optim: vector table moved to RAM on STM32 MCUs (#507)

* optim: vectors moved to RAM on STM32 MCUs * fix: Invalid lib_dep removed
ExpressLRS · Dec 22, 2021 · 4540c15 · 4540c15
1 parent 93f6f91
commit 4540c15
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Showing 18 changed files with 108 additions and 35 deletions.
diff --git a/src/include/targets.h b/src/include/targets.h
@@ -13,6 +13,14 @@
 #define WORD_ALIGNED_ATTR __attribute__((aligned(4)))
 
 #ifdef PLATFORM_STM32
+/* ICACHE_RAM_ATTR1 is always linked into RAM */
+#define ICACHE_RAM_ATTR1  __section(".ram_code")
+/* ICACHE_RAM_ATTR2 is linked into RAM only if enough space */
+#if RAM_CODE_LIMITED
+#define ICACHE_RAM_ATTR2
+#else
+#define ICACHE_RAM_ATTR2 __section(".ram_code")
+#endif
 #define ICACHE_RAM_ATTR //nothing//
 #else
 #undef ICACHE_RAM_ATTR //fix to allow both esp32 and esp8266 to use ICACHE_RAM_ATTR for mapping to IRAM

diff --git a/src/src/hal/hal_stm32.cpp b/src/src/hal/hal_stm32.cpp
@@ -0,0 +1,42 @@
+
+#if defined(PLATFORM_STM32)
+
+#include <stm32_def.h>
+#include <string.h>
+#include <stdint.h>
+
+
+void __attribute__((used)) copy_functions_to_ram(void)
+{
+    /* Copy RAM_CODE section into RAM.
+     * NOTE: vectors are the first and then other code.
+     *       Check variants/ldscript_gen.ld file.
+     */
+    extern uint8_t ram_code_start;
+    extern uint8_t ram_code_end;
+    extern uint8_t ram_code;
+    memcpy(&ram_code_start, &ram_code, (size_t) (&ram_code_end - &ram_code_start));
+}
+
+void __attribute__((constructor(102))) __attribute__((used)) init_vectors(void)
+{
+    copy_functions_to_ram();
+
+    /** Reset vector location
+     *
+     * g_pfnVectors variable comes from the system startup files and
+     * must always point to beginning of the vectors table where
+     * stack pointer is the first word and second is the reset vector.
+     * Vector table is automatically aligned by the linker command file.
+     */
+    extern uint32_t g_pfnVectors;
+    SCB->VTOR = (__IO uint32_t) &g_pfnVectors;
+}
+
+extern "C"
+void __attribute__((used)) initVariant(void)
+{
+    /* This can be used to run some init before \ref setup() */
+}
+
+#endif // PLATFORM_STM32
diff --git a/src/targets/common.ini b/src/targets/common.ini
@@ -40,6 +40,7 @@ build_flags =
 	-D PLATFORM_ESP32=1
 	-D CONFIG_TCPIP_LWIP=1
 	-D BEARSSL_SSL_BASIC
+	-I ${PROJECTSRC_DIR}/hal
 src_filter = ${common_env_data.src_filter} -<ESP8266*.*> -<STM32*.*>
 lib_deps =
 	makuna/NeoPixelBus @ ^2.6.7
@@ -57,6 +58,7 @@ build_flags =
 	-D CONFIG_TCPIP_LWIP=1
 	-D BEARSSL_SSL_BASIC
 	-O2
+	-I ${PROJECTSRC_DIR}/hal
 board_build.f_cpu = 160000000L
 board_build.ldscript = eagle.flash.1m.ld
 src_filter = ${common_env_data.src_filter} -<ESP32*.*> -<STM32*.*> -<WS281B*.*>
@@ -80,7 +82,9 @@ board = bluepill_f103c8
 build_unflags = -Os
 build_flags =
 	-D PLATFORM_STM32=1
+	-Wl,-Map,firmware.map
 	-O2
+	-I ${PROJECTSRC_DIR}/hal
 src_filter = ${common_env_data.src_filter} -<ESP32*.*> -<ESP8266*.*> -<WS281B*.*>
 lib_deps =
 	paolop74/extEEPROM @ ^3.4.1
diff --git a/src/targets/frsky.ini b/src/targets/frsky.ini
@@ -131,6 +131,7 @@ src_filter = ${env_common_stm32.src_filter} -<tx_*.cpp>
 [env:Frsky_RX_R9SLIMPLUS_OTA_via_STLINK]
 extends = env:Frsky_RX_R9SLIMPLUS_via_BetaflightPassthrough
 board = robotdyn_blackpill_f303cc
+board_build.ldscript = variants/stm32f303xx.ld
 upload_flags =
     BOOTLOADER=bootloader/r9slim_plus_ota_bootloader.bin
     VECT_OFFSET=0x8000

