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move boot_aplx.s stack to bottom half of DTCM #139

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move boot_aplx.s stack to bottom half of DTCM #139

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6ab97ac
updated boot_aplx.s to move stack to bottom half of DTCM.
Sep 14, 2020
b63a36e
for clarity, used decimal instead of hex in a constant value.
Sep 16, 2020
8623bf1
updated outdated comments in README file.
Sep 16, 2020
6b7b4b1
Merge branch 'master' into move_boot_aplx_stack
Sep 17, 2020
2c4a972
fixed README.
Sep 17, 2020
197647b
avoid use of 'adr' pseudoinstruction with register sp.
Sep 17, 2020
3fc8c81
created separate boot_aplx.bin for scamp and applications.
Sep 20, 2020
a76a9fd
- got rid of 'boot.lnk', use 'scamp-3.lnk' instead.
Sep 23, 2020
dae3a1b
removed Makefile variable SCAMP. No longer needed.
Sep 24, 2020
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20 changes: 2 additions & 18 deletions make/spinnaker_tools.mk
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Original file line number Diff line number Diff line change
Expand Up @@ -30,9 +30,6 @@ DEBUG := 1
# Set to 1 if making a library (advanced!)
LIB := 0

# Set to 1 if building scamp (advanced!)
SCAMP := 0

# Prefix for GNU tool binaries
GP := arm-none-eabi

Expand Down Expand Up @@ -61,7 +58,6 @@ SPINN_LIB_DIR = $(SPINN_DIRS)/lib
SPINN_INC_DIR = $(SPINN_DIRS)/include
SPINN_TOOLS_DIR = $(SPINN_DIRS)/tools
SPINN_MAKE_LIB_DIR = $(SPINN_DIRS)/make
SPINN_SCAMP_DIR = $(SPINN_DIRS)/scamp

# ------------------------------------------------------------------------------
# Tools
Expand All @@ -79,18 +75,11 @@ ifeq ($(GNU),1)
OTIME := -Ofast
ALL_WARNINGS := -Wall -Wextra

# scamp needs the stacks in a different address of DTCM
ifeq ($(SCAMP), 1)
LD_LNK := $(SPINN_SCAMP_DIR)/scamp-3.lnk
else
LD_LNK := $(SPINN_TOOLS_DIR)/sark.lnk
endif

ifeq ($(LIB), 1)
CFLAGS += -fdata-sections -ffunction-sections
LD := $(GP)-ld -i
else
LD := $(GP)-gcc -T$(LD_LNK) -Wl,-e,cpu_reset -Wl,-static -ffreestanding -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--use-blx -nostartfiles -static
LD := $(GP)-gcc -T$(SPINN_TOOLS_DIR)/sark.lnk -Wl,-e,cpu_reset -Wl,-static -ffreestanding -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--use-blx -nostartfiles -static
LFLAGS += -L $(SPINN_LIB_DIR)
endif

Expand All @@ -112,16 +101,11 @@ else
OTIME := -Otime
ALL_WARNINGS :=

# suppress linker warning about empty RW sections when building scamp
ifeq ($(SCAMP), 1)
LD_FLAG := --diag_suppress L6329W
endif

ifeq ($(LIB), 1)
CFLAGS += --split_sections
LD := armlink --partial
else
LD = armlink --scatter=$(SPINN_TOOLS_DIR)/sark.sct $(LD_FLAG) --remove --entry cpu_reset
LD = armlink --scatter=$(SPINN_TOOLS_DIR)/sark.sct $(LD_FLAGS) --remove --entry cpu_reset
endif

AR := armar -rsc
Expand Down
30 changes: 21 additions & 9 deletions scamp/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

APP := scamp-3
override THUMB := 1
override SCAMP := 1
override LD_FLAGS := --diag_suppress L6329W
include ../make/spinnaker_tools.mk

SCAMP_OBJS = spinn_phy.o spinn_srom.o spinn_net.o scamp-app.o \
Expand All @@ -31,8 +31,8 @@ else
endif

