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Replaced old linker scripts with the ones from libopencm3.

Browse Source 
This change forced the removal of the old vector table. This breaks
old interrupt handlers.
This commit is contained in:
Piotr Esden-Tempski
2012-02-11 22:40:41 -08:00
parent a239f8414f
commit 5f308da617
16 changed files with 95 additions and 746 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/Makefile.stm32
+1 -1
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@@ -107,7 +107,7 @@ AOBJ = $(ASRC:%.S=$(OBJDIR)/%.o)
# if not, use the default STM32f103re_flash.ld
ifndef LDSCRIPT
ifndef $(TARGET).LDSCRIPT
LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
LDSCRIPT = $(SRC_ARCH)/stm32default.ld
else
LDSCRIPT = $($(TARGET).LDSCRIPT)
endif
conf/airframes/Poine/beth.xml
+2 -4
View File
@@ -105,8 +105,7 @@ main_stm32.ARCHDIR = stm32
main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_LISA_ARCH) -DPERIPHERALS_AUTO_INIT
main_stm32.CFLAGS += -DBOARD_CONFIG=\"boards/lisa_l_1.0.h\"
main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c
main_stm32.CFLAGS += -DUSE_LED
main_stm32.srcs += $(SRC_ARCH)/led_hw.c
main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -177,8 +176,7 @@ main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/beth.h\"
main_coders.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
main_coders.srcs = $(SRC_BETH)/main_coders.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c
main_coders.CFLAGS += -DUSE_LED
main_coders.srcs += $(SRC_ARCH)/led_hw.c
main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7
conf/autopilot/lisa_passthrough.makefile
+1 -2
View File
@@ -24,8 +24,7 @@ stm_passthrough.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$
stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c
# Leds
stm_passthrough.CFLAGS += -DUSE_LED
conf/autopilot/lisa_test_progs.makefile
+1 -2
View File
@@ -67,8 +67,7 @@ COMMON_TEST_CFLAGS = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
COMMON_TEST_CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
COMMON_TEST_SRCS = $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c
COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
ifneq ($(SYS_TIME_LED),none)
COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
conf/autopilot/rotorcraft.makefile
-1
View File
@@ -62,7 +62,6 @@ ifeq ($(ARCH), lpc21)
ap.srcs += $(SRC_ARCH)/armVIC.c
else ifeq ($(ARCH), stm32)
ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
endif
#
conf/autopilot/setup.makefile
+1 -2
View File
@@ -26,8 +26,7 @@ tunnel.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel.srcs += mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_LISA)/tunnel_hw.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c
tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += $(SRC_ARCH)/led_hw.c
ifneq ($(SYS_TIME_LED),none)
conf/autopilot/subsystems/fixedwing/autopilot.makefile
-1
View File
@@ -101,7 +101,6 @@ ifeq ($(ARCH), lpc21)
ns_srcs += $(SRC_ARCH)/armVIC.c
else ifeq ($(ARCH), stm32)
ns_srcs += $(SRC_ARCH)/stm32_exceptions.c
ns_srcs += $(SRC_ARCH)/stm32_vector_table.c
# ns_CFLAGS += -DPERIPHERALS_AUTO_INIT
endif
conf/boards/lisa_m_1.0.makefile
+1
View File
@@ -13,6 +13,7 @@ $(TARGET).ARCHDIR = $(ARCH)
# not needed?
$(TARGET).OOCD_INTERFACE=flossjtag
#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-m.ld
# -----------------------------------------------------------------------
sw/airborne/arch/stm32/stm32_vector_table.h → sw/airborne/arch/stm32/lisa-l.ld
+15 -7
View File
@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
* Hey Emacs, this is a -*- makefile -*-
*
* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
*
* This file is part of Paparazzi.
*
@@ -18,11 +18,19 @@
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*/
#ifndef STM32_VECTOR_TABLE_H
#define STM32_VECTOR_TABLE_H
/* Linker script for Lisa-L (STM32F103RET6, 512K flash, 64K RAM). */
/* Define memory regions. */
MEMORY
{
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
/* Leaving 2k of space at the end of rom for stored settings */
rom (rx) : ORIGIN = 0x08000000, LENGTH = 510K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld
#endif /* STM32_VECTOR_TABLE_H */
sw/airborne/arch/stm32/lisa-m.ld
+36
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@@ -0,0 +1,36 @@
/*
* Hey Emacs, this is a -*- makefile -*-
*
* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
*
* This file is part of Paparazzi.
