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https://github.com/PX4/PX4-Autopilot.git
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fmu-v6xrt: Fix runtime error on new GCC
New GCC versions inline builtin function like memcpy. On the fmu-v6xrt we can't call the functions inside imxrt_ocram_initialize because the ram function still needs to be initialized. This commit add a compile hint to not use builtins inside the imxrt_ocram_initialize function
This commit is contained in:
Peter van der Perk
committed by
Daniel Agar
Daniel Agar
parent
5bca71791a
commit
dc3f6a1608
@@ -75,9 +75,14 @@ else()
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imxrt_flexspi_nor_boot.c
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imxrt_flexspi_nor_flash.c
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imxrt_clockconfig.c
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imxrt_ocram_initialize.c
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${SRCS}
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)
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# Force compiler not to use builtin functions (like memcpy)
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# to optimize for loops in init.c (imxrt_ocram_initialize)
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set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
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target_link_libraries(drivers_board
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PRIVATE
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arch_board_hw_info
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@@ -0,0 +1,118 @@
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/****************************************************************************
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*
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* Copyright (c) 2018-2019, 2023 PX4 Development Team. All rights reserved.
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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 PX4 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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/**
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* @file imxrt_ocram_initialize.c
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*
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* PX4 fmu-v6xrt RAM startup early startup code.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "arm_internal.h"
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#include "imxrt_iomuxc.h"
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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__BEGIN_DECLS
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extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */
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extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */
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extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */
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extern uint64_t _sdtcm; /* Copy destination start address in DTCM */
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extern uint64_t _edtcm; /* Copy destination end address in DTCM */
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__END_DECLS
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/****************************************************************************
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* Name: imxrt_ocram_initialize
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*
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* Description:
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* Called off reset vector to reconfigure the flexRAM
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* and finish the FLASH to RAM Copy.
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* CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin
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*
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****************************************************************************/
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__EXPORT void imxrt_ocram_initialize(void)
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{
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uint32_t regval;
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register uint64_t *src;
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register uint64_t *dest;
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/* Reallocate
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* Final Configuration is
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* No DTCM
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* 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff)
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* 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff)
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* 64k OCRAM2 ECC parity (2035:0000-2035:ffff)
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* 64k OCRAM1 ECC parity (2034:0000-2034:ffff)
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* 512k FlexRAM OCRAM2 (202C:0000-2033:ffff)
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* 512k FlexRAM OCRAM1 (2024:0000-202B:ffff)
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* 256k System OCRAM M4 (2020:0000-2023:ffff)
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*/
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putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17);
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putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18);
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regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
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putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16);
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/* Copy any necessary code sections from FLASH to ITCM. The process is the
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* same as the code copying from FLASH to RAM above. */
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for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
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dest < (uint64_t *)&_eitcmfuncs;) {
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*dest++ = *src++;
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}
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/* Clear .dtcm. We'll do this inline (vs. calling memset) just to be
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* certain that there are no issues with the state of global variables.
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*/
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for (dest = &_sdtcm; dest < &_edtcm;) {
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*dest++ = 0;
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}
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#if defined(CONFIG_BOOT_RUNFROMISRAM)
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const uint32_t *src;
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uint32_t *dest;
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for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
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dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
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dest < (uint32_t *) &_etext;) {
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*dest++ = *src++;
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}
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#endif
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}
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@@ -109,11 +109,6 @@ extern void led_off(int led);
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extern uint32_t _srodata; /* Start of .rodata */
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extern uint32_t _erodata; /* End of .rodata */
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extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */
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extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */
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extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */
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extern uint64_t _sdtcm; /* Copy destination start address in DTCM */
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extern uint64_t _edtcm; /* Copy destination end address in DTCM */
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__END_DECLS
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/************************************************************************************
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@@ -225,65 +220,7 @@ void imxrt_flash_setup_prefetch_partition(void)
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ARM_ISB();
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ARM_DMB();
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}
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/****************************************************************************
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* Name: imxrt_ocram_initialize
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*
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* Description:
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* Called off reset vector to reconfigure the flexRAM
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* and finish the FLASH to RAM Copy.
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*
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****************************************************************************/
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__EXPORT void imxrt_ocram_initialize(void)
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{
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uint32_t regval;
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register uint64_t *src;
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register uint64_t *dest;
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/* Reallocate
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* Final Configuration is
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* No DTCM
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* 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff)
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* 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff)
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* 64k OCRAM2 ECC parity (2035:0000-2035:ffff)
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* 64k OCRAM1 ECC parity (2034:0000-2034:ffff)
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* 512k FlexRAM OCRAM2 (202C:0000-2033:ffff)
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* 512k FlexRAM OCRAM1 (2024:0000-202B:ffff)
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* 256k System OCRAM M4 (2020:0000-2023:ffff)
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*/
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putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17);
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putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18);
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regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
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putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16);
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/* Copy any necessary code sections from FLASH to ITCM. The process is the
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* same as the code copying from FLASH to RAM above. */
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for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs;
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dest < (uint64_t *)&_eitcmfuncs;) {
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*dest++ = *src++;
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}
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/* Clear .dtcm. We'll do this inline (vs. calling memset) just to be
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* certain that there are no issues with the state of global variables.
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*/
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for (dest = &_sdtcm; dest < &_edtcm;) {
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*dest++ = 0;
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}
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#if defined(CONFIG_BOOT_RUNFROMISRAM)
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const uint32_t *src;
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uint32_t *dest;
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for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
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dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
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dest < (uint32_t *) &_etext;) {
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*dest++ = *src++;
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}
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#endif
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}
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/****************************************************************************
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* Name: imxrt_boardinitialize
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