:rustc-link-arg-bins=--nmagic"); + println!("cargo:rustc-link-arg-bins=-Tlink.x"); + println!("cargo:rustc-link-arg-bins=-Tlink-rp.x"); + if env::var("CARGO_FEATURE_DEFMT").is_ok() { + println!("cargo:rustc-link-arg-bins=-Tdefmt.x"); + } +} diff --git a/examples/boot/bootloader/rp/memory.x b/examples/boot/bootloader/rp/memory.x new file mode 100644 index 000000000..d6ef38469 --- /dev/null +++ b/examples/boot/bootloader/rp/memory.x @@ -0,0 +1,19 @@ +MEMORY +{ + /* NOTE 1 K = 1 KiBi = 1024 bytes */ + BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100 + FLASH : ORIGIN = 0x10000100, LENGTH = 24K + BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4K + ACTIVE : ORIGIN = 0x10007000, LENGTH = 512K + DFU : ORIGIN = 0x10087000, LENGTH = 516K + RAM : ORIGIN = 0x20000000, LENGTH = 256K +} + +__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2); +__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(BOOT2); + +__bootloader_active_start = ORIGIN(ACTIVE) - ORIGIN(BOOT2); +__bootloader_active_end = ORIGIN(ACTIVE) + LENGTH(ACTIVE) - ORIGIN(BOOT2); + +__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(BOOT2); +__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(BOOT2); diff --git a/examples/boot/bootloader/rp/src/main.rs b/examples/boot/bootloader/rp/src/main.rs new file mode 100644 index 000000000..5028ec688 --- /dev/null +++ b/examples/boot/bootloader/rp/src/main.rs @@ -0,0 +1,51 @@ +#![no_std] +#![no_main] + +use cortex_m_rt::{entry, exception}; +#[cfg(feature = "defmt")] +use defmt_rtt as _; +use embassy_boot_rp::*; +use embassy_rp::flash::{Flash, ERASE_SIZE}; +use embassy_rp::peripherals::FLASH; + +const FLASH_SIZE: usize = 2 * 1024 * 1024; + +#[entry] +fn main() -> ! { + let p = embassy_rp::init(Default::default()); + + // Uncomment this if you are debugging the bootloader with debugger/RTT attached, + // as it prevents a hard fault when accessing flash 'too early' after boot. + /* + for i in 0..10000000 { + cortex_m::asm::nop(); + } + */ + + let mut bl: BootLoader = BootLoader::default(); + let flash: Flash<'_, FLASH, FLASH_SIZE> = Flash::new(p.FLASH); + let mut flash = BootFlash::<_, ERASE_SIZE>::new(flash); + let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash)); + core::mem::drop(flash); + + unsafe { bl.load(start) } +} + +#[no_mangle] +#[cfg_attr(target_os = "none", link_section = ".HardFault.user")] +unsafe extern "C" fn HardFault() { + cortex_m::peripheral::SCB::sys_reset(); +} + +#[exception] +unsafe fn DefaultHandler(_: i16) -> ! { + const SCB_ICSR: *const u32 = 0xE000_ED04 as *const u32; + let irqn = core::ptr::read_volatile(SCB_ICSR) as u8 as i16 - 16; + + panic!("DefaultHandler #{:?}", irqn); +} + +#[panic_handler] +fn panic(_info: &core::panic::PanicInfo) -> ! { + cortex_m::asm::udf(); +} -- cgit From 9428c40c8de1285271a5e6ba9ad2a7fed8a9475e Mon Sep 17 00:00:00 2001 From: kalkyl Date: Tue, 3 Jan 2023 22:58:56 +0100 Subject: embassy-boot (rp): Add WatchdogFlash --- examples/boot/bootloader/rp/Cargo.toml | 2 ++ examples/boot/bootloader/rp/src/main.rs | 6 +++--- 2 files changed, 5 insertions(+), 3 deletions(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml index 580ced22e..c0b576cff 100644 --- a/examples/boot/bootloader/rp/Cargo.toml +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -11,6 +11,8 @@ defmt-rtt = { version = "0.4", optional = true } embassy-rp = { path = "../../../../embassy-rp", default-features = false, features = ["nightly"] } embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false } +embassy-time = { path = "../../../../embassy-time", features = ["nightly"] } + cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] } cortex-m-rt = { version = "0.7" } embedded-storage = "0.3.0" diff --git a/examples/boot/bootloader/rp/src/main.rs b/examples/boot/bootloader/rp/src/main.rs index 5028ec688..4defa01fd 100644 --- a/examples/boot/bootloader/rp/src/main.rs +++ b/examples/boot/bootloader/rp/src/main.rs @@ -5,8 +5,8 @@ use cortex_m_rt::{entry, exception}; #[cfg(feature = "defmt")] use defmt_rtt as _; use embassy_boot_rp::*; -use embassy_rp::flash::{Flash, ERASE_SIZE}; -use embassy_rp::peripherals::FLASH; +use embassy_rp::flash::ERASE_SIZE; +use embassy_time::Duration; const FLASH_SIZE: usize = 2 * 1024 * 1024; @@ -23,7 +23,7 @@ fn main() -> ! { */ let mut bl: BootLoader = BootLoader::default(); - let flash: Flash<'_, FLASH, FLASH_SIZE> = Flash::new(p.FLASH); + let flash: WatchdogFlash<'_, FLASH_SIZE> = WatchdogFlash::start(p.FLASH, p.WATCHDOG, Duration::from_secs(8)); let mut flash = BootFlash::<_, ERASE_SIZE>::new(flash); let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash)); core::mem::drop(flash); -- cgit From 413f33948927b4b82a7a9cdd835d226a69fdcefc Mon Sep 17 00:00:00 2001 From: kalkyl Date: Tue, 3 Jan 2023 23:34:50 +0100 Subject: Cleanup --- examples/boot/bootloader/rp/src/main.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/src/main.rs b/examples/boot/bootloader/rp/src/main.rs index 4defa01fd..fb7f0522b 100644 --- a/examples/boot/bootloader/rp/src/main.rs +++ b/examples/boot/bootloader/rp/src/main.rs @@ -23,7 +23,7 @@ fn main() -> ! { */ let mut bl: BootLoader = BootLoader::default(); - let flash: WatchdogFlash<'_, FLASH_SIZE> = WatchdogFlash::start(p.FLASH, p.WATCHDOG, Duration::from_secs(8)); + let flash = WatchdogFlash::::start(p.FLASH, p.WATCHDOG, Duration::from_secs(8)); let mut flash = BootFlash::<_, ERASE_SIZE>::new(flash); let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash)); core::mem::drop(flash); -- cgit From bc0cb43307c2a46330ce253505203dbc607bcc6c Mon Sep 17 00:00:00 2001 From: Mehmet Ali Anil Date: Mon, 6 Mar 2023 22:08:47 +0100 Subject: Bump embedded-storage-async to 0.4 --- examples/boot/bootloader/rp/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml index c0b576cff..a16cebe31 100644 --- a/examples/boot/bootloader/rp/Cargo.toml +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -16,7 +16,7 @@ embassy-time = { path = "../../../../embassy-time", features = ["nightly"] } cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] } cortex-m-rt = { version = "0.7" } embedded-storage = "0.3.0" -embedded-storage-async = "0.3.0" +embedded-storage-async = "0.4.0" cfg-if = "1.0.0" [features] -- cgit From 84bfe9b8c93ea8634ce2192fb719034b5c13e5da Mon Sep 17 00:00:00 2001 From: Rasmus Melchior Jacobsen Date: Tue, 4 Apr 2023 22:44:21 +0200 Subject: Align examples with bootloader changes --- examples/boot/bootloader/rp/src/main.rs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/src/main.rs b/examples/boot/bootloader/rp/src/main.rs index fb7f0522b..8129591fa 100644 --- a/examples/boot/bootloader/rp/src/main.rs +++ b/examples/boot/bootloader/rp/src/main.rs @@ -5,7 +5,6 @@ use cortex_m_rt::{entry, exception}; #[cfg(feature = "defmt")] use defmt_rtt as _; use