*
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/* Linker script for Lisa-M (STM32F105RCT6, 256K flash, 64K RAM). */
/* Define memory regions. */
MEMORY
{
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
/* Leaving 2k of space at the end of rom for stored settings */
rom (rx) : ORIGIN = 0x08000000, LENGTH = 254K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld
sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
-1
View File
@@ -28,7 +28,6 @@
#include "mcu_periph/sys_time.h"
#include "stm32_vector_table.h"
#ifdef SYS_TIME_LED
#include "led.h"
#endif
sw/airborne/arch/stm32/stm32_vector_table.c
-321
View File
@@ -1,321 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of Paparazzi.
*
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "stm32_vector_table.h"
#include <cmsis/stm32.h>
#include "stm32_exceptions.h"
#ifdef USE_SYS_TIME
#include "mcu_periph/sys_time.h"
#define SYS_TICK_IRQ_HANDLER sys_tick_irq_handler
#else
#define SYS_TICK_IRQ_HANDLER null_handler
#endif
#if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER
#include "mcu_periph/uart.h"
#define USART1_IRQ_HANDLER usart1_irq_handler
#else
#define USART1_IRQ_HANDLER null_handler
#endif
#if defined USE_UART2 || OVERRIDE_UART2_IRQ_HANDLER
#include "mcu_periph/uart.h"
#define USART2_IRQ_HANDLER usart2_irq_handler
#else
#define USART2_IRQ_HANDLER null_handler
#endif
#if defined USE_UART3 || OVERRIDE_UART3_IRQ_HANDLER
#include "mcu_periph/uart.h"
#define USART3_IRQ_HANDLER usart3_irq_handler
#else
#define USART3_IRQ_HANDLER null_handler
#endif
#if defined USE_UART5 || OVERRIDE_UART5_IRQ_HANDLER
#include "mcu_periph/uart.h"
#define USART5_IRQ_HANDLER usart5_irq_handler
#else
#define USART5_IRQ_HANDLER null_handler
#endif
#ifdef USE_I2C1
#include "mcu_periph/i2c_arch.h"
#define I2C1_EV_IRQ_HANDLER i2c1_ev_irq_handler
#define I2C1_ER_IRQ_HANDLER i2c1_er_irq_handler
#else
#define I2C1_EV_IRQ_HANDLER null_handler
#define I2C1_ER_IRQ_HANDLER null_handler
#endif
#ifdef USE_I2C2
#include "mcu_periph/i2c_arch.h"
#define I2C2_EV_IRQ_HANDLER i2c2_ev_irq_handler
#define I2C2_ER_IRQ_HANDLER i2c2_er_irq_handler
#else
#define I2C2_EV_IRQ_HANDLER null_handler
#define I2C2_ER_IRQ_HANDLER null_handler
#endif
#ifdef USE_SPI1_IRQ
extern void spi1_irq_handler(void);
#define SPI1_IRQ_HANDLER spi1_irq_handler
#else
#define SPI1_IRQ_HANDLER null_handler
#endif
#ifdef USE_SPI2_IRQ
extern void spi2_irq_handler(void);
#define SPI2_IRQ_HANDLER spi2_irq_handler
#else
#define SPI2_IRQ_HANDLER null_handler
#endif
#ifdef USE_EXTI0_IRQ
extern void exti0_irq_handler(void);
#define EXTI0_IRQ_HANDLER exti0_irq_handler
#else
#define EXTI0_IRQ_HANDLER null_handler
#endif
#ifdef USE_EXTI2_IRQ
extern void exti2_irq_handler(void);
#define EXTI2_IRQ_HANDLER exti2_irq_handler
#else
#define EXTI2_IRQ_HANDLER null_handler
#endif
#ifdef USE_EXTI3_IRQ
extern void exti3_irq_handler(void);
#define EXTI3_IRQ_HANDLER exti3_irq_handler
#else
#define EXTI3_IRQ_HANDLER null_handler
#endif
#ifdef USE_EXTI4_IRQ
extern void exti4_irq_handler(void);
#define EXTI4_IRQ_HANDLER exti4_irq_handler
#else
