mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 03:49:12 +08:00
boards/px4/fmu-v5: Add linker scripts for kernel-userspace split
These scripts are used in protected build configuration Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
committed by
Daniel Agar
Daniel Agar
parent
999737ddd5
commit
1f9ace3901
@@ -0,0 +1,146 @@
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/****************************************************************************
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* kernel-space.ld
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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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/* NOTE: This depends on the memory.ld script having been included prior to
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* this script.
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*/
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OUTPUT_ARCH(arm)
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EXTERN(_vectors)
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ENTRY(_stext)
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/*
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* Ensure that abort() is present in the final object. The exception handling
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* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
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*/
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EXTERN(abort)
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EXTERN(_bootdelay_signature)
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/*
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* TODO: Fill in the signature location into TOC from user-space elf
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EXTERN(_main_toc)
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*/
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SECTIONS
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{
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.text : {
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_stext = ABSOLUTE(.);
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*(.vectors)
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. = ALIGN(32);
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/*
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This signature provides the bootloader with a way to delay booting
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*/
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_bootdelay_signature = ABSOLUTE(.);
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FILL(0xffecc2925d7d05c5)
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. += 8;
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/*
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*(.main_toc)
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*/
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*(.text .text.*)
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*(.fixup)
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*(.gnu.warning)
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*(.rodata .rodata.*)
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*(.gnu.linkonce.t.*)
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*(.glue_7)
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*(.glue_7t)
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*(.got)
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*(.gcc_except_table)
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*(.gnu.linkonce.r.*)
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_etext = ABSOLUTE(.);
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} > kflash
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/*
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* Init functions (static constructors and the like)
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*/
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.init_section : {
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_sinit = ABSOLUTE(.);
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KEEP(*(.init_array .init_array.*))
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_einit = ABSOLUTE(.);
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} > kflash
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.ARM.extab : {
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*(.ARM.extab*)
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} > kflash
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__exidx_start = ABSOLUTE(.);
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.ARM.exidx : {
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*(.ARM.exidx*)
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} > kflash
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__exidx_end = ABSOLUTE(.);
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_eronly = ABSOLUTE(.);
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.data : {
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_sdata = ABSOLUTE(.);
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*(.data .data.*)
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*(.gnu.linkonce.d.*)
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CONSTRUCTORS
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_edata = ABSOLUTE(.);
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} > ksram AT > kflash
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.bss : {
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_sbss = ABSOLUTE(.);
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*(.bss .bss.*)
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*(.gnu.linkonce.b.*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = ABSOLUTE(.);
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} > ksram
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/* Stabs debugging sections */
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.stab 0 : { *(.stab) }
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.stabstr 0 : { *(.stabstr) }
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.stab.excl 0 : { *(.stab.excl) }
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.stab.exclstr 0 : { *(.stab.exclstr) }
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.stab.index 0 : { *(.stab.index) }
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.stab.indexstr 0 : { *(.stab.indexstr) }
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.comment 0 : { *(.comment) }
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.debug_abbrev 0 : { *(.debug_abbrev) }
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.debug_info 0 : { *(.debug_info) }
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.debug_line 0 : { *(.debug_line) }
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.debug_pubnames 0 : { *(.debug_pubnames) }
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.debug_aranges 0 : { *(.debug_aranges) }
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.ramfunc : {
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_sramfuncs = .;
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*(.ramfunc .ramfunc.*)
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. = ALIGN(4);
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_eramfuncs = .;
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} > ksram AT > kflash
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_framfuncs = LOADADDR(.ramfunc);
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}
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@@ -0,0 +1,98 @@
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/****************************************************************************
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* scripts/memory.ld
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*
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* Copyright (C) 2016 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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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/* The STM32F765IIT6 has 2048 KiB of main FLASH memory. This FLASH memory
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* can be accessed from either the AXIM interface at address 0x0800:0000 or
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* from the ITCM interface at address 0x0020:0000.
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*
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* Additional information, including the option bytes, is available at at
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* FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
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*
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* In the STM32F765IIT6, two different boot spaces can be selected through
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* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
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* BOOT_ADD1 option bytes:
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*
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* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
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* ST programmed value: Flash on ITCM at 0x0020:0000
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* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
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* ST programmed value: System bootloader at 0x0010:0000
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*
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* NuttX does not modify these option byes. On the unmodified NUCLEO-144
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* board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
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* boot from address 0x0020:0000 in ITCM FLASH.