diff --git a/src/variants/FM30/ldscript.ld b/src/variants/FM30/ldscript.ld
@@ -2,7 +2,7 @@
 /* Specify the memory areas */
 MEMORY
 {
-  RAM_CODE (rx)  : ORIGIN = 0x20000000, LENGTH = 0K
+  RAM_CODE (rx)  : ORIGIN = 0x20000000, LENGTH = 1K
   RAM_DATA (xrw) : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = LD_MAX_DATA_SIZE - LENGTH(RAM_CODE)
   CCMRAM   (rw)  : ORIGIN = 0x10000000, LENGTH = 0K
   FLASH    (rx)  : ORIGIN = 0x8000000 + FLASH_APP_OFFSET, LENGTH = LD_MAX_SIZE - FLASH_APP_OFFSET

diff --git a/src/variants/FM30_mini/ldscript.ld b/src/variants/FM30_mini/ldscript.ld
@@ -2,7 +2,7 @@
 /* Memories definition */
 MEMORY
 {
-  RAM_CODE (rx)  : ORIGIN = 0x20000000, LENGTH = 0K
+  RAM_CODE (rx)  : ORIGIN = 0x20000000, LENGTH = 1K
   RAM_DATA (xrw) : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = LD_MAX_DATA_SIZE - LENGTH(RAM_CODE)
   CCMRAM   (rw)  : ORIGIN = 0x10000000, LENGTH = 0K
   FLASH    (rx)  : ORIGIN = 0x8000000 + FLASH_APP_OFFSET, LENGTH = LD_MAX_SIZE - FLASH_APP_OFFSET

diff --git a/src/variants/GHOST_ATTO/ldscript.ld b/src/variants/GHOST_ATTO/ldscript.ld
@@ -6,7 +6,7 @@
 /* Specify the memory areas */
 MEMORY
 {
-  RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+  RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
   RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 16K - LENGTH(RAM_CODE)
   CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 4K
   FLASH (rx)      : ORIGIN = 0x08000000 + FLASH_APP_OFFSET, LENGTH = 64K - FLASH_APP_OFFSET

diff --git a/src/variants/GHOST_TX/ldscript.ld b/src/variants/GHOST_TX/ldscript.ld
@@ -6,7 +6,7 @@
 /* Specify the memory areas */
 MEMORY
 {
-RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
 RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 40K - LENGTH(RAM_CODE)
 CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 8K
 FLASH (rx)      : ORIGIN = 0x8000000 + 16K, LENGTH = 256K - 16K

diff --git a/src/variants/L432K/ldscript.ld b/src/variants/L432K/ldscript.ld
@@ -6,7 +6,7 @@
 /* Specify the memory areas */
 MEMORY
 {
-  RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+  RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
   RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 64K - LENGTH(RAM_CODE)
   CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
   FLASH (rx)      : ORIGIN = 0x8000000 + FLASH_APP_OFFSET, LENGTH = 128K - FLASH_APP_OFFSET

diff --git a/src/variants/L432K/variant.cpp b/src/variants/L432K/variant.cpp
@@ -173,13 +173,6 @@ WEAK void SystemClock_Config(void)
 #endif // USE_HSI
 }
 
-void initVariant(void)
-{
-  /* Reset vector location which is set wrongly by SystemInit */
-  extern uint32_t g_pfnVectors;
-  SCB->VTOR = (uint32_t) &g_pfnVectors;
-}
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/src/variants/NamimnoRC_Alpha.ld b/src/variants/NamimnoRC_Alpha.ld
@@ -8,7 +8,7 @@ BOOTLOADER_SIZE = 16K;
 /* Specify the memory areas */
 MEMORY
 {
-RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
 RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 20K - LENGTH(RAM_CODE)
 CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
 FLASH (rx)      : ORIGIN = 0x8000000 + BOOTLOADER_SIZE, LENGTH = 64K - BOOTLOADER_SIZE

diff --git a/src/variants/R9MM/R9MM_ldscript.ld b/src/variants/R9MM/R9MM_ldscript.ld
@@ -2,7 +2,7 @@
 /* Specify the memory areas */
 MEMORY
 {
-RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
 RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 20K - LENGTH(RAM_CODE)
 CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
 FLASH (rx)      : ORIGIN = 0x08008000, LENGTH = 96K