#define EXTI4_IRQ_HANDLER null_handler
#endif
#ifdef USE_EXTI9_5_IRQ
extern void exti9_5_irq_handler(void);
#define EXTI9_5_IRQ_HANDLER exti9_5_irq_handler
#else
#define EXTI9_5_IRQ_HANDLER null_handler
#endif
#ifdef USE_EXTI15_10_IRQ
extern void exti15_10_irq_handler(void);
#define EXTI15_10_IRQ_HANDLER exti15_10_irq_handler
#else
#define EXTI15_10_IRQ_HANDLER null_handler
#endif
#ifdef USE_DMA1_C2_IRQ
extern void dma1_c2_irq_handler(void);
#define DMA1_C2_IRQ_HANDLER dma1_c2_irq_handler
#else
#define DMA1_C2_IRQ_HANDLER null_handler
#endif
#ifdef USE_DMA1_C4_IRQ
extern void dma1_c4_irq_handler(void);
#define DMA1_C4_IRQ_HANDLER dma1_c4_irq_handler
#else
#define DMA1_C4_IRQ_HANDLER null_handler
#endif
#ifdef USE_ADC1_2_IRQ_HANDLER
extern void adc1_2_irq_handler(void);
#define ADC1_2_IRQ_HANDLER adc1_2_irq_handler
#else
#define ADC1_2_IRQ_HANDLER null_handler
#endif
#ifdef USE_TIM2_IRQ
extern void tim2_irq_handler(void);
#define TIM2_IRQ_HANDLER tim2_irq_handler
#else
#define TIM2_IRQ_HANDLER null_handler
#endif
#ifdef USE_TIM6_IRQ
extern void tim6_irq_handler(void);
#define TIM6_IRQ_HANDLER tim6_irq_handler
#else
#define TIM6_IRQ_HANDLER null_handler
#endif
#ifdef USE_USB_HP_CAN1_TX_IRQ
extern void usb_hp_can1_tx_irq_handler(void);
#define USB_HP_CAN1_TX_IRQ_HANDLER usb_hp_can1_tx_irq_handler
#else
#define USB_HP_CAN1_TX_IRQ_HANDLER null_handler
#endif
#ifdef USE_USB_LP_CAN1_RX0_IRQ
extern void usb_lp_can1_rx0_irq_handler(void);
#define USB_LP_CAN1_RX0_IRQ_HANDLER usb_lp_can1_rx0_irq_handler
#else
#define USB_LP_CAN1_RX0_IRQ_HANDLER null_handler
#endif
/* addresses defined in the linker script */
extern unsigned long _etext; /* end addr of .text section */
extern unsigned long _sidata; /* init values for .data section */
extern unsigned long _sdata; /* start addr of .data section */
extern unsigned long _edata; /* end addr of .data section */
extern unsigned long _sbss; /* start addr of .bss section */
extern unsigned long _ebss; /* end addr of .bss section */
extern void _estack; /* stack pointer init value */
void reset_handler_stage1(void) __attribute__((__interrupt__));
void reset_handler_stage2(void);
void null_handler(void);
/* interrupt vector */
__attribute__ ((section(".isr_vector")))
void (* const vector_table[])(void) = {
&_estack, /* stack pointer init value*/
reset_handler_stage1, /* pc init value */
nmi_exception,
hard_fault_exception,
mem_manage_exception,
bus_fault_exception,
usage_fault_exception,
0, 0, 0, 0, /* reserved */
null_handler, /* svc_handler */
null_handler, /* debug_monitor */
0, /* reserved */
null_handler, /* pend_svc */
SYS_TICK_IRQ_HANDLER, /* sys_tick_handler, */
null_handler, /* wwdg_irq_handler */
null_handler, /* pvd_irq_handler */
null_handler, /* tamper_irq_handler */
null_handler, /* rtc_irq_handler */
null_handler, /* flash_irq_handler */
null_handler, /* rcc_irq_handler */
EXTI0_IRQ_HANDLER, /* exti0_irq_handler */
null_handler, /* exti1_irq_handler */
EXTI2_IRQ_HANDLER, /* exti2_irq_handler */
EXTI3_IRQ_HANDLER, /* exti3_irq_handler */
EXTI4_IRQ_HANDLER, /* exti4_irq_handler */