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*
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* The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
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* SRAM is split up into three blocks:
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*
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* 1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
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* 2) 368 KiB of SRAM1 beginning at address 0x2002:0000
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* 3) 16 KiB of SRAM2 beginning at address 0x2007:c000
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*
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* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
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* where the code expects to begin execution by jumping to the entry point in
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* the 0x0800:0000 address range.
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*
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* Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
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* organization (256 bits read width)
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*/
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MEMORY
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{
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/* ITCM boot address */
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itcm (rwx) : ORIGIN = 0x00208000, LENGTH = 2048K-32K
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/* 2048KB FLASH, bootloader reserves the first 32kb */
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kflash (rx) : ORIGIN = 0x08008000, LENGTH = 1024K-32K
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uflash (rx) : ORIGIN = 0x08100000, LENGTH = 1024K
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/* ITCM RAM */
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itcm_ram (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
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/* DTCM SRAM */
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dtcm_ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
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/* 368KB of contiguous SRAM1 */
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ksram (rwx) : ORIGIN = 0x20020000, LENGTH = 128K
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usram (rwx) : ORIGIN = 0x20040000, LENGTH = 368K-128K
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/* 16KB of SRAM2 */
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sram2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
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}
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@@ -0,0 +1,124 @@
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/****************************************************************************
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* user-space.ld
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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,
|
||||||
|
* 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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/* NOTE: This depends on the memory.ld script having been included prior to
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* this script.
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*/
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EXTERN(userspace)
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OUTPUT_ARCH(arm)
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SECTIONS
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{
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.userspace : {
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*(.userspace)
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} > uflash
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.text : {
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_stext = ABSOLUTE(.);
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*(.text .text.*)
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*(.fixup)
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*(.gnu.warning)
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*(.rodata .rodata.*)
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*(.gnu.linkonce.t.*)
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*(.glue_7)
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*(.glue_7t)
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*(.got)
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*(.gcc_except_table)
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*(.gnu.linkonce.r.*)
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_etext = ABSOLUTE(.);
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} > uflash
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/*
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* Init functions (static constructors and the like)
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*/
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.init_section : {
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_sinit = ABSOLUTE(.);
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KEEP(*(.init_array .init_array.*))
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_einit = ABSOLUTE(.);
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} > uflash
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.ARM.extab : {
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*(.ARM.extab*)
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} > uflash
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__exidx_start = ABSOLUTE(.);
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.ARM.exidx : {
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*(.ARM.exidx*)
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} > uflash
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__exidx_end = ABSOLUTE(.);
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_eronly = ABSOLUTE(.);
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.data : {
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_sdata = ABSOLUTE(.);
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*(.data .data.*)
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*(.gnu.linkonce.d.*)
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CONSTRUCTORS
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_edata = ABSOLUTE(.);
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} > usram AT > uflash
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.bss : {
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_sbss = ABSOLUTE(.);
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*(.bss .bss.*)
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*(.gnu.linkonce.b.*)
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*(COMMON)
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/* Kernel heap start at _ebss, make _ebss MPU-friendly aligned */
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. = ALIGN(0x1000);
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_ebss = ABSOLUTE(.);
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} > usram
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/* Stabs debugging sections */
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.stab 0 : { *(.stab) }
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.stabstr 0 : { *(.stabstr) }
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.stab.excl 0 : { *(.stab.excl) }
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.stab.exclstr 0 : { *(.stab.exclstr) }
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.stab.index 0 : { *(.stab.index) }
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.stab.indexstr 0 : { *(.stab.indexstr) }
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.comment 0 : { *(.comment) }
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.debug_abbrev 0 : { *(.debug_abbrev) }
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.debug_info 0 : { *(.debug_info) }
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.debug_line 0 : { *(.debug_line) }
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.debug_pubnames 0 : { *(.debug_pubnames) }
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.debug_aranges 0 : { *(.debug_aranges) }
|
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/* Start of the image signature. This
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* has to be in the end of the image
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*/
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.signature : {
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_boot_signature = ALIGN(4);
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} > uflash
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}
|
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Reference in New Issue
Block a user