# Create the boot file (default)
$(APP).boot: $(BUILD_DIR)boot_aplx.bin $(BUILD_DIR)$(APP)_boot.tab $(BUILD_DIR)$(APP).sv $(BUILD_DIR)sark_pad.aplx $(BUILD_DIR)$(APP).bin
cat $(BUILD_DIR)boot_aplx.bin $(BUILD_DIR)$(APP)_boot.tab $(BUILD_DIR)boot_aplx.bin $(BUILD_DIR)$(APP).sv $(BUILD_DIR)sark_pad.aplx $(BUILD_DIR)$(APP).bin > $(APP).boot
$(APP).boot: $(BUILD_DIR)scamp_boot_aplx.bin $(BUILD_DIR)boot_aplx.bin $(BUILD_DIR)$(APP)_boot.tab $(BUILD_DIR)$(APP).sv $(BUILD_DIR)sark_pad.aplx $(BUILD_DIR)$(APP).bin
cat $(BUILD_DIR)scamp_boot_aplx.bin $(BUILD_DIR)$(APP)_boot.tab $(BUILD_DIR)boot_aplx.bin $(BUILD_DIR)$(APP).sv $(BUILD_DIR)sark_pad.aplx $(BUILD_DIR)$(APP).bin > $(APP).boot
$(LS) $(APP).boot

# Create the aplx file (optional)
Expand All @@ -48,11 +48,14 @@ install: $(APP).boot
install-aplx: $(APP).aplx
$(MV) $(APP).aplx ../tools/boot/scamp.aplx

# Build the SCAMP elf file - uses scatter file on ARM
$(BUILD_DIR)$(APP).elf: $(OBJS) $(SARK_LIB) $(BUILD_DIR)$(APP)_build.o $(APP).sct
# Build the SCAMP elf file - uses scamp-specific linker options
ifeq ($(GNU),1)
$(LD) $(OBJS) $(BUILD_DIR)$(APP)_build.o $(SARKLIB) -o $@
$(BUILD_DIR)$(APP).elf: $(OBJS) $(SARK_LIB) $(BUILD_DIR)$(APP)_build.o $(APP).lnk
$(GP)-gcc -T$(APP).lnk -Wl,-e,cpu_reset -Wl,-static -ffreestanding -fdata-sections \
-ffunction-sections -Wl,--gc-sections -Wl,--use-blx -nostartfiles -static \
$(OBJS) $(BUILD_DIR)$(APP)_build.o $(SARKLIB) -o $@
else
$(BUILD_DIR)$(APP).elf: $(OBJS) $(SARK_LIB) $(BUILD_DIR)$(APP)_build.o $(APP).sct
armlink --scatter=$(APP).sct --remove --entry cpu_reset $(OBJS) $(SARKLIB) \
$(BUILD_DIR)$(APP)_build.o --output $@
endif
Expand Down Expand Up @@ -88,16 +91,25 @@ $(BUILD_DIR)%.gas: %.s
$(MKDIR) $(BUILD_DIR)
$(SPINN_TOOLS_DIR)/arm2gas $< > $@

$(BUILD_DIR)boot_aplx.elf: $(BUILD_DIR)boot_aplx.gas $(BUILD_DIR)spinnaker.gas $(BUILD_DIR)sark.gas
$(BUILD_DIR)boot_aplx.elf: $(BUILD_DIR)boot_aplx.gas $(BUILD_DIR)spinnaker.gas $(BUILD_DIR)sark.gas $(APP).lnk
$(MKDIR) $(BUILD_DIR)
$(AS) -I $(BUILD_DIR) -o $(BUILD_DIR)boot_aplx.o $<
$(GP)-ld -Tboot.lnk -static --no-gc-sections --use-blx -nostartfiles $(BUILD_DIR)boot_aplx.o -o $@
$(GP)-ld -T$(APP).lnk -static --no-gc-sections --use-blx -nostartfiles $(BUILD_DIR)boot_aplx.o -o $@

$(BUILD_DIR)scamp_boot_aplx.elf: $(BUILD_DIR)boot_aplx.gas $(BUILD_DIR)spinnaker.gas $(BUILD_DIR)sark.gas $(APP).lnk
$(MKDIR) $(BUILD_DIR)
$(AS) --defsym SCAMP_BOOT_APLX=1 -I $(BUILD_DIR) -o $(BUILD_DIR)scamp_boot_aplx.o $<
$(GP)-ld -T$(APP).lnk -static --no-gc-sections --use-blx -nostartfiles $(BUILD_DIR)scamp_boot_aplx.o -o $@
else
$(BUILD_DIR)boot_aplx.elf: boot_aplx.s $(BUILD_DIR)spinnaker.s $(BUILD_DIR)sark.s
$(MKDIR) $(BUILD_DIR)
$(AS) -I $(BUILD_DIR) boot_aplx.s -o $(BUILD_DIR)boot_aplx.o
armlink --ro_base 0 -o $@ $(BUILD_DIR)boot_aplx.o