null_handler, /* dma1_channel1_irq_handler */
DMA1_C2_IRQ_HANDLER, /* dma1_channel2_irq_handler */
null_handler, /* dma1_channel3_irq_handler */
DMA1_C4_IRQ_HANDLER, /* dma1_channel4_irq_handler */
null_handler, /* dma1_channel5_irq_handler */
null_handler, /* dma1_channel6_irq_handler */
null_handler, /* dma1_channel7_irq_handler */
ADC1_2_IRQ_HANDLER, /* adc1_2_irq_handler */
USB_HP_CAN1_TX_IRQ_HANDLER, /* usb_hp_can_tx_irq_handler */
USB_LP_CAN1_RX0_IRQ_HANDLER, /* usb_lp_can_rx0_irq_handler */
null_handler, /* can_rx1_irq_handler */
null_handler, /* can_sce_irq_handler */
EXTI9_5_IRQ_HANDLER, /* exti9_5_irq_handler */
null_handler, /* tim1_brk_irq_handler */
null_handler, /* tim1_up_irq_handler */
null_handler, /* tim1_trg_com_irq_handler */
null_handler, /* tim1_cc_irq_handler */
TIM2_IRQ_HANDLER, /* tim2_irq_handler */
null_handler, /* tim3_irq_handler */
null_handler, /* tim4_irq_handler */
I2C1_EV_IRQ_HANDLER, /* i2c1_ev_irq_handler */
I2C1_ER_IRQ_HANDLER, /* i2c1_er_irq_handler */
I2C2_EV_IRQ_HANDLER, /* i2c2_ev_irq_handler */
I2C2_ER_IRQ_HANDLER, /* i2c2_er_irq_handler */
SPI1_IRQ_HANDLER, /* spi1_irq_handler */
SPI2_IRQ_HANDLER, /* spi2_irq_handler */
USART1_IRQ_HANDLER, /* usart1_irq_handler */
USART2_IRQ_HANDLER, /* usart2_irq_handler */
USART3_IRQ_HANDLER, /* usart3_irq_handler */
EXTI15_10_IRQ_HANDLER, /* exti15_10_irq_handler */
null_handler, /* rtc_alarm_irq_handler */
null_handler, /* usb_wake_up_irq_handler */
null_handler, /* tim8_brk_irq_handler */
null_handler, /* tim8_up_irq_handler */
null_handler, /* tim8_trg_com_irq_handler */
null_handler, /* tim8_cc_irq_handler */
null_handler, /* adc3_irq_handler */
null_handler, /* fsmc_irq_handler */
null_handler, /* sdio_irq_handler */
null_handler, /* tim5_irq_handler */
null_handler, /* spi3_irq_handler */
null_handler, /* uart4_irq_handler */
USART5_IRQ_HANDLER, /* uart5_irq_handler */
TIM6_IRQ_HANDLER, /* tim6_irq_handler */
null_handler, /* tim7_irq_handler */
null_handler, /* dma2_channel1_irq_handler */
null_handler, /* dma2_channel2_irq_handler */
null_handler, /* dma2_channel3_irq_handler */
null_handler, /* dma2_channel4_5_irq_handler */
};
/* Get's called directly after mcu reset */
void reset_handler_stage1(void){
/* set stack align */
SCB->CCR = SCB->CCR | SCB_CCR_STKALIGN;
reset_handler_stage2();
}
//extern int main(int argc, char** argv);
extern void main( void);
void reset_handler_stage2(void){
unsigned long *pul_src, *pul_dest;
/* Copy the data segment initializers from flash to SRAM */
pul_src = &_sidata;
for(pul_dest = &_sdata; pul_dest < &_edata; ){
*(pul_dest++) = *(pul_src++);
}
/* Zero fill the bss segment. */
for(pul_dest = &_sbss; pul_dest < &_ebss; ){
*(pul_dest++) = 0;
}
/* Call the application's entry point.*/
main();
}
void null_handler(void){
}
/* FIXME: look deeper into what that is doing
*
*/
void assert_param(void);
void assert_param(void){
}
sw/airborne/arch/stm32/stm32default.ld
+37
View File
@@ -0,0 +1,37 @@
/*
* Hey Emacs, this is a -*- makefile -*-
*
* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
*
* This file is part of Paparazzi.
