diff --git a/boards/nxp/tropic-community/src/CMakeLists.txt b/boards/nxp/tropic-community/src/CMakeLists.txt index 91d89b5d307..6c37994652a 100644 --- a/boards/nxp/tropic-community/src/CMakeLists.txt +++ b/boards/nxp/tropic-community/src/CMakeLists.txt @@ -42,8 +42,12 @@ px4_add_library(drivers_board imxrt_flexspi_nor_boot.c imxrt_flexspi_nor_flash.c imxrt_flexspi_storage.c + imxrt_ocram_initialize.c ) +# Force compiler not to use builtin functions (like memcpy) +# to optimize for loops in init.c (imxrt_ocram_initialize) +set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin) target_link_libraries(drivers_board PRIVATE diff --git a/boards/nxp/tropic-community/src/imxrt_ocram_initialize.c b/boards/nxp/tropic-community/src/imxrt_ocram_initialize.c new file mode 100644 index 00000000000..67c1a4ca36b --- /dev/null +++ b/boards/nxp/tropic-community/src/imxrt_ocram_initialize.c @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file imxrt_ocram_initialize.c + * + * PX4 fmu-v6xrt RAM startup early startup code. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "arm_internal.h" +#include "imxrt_iomuxc.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +__BEGIN_DECLS +extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ +extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ +extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ +extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ +extern uint64_t _edtcm; /* Copy destination end address in DTCM */ +__END_DECLS + +/**************************************************************************** + * Name: imxrt_ocram_initialize + * + * Description: + * Called off reset vector to reconfigure the flexRAM + * and finish the FLASH to RAM Copy. + * CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin + * + ****************************************************************************/ + +__EXPORT void imxrt_ocram_initialize(void) +{ + uint32_t regval; + register uint64_t *src; + register uint64_t *dest; + + /* FlexRAM Configuration + * F = 64K ITCM + * A = 64K DTCM + * 5 = 64K OCRAM + * So 0xFFFFFFAA is + * 384K FlexRAM ITCM + * 128K FlexRAM DTCM + * */ + + putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17); + regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); + putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16); + + /* Copy any necessary code sections from FLASH to ITCM. The process is the + * same as the code copying from FLASH to RAM above. */ + for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; + dest < (uint64_t *)&_eitcmfuncs;) { + *dest++ = *src++; + } + + /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be + * certain that there are no issues with the state of global variables. + */ + + for (dest = &_sdtcm; dest < &_edtcm;) { + *dest++ = 0; + } +} diff --git a/boards/nxp/tropic-community/src/init.c b/boards/nxp/tropic-community/src/init.c index 244d6c5fcd5..8e5db86b373 100644 --- a/boards/nxp/tropic-community/src/init.c +++ b/boards/nxp/tropic-community/src/init.c @@ -104,11 +104,6 @@ extern void led_off(int led); extern uint32_t _srodata; /* Start of .rodata */ extern uint32_t _erodata; /* End of .rodata */ -extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ -extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ -extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ -extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ -extern uint64_t _edtcm; /* Copy destination end address in DTCM */ __END_DECLS /************************************************************************************ @@ -192,50 +187,6 @@ void imxrt_flash_setup_prefetch_partition(void) ARM_DMB(); } -/**************************************************************************** - * Name: imxrt_ocram_initialize - * - * Description: - * Called off reset vector to reconfigure the flexRAM - * and finish the FLASH to RAM Copy. - * - ****************************************************************************/ - -__EXPORT void imxrt_ocram_initialize(void) -{ - uint32_t regval; - register uint64_t *src; - register uint64_t *dest; - - /* FlexRAM Configuration - * F = 64K ITCM - * A = 64K DTCM - * 5 = 64K OCRAM - * So 0xFFFFFFAA is - * 384K FlexRAM ITCM - * 128K FlexRAM DTCM - * */ - - putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17); - regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); - putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16); - - /* Copy any necessary code sections from FLASH to ITCM. The process is the - * same as the code copying from FLASH to RAM above. */ - for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; - dest < (uint64_t *)&_eitcmfuncs;) { - *dest++ = *src++; - } - - /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be - * certain that there are no issues with the state of global variables. - */ - - for (dest = &_sdtcm; dest < &_edtcm;) { - *dest++ = 0; - } -} - /**************************************************************************** * Name: imxrt_boardinitialize *