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Since the use of a elf binary is anyway required, we can place
sections freely in memory. Therefor it is not necessary to store
the variable initialization section (.data) after the code (.text)
section and copy it in the firmwares startup code. Instead, just
let the elf loader load the .data section directly to its final
place. With that the program header look like this:
Program Header:
LOAD off 0x00001000 vaddr 0x00000000 paddr 0x00000000 align 2**12
filesz 0x00000240 memsz 0x00000240 flags r--
LOAD off 0x00002000 vaddr 0x1fff8000 paddr 0x1fff8000 align 2**12
filesz 0x00006534 memsz 0x00006534 flags rwx
LOAD off 0x00009000 vaddr 0x20000000 paddr 0x20000000 align 2**12
filesz 0x000001d0 memsz 0x00005dc8 flags rw-
Note the additional program header which loads the .data section
directly to the data region at 0x20000000.
This safes space in the code region and slightly improves the
startup time since the copy loop is not required.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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Add symbols which define the DDR memory area. This is useful to
setup the RDC memory region mapping.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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Add helper macros which allow to align memory for RDC memory
region mappings.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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When using the elf file format the vector table gets linked directly
to 0x0 (0x180000 for data bus/A7 bus). U-Boots bootaux command tries
to be helpful and writes the start address to that location (since
this was necessary for binary files which have a relocated vector
table). This is not usually a problem, since we restore the stack
pointer imeaditly at the beginning.
However, the FreeRTOS port code relies on a complete vector table
(see prvPortStartFirstTask in Source/portable/GCC/ARM_CM4F/port.c).
This needs to be fixed in U-Boot: U-Boot should not write into the
vector table if it is provided by the elf binary.
For now, work around by restoring the stack pointer entry in the
vector table in the firmware startup code.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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The Cortex-M4 core starts executing at 0x00000000, which is OCRAM_S.
So far the bootloader (bootaux) copied the reset vector and the initial
stack pointer to that location, however, this does not work well when
using debuggers. Also, newer U-Boot support elf loading, which allow to
load the reset vector directly to the right location. It also safes some
bytes in the area where the firmware is stored.
This basically mandantes to use elf files since bin firmware files can
not be sparse... Hence disable building bin files by default.
Preserve the old linker files with _bin extension in case bin files are
still preferred.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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The section definitions of all linker scripts is actually the same,
unify them and use INCLUDE.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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Initialize stack pointer in startup code. This fixes issues when
loading the firmware with loading mechanism which do not setup the
stack pointer correctly (e.g. Toradex U-Boot 2016.11 with elf file
format).
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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Move the memory (m_data) area in the OCRAM linker file to the
EPDC OCRAM area. Also use the code bus for the code area instead
of the system bus which should improve performance. This allows
firmware of up to ~64KiB and memory of 128KiB.
Note: To get more heap space in FreeRTOS configTOTAL_HEAP_SIZE in
FreeRTOSConfig.h needs to be adjusted as well.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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Increase the memory (m_data) area in the DDR linker file. Also use
the code bus for the code area instead of the system bus. This
aligns with the _tcm.ld file and should improve performance.
Note: To get more heap space in FreeRTOS configTOTAL_HEAP_SIZE in
FreeRTOSConfig.h needs to be adjusted as well.
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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The linker file to build a firmware running from DDR memory
(MCIMX7D_M4_ddr.ld) currently puts the firmware at the end of
the 512MiB boundary. That is not a valid memory area for the
Colibri iMX7S module (which comes with 256MiB of DDR memory).
In practise it actually does work because out-of-bound addresses
usually just mirror the content of the lower address, but it is
a behavior which should not be relied upon. This change moves
the firmware location to a valid location for all our modules
at the end of the 256MiB boundary (0x8ff00000, allows for a
firmware up to ~960kiB).
Furthermore, the VirtIO VRING offset is currently at the end of
the 1024MiB boundary. Again, due to the mirroring behavior this
worked in practise, but it should not be relied upon. Hence move
the VRING to the end of the 256MiB boundary too (0x8fff0000). The
firmware size has been choosen so that the VRING just fits after
the firmware.
Note that since the VRING offsets are hardcoded, this change needs
a corresponding change in the Linux kernel source:
arch/arm/mach-imx/imx_rpmsg.c (function imx_rpmsg_probe)
Signed-off-by: Stefan Agner <stefan.agner@toradex.com>
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Add mode parameter which allows to select DCE/DTE mode of the
debug UART.
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Fix assertion in modem mode to allow using DTE mode.
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