*
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/* Linker script for "default" stm32 architecture */
/* Assuming the least mean denominator to be 128K flash and 20K ram. */
/* Define memory regions. */
MEMORY
{
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
/* Leaving 1k of space at the end of rom for stored settings */
rom (rx) : ORIGIN = 0x08000000, LENGTH = 127K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld
sw/airborne/arch/stm32/stm32f103rb_flash.ld
-201
View File
@@ -1,201 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
*
* This file is part of Paparazzi.
*
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw): ORIGIN = 0x20000000, LENGTH = 20K
/* last page (1k) flash for persistent settings */
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 127K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}
ENTRY(reset_handler_stage1);
/* User mode stack top */
_estack = 0x20005000;
/* Stack size and address definitions */
__Stack_Size = 0x1000 ;
PROVIDE ( _Stack_Size = __Stack_Size ) ;
__Stack_Init = _estack - __Stack_Size ;
PROVIDE ( _Stack_Init = __Stack_Init ) ;
/* Enforce a linker error if there is not enough space left in ram for the stack */
_Minimum_Stack_Size = 0x800 ;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
/* Sections Definitions */
SECTIONS
{
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext :
{
. = ALIGN(4);
*(.flashtext) /* Startup code */
. = ALIGN(4);
} >FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
{
. = ALIGN(4);
*(.text) /* remaining code */
*(.text.*) /* remaining code */
*(.rodata) /* read-only data (constants) */
*(.rodata*)
*(.glue_7)
*(.glue_7t)
. = ALIGN(4);
_etext = .;
/* This is used by the startup in order to initialize the .data secion */
_sidata = _etext;
} >FLASH
/* This is the initialized data section
The program executes knowing that the data is in the RAM
but the loader puts the initial values in the FLASH (inidata).
It is one task of the startup to copy the initial values from FLASH to RAM. */
.data : AT ( _sidata )
{
. = ALIGN(4);
/* This is used by the startup in order to initialize the .data secion */
_sdata = . ;
*(.data)
*(.data.*)
. = ALIGN(4);
/* This is used by the startup in order to initialize the .data secion */
_edata = . ;
} >RAM
/* This is the uninitialized data section */
.bss :
{
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .;
*(.dynbss)
*(.bss .bss.* .gnu.linkonce.b.*)
/* *(.bss) */
*(COMMON)
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
_ebss = . ;
} >RAM
PROVIDE ( end = _ebss );
PROVIDE ( _end = _ebss );
/* This is the user stack section
This is just to check that there is enough RAM left for the User mode stack
It should generate an error if it's full.
*/
._usrstack :
{
. = ALIGN(4);
_susrstack = . ;
. = . + _Minimum_Stack_Size ;
. = ALIGN(4);
_eusrstack = . ;
} >RAM
.b1text :
{
*(.b1text) /* remaining code */
*(.b1rodata) /* read-only data (constants) */
*(.b1rodata*)
} >FLASHB1
__exidx_start = .;
.ARM.exidx : { *(.ARM.exidx* .gnu.linkonce.armexidx.*) }
__exidx_end = .;
/* after that it's only debugging information. */
/* remove the debugging information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
/* DWARF debug sections.
Symbols in the DWARF debugging sections are relative to the beginning
of the section so we begin them at 0.*/
/* DWARF 1 */
.debug 0 : { *(.debug) }
.line 0 : { *(.line) }
/* GNU DWARF 1 extensions */
.debug_srcinfo 0 : { *(.debug_srcinfo) }
.debug_sfnames 0 : { *(.debug_sfnames) }
/* DWARF 1.1 and DWARF 2 */
.debug_aranges 0 : { *(.debug_aranges) }
.debug_pubnames 0 : { *(.debug_pubnames) }
/* DWARF 2 */
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_line 0 : { *(.debug_line) }
.debug_frame 0 : { *(.debug_frame) }
.debug_str 0 : { *(.debug_str) }
.debug_loc 0 : { *(.debug_loc) }
.debug_macinfo 0 : { *(.debug_macinfo) }
/* SGI/MIPS DWARF 2 extensions */
.debug_weaknames 0 : { *(.debug_weaknames) }
.debug_funcnames 0 : { *(.debug_funcnames) }
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}
sw/airborne/arch/stm32/stm32f103re_flash.ld
-201
View File
@@ -1,201 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
*
* This file is part of Paparazzi.