embassy_boot_rp::*; -use embassy_rp::flash::ERASE_SIZE; use embassy_time::Duration; const FLASH_SIZE: usize = 2 * 1024 * 1024; @@ -24,7 +23,7 @@ fn main() -> ! { let mut bl: BootLoader = BootLoader::default(); let flash = WatchdogFlash::::start(p.FLASH, p.WATCHDOG, Duration::from_secs(8)); - let mut flash = BootFlash::<_, ERASE_SIZE>::new(flash); + let mut flash = BootFlash::new(flash); let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash)); core::mem::drop(flash); -- cgit From 8a9136e4e47a2d02084f343cd6d212f419c37f04 Mon Sep 17 00:00:00 2001 From: pennae Date: Tue, 18 Apr 2023 21:07:36 +0200 Subject: enable inline-asm feature for cortex-m in examples inline assembly is supported since rust 1.59, we're way past that. enabling this makes the compiled code more compact, and on rp2040 even decreses memory usage by not needing thunks in sram. --- examples/boot/bootloader/rp/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml index a16cebe31..b4167bcd8 100644 --- a/examples/boot/bootloader/rp/Cargo.toml +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -13,7 +13,7 @@ embassy-rp = { path = "../../../../embassy-rp", default-features = false, featur embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false } embassy-time = { path = "../../../../embassy-time", features = ["nightly"] } -cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] } +cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] } cortex-m-rt = { version = "0.7" } embedded-storage = "0.3.0" embedded-storage-async = "0.4.0" -- cgit From 054ca17f660bd7fc760854293248ffc6a092b6da Mon Sep 17 00:00:00 2001 From: Dario Nieuwenhuis Date: Wed, 26 Apr 2023 17:00:51 +0200 Subject: Switch from probe-run to probe-rs-cli. - probe-run screwed up the last release 2 weeks ago and it's still not fixed (issue 391). Doesn't look well maintained. - Even when it's not broken, it lags behind probe-rs-cli in new chips support because it's slow in updating probe-rs. --- examples/boot/bootloader/rp/.cargo/config.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/.cargo/config.toml b/examples/boot/bootloader/rp/.cargo/config.toml index 18bd4dfe8..795ee043a 100644 --- a/examples/boot/bootloader/rp/.cargo/config.toml +++ b/examples/boot/bootloader/rp/.cargo/config.toml @@ -1,5 +1,5 @@ [target.'cfg(all(target_arch = "arm", target_os = "none"))'] -runner = "probe-run --chip RP2040" +runner = "probe-rs-cli run --chip RP2040" [build] target = "thumbv6m-none-eabi" -- cgit From 1a31b03976d73496f649165d9f92c4e19bef93fc Mon Sep 17 00:00:00 2001 From: Dario Nieuwenhuis Date: Mon, 29 May 2023 21:30:28 +0200 Subject: ci: fix nrf, rp tests. --- examples/boot/bootloader/rp/Cargo.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml index b4167bcd8..bf9226993 100644 --- a/examples/boot/bootloader/rp/Cargo.toml +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -9,8 +9,8 @@ license = "MIT OR Apache-2.0" defmt = { version = "0.3", optional = true } defmt-rtt = { version = "0.4", optional = true } -embassy-rp = { path = "../../../../embassy-rp", default-features = false, features = ["nightly"] } -embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false } +embassy-rp = { path = "../../../../embassy-rp", features = ["nightly"] } +embassy-boot-rp = { path = "../../../../embassy-boot/rp" } embassy-time = { path = "../../../../embassy-time", features = ["nightly"] } cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] } -- cgit