diff --git a/src/variants/R9M_Lite_Pro_ldscript.ld b/src/variants/R9M_Lite_Pro_ldscript.ld
@@ -2,8 +2,8 @@
 /* Specify the memory areas */
 MEMORY
 {
-RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
-RAM_DATA (xrw)  : ORIGIN = 0x20000000, LENGTH = 40K
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
+RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 40K - LENGTH(RAM_CODE)
 CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
 FLASH (rx)      : ORIGIN = 0x8008000, LENGTH = 128K - 0x8000
 }

diff --git a/src/variants/R9M_ldscript.ld b/src/variants/R9M_ldscript.ld
@@ -6,7 +6,7 @@
 /* Specify the memory areas */
 MEMORY
 {
-RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
 RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 20K - LENGTH(RAM_CODE)
 CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
 FLASH (rx)      : ORIGIN = 0x8004000, LENGTH = 64K - 0x4000

diff --git a/src/variants/R9M_ldscript_old_bl.ld b/src/variants/R9M_ldscript_old_bl.ld
@@ -5,8 +5,8 @@
 /* Specify the memory areas */
 MEMORY
 {
-RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
-RAM_DATA (xrw)  : ORIGIN = 0x20000000, LENGTH = 20K
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
+RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 20K - LENGTH(RAM_CODE)
 CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
 FLASH (rx)      : ORIGIN = 0x8002000, LENGTH = 128K - 0x2000
 }

diff --git a/src/variants/ldscript_gen.ld b/src/variants/ldscript_gen.ld
@@ -14,12 +14,31 @@ _Min_BL_Size = 0x80;      /* required amount of bootloader data */
 /* Define output sections */
 SECTIONS
 {
-  /* The startup code goes first into FLASH */
-  .isr_vector :
+  /* Critical program code goes into RAM_CODE */
+  ram_code = LOADADDR(.ram_code);
+  .ram_code :
   {
+    /* Vectors must be 512 bytes (128 words) aligned */
+    . = ALIGN(512);
+    ram_code_start = .;
+    /* NOTE: Keep vectors first! */
+    KEEP(*(.isr_vector))
+    *(.ram_code)
+    *(.ram_code*)
     . = ALIGN(4);
-    KEEP(*(.isr_vector)) /* Startup code */
+    ram_code_end = .;
+  } >RAM_CODE AT> FLASH
+
+  /* Link vector code here to avoid bootloader update with the
+   * latest (14.x or newer) platfroms */
+  .text_vectors :
+  {
     . = ALIGN(4);
+    *(*Reset_Handler)
+    *(*NMI_Handler)
+    *(*HardFault_Handler)
+    *(*MemManage_Handler)
+    *(*Default_Handler)
   } >FLASH
 
   /* The program code and other data goes into FLASH */
@@ -76,18 +95,6 @@ SECTIONS
     PROVIDE_HIDDEN (__fini_array_end = .);
   } >FLASH
 
-  /* Critical program code goes into RAM_CODE */
-  ram_code = LOADADDR(.ram_code);
-  .ram_code :
-  {
-    . = ALIGN(4);
-    ram_code_start = .;
-    *(.ram_code)
-    *(.ram_code*)
-    . = ALIGN(4);
-    ram_code_end = .;
-  } >RAM_CODE AT> FLASH
-
   /* used by the startup to initialize data */
   _sidata = LOADADDR(.data);
 

diff --git a/src/variants/r9mx/ldscript.ld b/src/variants/r9mx/ldscript.ld
@@ -9,7 +9,7 @@
 /* Memories definition */
 MEMORY
 {
-  RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 0K
+  RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
   RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 64K - LENGTH(RAM_CODE)
   CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 0K
   FLASH (rx)      : ORIGIN = 0x8000000 + FLASH_OFFSET, LENGTH = 128K - FLASH_OFFSET

diff --git a/src/variants/stm32f303xx.ld b/src/variants/stm32f303xx.ld
@@ -0,0 +1,18 @@
+/*
+*****************************************************************************
+**
+
+**  Abstract    : Linker script for STM32F303CC Device with
+**                256KByte FLASH, 40KByte RAM, 8KByte CCMRAM
+**
+
+/* Specify the memory areas */
+MEMORY
+{
+RAM_CODE (rx)   : ORIGIN = 0x20000000, LENGTH = 1K
+RAM_DATA (xrw)  : ORIGIN = 0x20000000 + LENGTH(RAM_CODE), LENGTH = 40K - LENGTH(RAM_CODE)
+CCMRAM (rw)     : ORIGIN = 0x10000000, LENGTH = 8K
+FLASH (rx)      : ORIGIN = 0x8008000, LENGTH = 256K - 0x8000
+}
+
+INCLUDE "variants/ldscript_gen.ld"