*
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw): ORIGIN = 0x20000000, LENGTH = 64K
/* last page (2k) flash for persistent settings */
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 510K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}
ENTRY(reset_handler_stage1);
/* User mode stack top */
_estack = 0x20010000;
/* Stack size and address definitions */
__Stack_Size = 0x1000 ;
PROVIDE ( _Stack_Size = __Stack_Size ) ;
__Stack_Init = _estack - __Stack_Size ;
PROVIDE ( _Stack_Init = __Stack_Init ) ;
/* Enforce a linker error if there is not enough space left in ram for the stack */
_Minimum_Stack_Size = 0x800 ;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
/* Sections Definitions */
SECTIONS
{
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext :
{
. = ALIGN(4);
*(.flashtext) /* Startup code */
. = ALIGN(4);
} >FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
{
. = ALIGN(4);
*(.text) /* remaining code */
*(.text.*) /* remaining code */
*(.rodata) /* read-only data (constants) */
*(.rodata*)
*(.glue_7)
*(.glue_7t)
. = ALIGN(4);
_etext = .;
/* This is used by the startup in order to initialize the .data secion */
_sidata = _etext;
} >FLASH
/* This is the initialized data section
The program executes knowing that the data is in the RAM
but the loader puts the initial values in the FLASH (inidata).
It is one task of the startup to copy the initial values from FLASH to RAM. */
.data : AT ( _sidata )
{
. = ALIGN(4);
/* This is used by the startup in order to initialize the .data secion */
_sdata = . ;
*(.data)
*(.data.*)
. = ALIGN(4);
/* This is used by the startup in order to initialize the .data secion */
_edata = . ;
} >RAM
/* This is the uninitialized data section */
.bss :
{
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .;
*(.dynbss)
*(.bss .bss.* .gnu.linkonce.b.*)
/* *(.bss) */
*(COMMON)
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
_ebss = . ;
} >RAM
PROVIDE ( end = _ebss );
PROVIDE ( _end = _ebss );
/* This is the user stack section
This is just to check that there is enough RAM left for the User mode stack
It should generate an error if it's full.
*/
._usrstack :
{
. = ALIGN(4);
_susrstack = . ;
. = . + _Minimum_Stack_Size ;
. = ALIGN(4);
_eusrstack = . ;
} >RAM
.b1text :
{
*(.b1text) /* remaining code */
*(.b1rodata) /* read-only data (constants) */
*(.b1rodata*)
} >FLASHB1
__exidx_start = .;
.ARM.exidx : { *(.ARM.exidx* .gnu.linkonce.armexidx.*) }
__exidx_end = .;
/* after that it's only debugging information. */
/* remove the debugging information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
/* DWARF debug sections.
Symbols in the DWARF debugging sections are relative to the beginning
of the section so we begin them at 0.*/
/* DWARF 1 */
.debug 0 : { *(.debug) }
.line 0 : { *(.line) }
/* GNU DWARF 1 extensions */
.debug_srcinfo 0 : { *(.debug_srcinfo) }
.debug_sfnames 0 : { *(.debug_sfnames) }
/* DWARF 1.1 and DWARF 2 */
.debug_aranges 0 : { *(.debug_aranges) }
.debug_pubnames 0 : { *(.debug_pubnames) }
/* DWARF 2 */
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_line 0 : { *(.debug_line) }
.debug_frame 0 : { *(.debug_frame) }
.debug_str 0 : { *(.debug_str) }
.debug_loc 0 : { *(.debug_loc) }
.debug_macinfo 0 : { *(.debug_macinfo) }
/* SGI/MIPS DWARF 2 extensions */
.debug_weaknames 0 : { *(.debug_weaknames) }
.debug_funcnames 0 : { *(.debug_funcnames) }
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}
sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c
-2
View File
@@ -29,8 +29,6 @@
#include <stm32/misc.h>
#include <stm32/dma.h>
#include "stm32_vector_table.h"
static volatile uint8_t channel;
static uint8_t buf_in[4];
static uint8_t buf_out[4];