$(BUILD_DIR)scamp_boot_aplx.elf: boot_aplx.s $(BUILD_DIR)spinnaker.s $(BUILD_DIR)sark.s
$(MKDIR) $(BUILD_DIR)
$(AS) --predefine "SCAMP_BOOT_APLX SETA 1" -I $(BUILD_DIR) boot_aplx.s -o $(BUILD_DIR)scamp_boot_aplx.o
armlink --ro_base 0 -o $@ $(BUILD_DIR)scamp_boot_aplx.o
endif

# Convert h file to s
Expand All @@ -121,7 +133,7 @@ tar:
scamp/scamp-boot.c scamp/scamp-isr.c scamp/scamp-del.c scamp/spinn_phy.h \
scamp/scamp.h scamp/spinn_net.h scamp/spinn_regs.h \
scamp/boot_aplx.s scamp/$(APP).c scamp/$(APP).sct scamp/sark.c \
scamp/Makefile scamp/mkpad scamp/mksv scamp/$(APP).lnk scamp/boot.lnk
scamp/Makefile scamp/mkpad scamp/mksv scamp/$(APP).lnk

clean:
$(RM) -r $(BUILD_DIR)* $(APP).boot
Expand Down
49 changes: 0 additions & 49 deletions scamp/boot.lnk
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This file was deleted.

16 changes: 14 additions & 2 deletions scamp/boot_aplx.s
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Original file line number Diff line number Diff line change
Expand Up @@ -36,15 +36,15 @@

entry

aplx_start mov sp, #DTCM_TOP ; Set up stack
aplx_start ldr sp, boot_stack_top ; Set up stack
adr r0, aplx_args ; APLX block in DTCM
ldm r0, {r0-r1, r4-r5} ; Get address & args
blx proc_aplx ; Go to loader

; When booting via bootROM, APLX table ends up in DTCM 128 bytes above
; start of image

aplx_args dcd DTCM_BASE + 0x8080 ; Address of APLX table
aplx_args dcd DTCM_BASE + (DTCM_SIZE / 2) + 128 ; Address of APLX table
dcd 0 ; Arg passed in r0 (app_id)

aplx_svc msr cpsr_c, #IMASK_ALL+MODE_SVC
Expand Down Expand Up @@ -113,6 +113,18 @@ aplx_exec ldr r0, [sp, #0] ; Get arg to r0
blx r1 ; Exec absolute
b aplx_loader ; r1 = address

; NOTE: this was added here to avoid disrupting
; hard-coded addresses elsewhere (e.g., mkaplx)
if :def: SCAMP_BOOT_APLX
; locate stack at top of bottom half of DTCM for SCAMP boot
boot_stack_top dcd DTCM_BASE + (DTCM_SIZE / 2)
else
; locate stack at top of DTCM for application boot
boot_stack_top dcd DTCM_TOP
endif

; make sure that the size of this code block is
; 128 bytes to keep the scamp.boot build correct
align 128
code32
aplx_end
Expand Down
1 change: 1 addition & 0 deletions scamp/scamp-3.lnk
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Expand Up @@ -49,6 +49,7 @@ SECTIONS

RO_DATA :
{
* (boot_aplx);
* (_alib_reset);
* (alib_*);
* (.text*);
Expand Down
4 changes: 2 additions & 2 deletions tools/mkaplx
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Expand Up @@ -154,7 +154,7 @@ if ($text)
if ($boot)
{
printf "\t\tdcd\tAPLX_RCOPY, 0x%08x, 0x%08x, 0x%08x\n", # boot_aplx
0x7f00, -128 & 0xffffffff, 128;
0x7f00, 128, 128;
printf "\t\tdcd\tAPLX_RCOPY, 0x%08x, 0x%08x, 0x%08x\n", # def_app
0x7000, 512-128-16, 3584;
printf "\t\tdcd\tAPLX_EXEC, 0x%08x, 0x%08x, 0x%08x\n", # dis. int.
Expand Down Expand Up @@ -212,7 +212,7 @@ else

if ($boot)
{
print pack "V4", $APLX_RCOPY, 0x7f00, -128, 128;
print pack "V4", $APLX_RCOPY, 0x7f00, 128, 128;
print pack "V4", $APLX_RCOPY, 0x7000, 512-128-16, 3584;
print pack "V4", $APLX_EXEC, 0x7f18, 0, 0;
print pack "V4", $APLX_RCOPY, 0xf5007f00, 384-128-48, 128;
Expand Down