From 36e00caf4dc70905b735531c0d5634addd026954 Mon Sep 17 00:00:00 2001 From: Rasmus Melchior Jacobsen Date: Tue, 30 May 2023 14:03:31 +0200 Subject: Align examples --- examples/boot/bootloader/rp/Cargo.toml | 1 + examples/boot/bootloader/rp/src/main.rs | 16 +++++++++++----- 2 files changed, 12 insertions(+), 5 deletions(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml index bf9226993..8d60f18be 100644 --- a/examples/boot/bootloader/rp/Cargo.toml +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -11,6 +11,7 @@ defmt-rtt = { version = "0.4", optional = true } embassy-rp = { path = "../../../../embassy-rp", features = ["nightly"] } embassy-boot-rp = { path = "../../../../embassy-boot/rp" } +embassy-sync = { path = "../../../../embassy-sync" } embassy-time = { path = "../../../../embassy-time", features = ["nightly"] } cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] } diff --git a/examples/boot/bootloader/rp/src/main.rs b/examples/boot/bootloader/rp/src/main.rs index 8129591fa..6a81db804 100644 --- a/examples/boot/bootloader/rp/src/main.rs +++ b/examples/boot/bootloader/rp/src/main.rs @@ -1,10 +1,13 @@ #![no_std] #![no_main] +use core::cell::RefCell; + use cortex_m_rt::{entry, exception}; #[cfg(feature = "defmt")] use defmt_rtt as _; use embassy_boot_rp::*; +use embassy_sync::blocking_mutex::Mutex; use embassy_time::Duration; const FLASH_SIZE: usize = 2 * 1024 * 1024; @@ -21,13 +24,16 @@ fn main() -> ! { } */ - let mut bl: BootLoader = BootLoader::default(); let flash = WatchdogFlash::::start(p.FLASH, p.WATCHDOG, Duration::from_secs(8)); - let mut flash = BootFlash::new(flash); - let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash)); - core::mem::drop(flash); + let flash = Mutex::new(RefCell::new(flash)); + + let config = BootLoaderConfig::from_linkerfile_blocking(&flash); + let active_offset = config.active.offset(); + let mut bl: BootLoader<_, _, _> = BootLoader::new(config); + + bl.prepare(); - unsafe { bl.load(start) } + unsafe { bl.load(embassy_rp::flash::FLASH_BASE as u32 + active_offset) } } #[no_mangle] -- cgit From 404aa292890503806a32eac5ae518dbeeadd60eb Mon Sep 17 00:00:00 2001 From: Dario Nieuwenhuis Date: Thu, 1 Jun 2023 02:22:46 +0200 Subject: cortex-m: remove owned interrupts. --- examples/boot/bootloader/rp/Cargo.toml | 1 + 1 file changed, 1 insertion(+) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml index 8d60f18be..c1dc99eec 100644 --- a/examples/boot/bootloader/rp/Cargo.toml +++ b/examples/boot/bootloader/rp/Cargo.toml @@ -30,3 +30,4 @@ debug = ["defmt-rtt", "defmt"] [profile.release] debug = true +opt-level = 's' -- cgit From f7ec579c18b2ec925afcd4ab9a840719f4ce08cc Mon Sep 17 00:00:00 2001 From: Dario Nieuwenhuis Date: Thu, 29 Jun 2023 02:39:28 +0200 Subject: Update probe-rs-cli -> probe-rs --- examples/boot/bootloader/rp/.cargo/config.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples/boot/bootloader/rp') diff --git a/examples/boot/bootloader/rp/.cargo/config.toml b/examples/boot/bootloader/rp/.cargo/config.toml index 795ee043a..9d48ecdc9 100644 --- a/examples/boot/bootloader/rp/.cargo/config.toml +++ b/examples/boot/bootloader/rp/.cargo/config.toml @@ -1,5 +1,5 @@ [target.'cfg(all(target_arch = "arm", target_os = "none"))'] -runner = "probe-rs-cli run --chip RP2040" +runner = "probe-rs run --chip RP2040" [build] target = "thumbv6m-none-eabi" -- cgit