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machine/rp2040: implement Flash interface 

Signed-off-by: deadprogram <ron@hybridgroup.com>
pull/3539/head
deadprogram 2 years ago
committed by Ron Evans
parent
faa449a9e1
commit
60366adfa8
4 changed files with 247 additions and 55 deletions
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  1. 2
      src/machine/flash.go
  2. 52
      src/machine/machine_rp2040_enter_bootloader.go
  3. 4
      src/machine/machine_rp2040_gpio.go
  4. 244
      src/machine/machine_rp2040_rom.go

2
src/machine/flash.go
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@ -1,4 +1,4 @@
//go:build nrf || nrf51 || nrf52 || nrf528xx || stm32f4 || stm32l4 || stm32wlx || atsamd21 || atsamd51 || atsame5x
//go:build nrf || nrf51 || nrf52 || nrf528xx || stm32f4 || stm32l4 || stm32wlx || atsamd21 || atsamd51 || atsame5x || rp2040
package machine

52
src/machine/machine_rp2040_enter_bootloader.go
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@ -1,52 +0,0 @@
//go:build rp2040
package machine
/*
// https://github.com/raspberrypi/pico-sdk
// src/rp2_common/pico_bootrom/include/pico/bootrom.h
#define ROM_FUNC_POPCOUNT32 ROM_TABLE_CODE('P', '3')
#define ROM_FUNC_REVERSE32 ROM_TABLE_CODE('R', '3')
#define ROM_FUNC_CLZ32 ROM_TABLE_CODE('L', '3')
#define ROM_FUNC_CTZ32 ROM_TABLE_CODE('T', '3')
#define ROM_FUNC_MEMSET ROM_TABLE_CODE('M', 'S')
#define ROM_FUNC_MEMSET4 ROM_TABLE_CODE('S', '4')
#define ROM_FUNC_MEMCPY ROM_TABLE_CODE('M', 'C')
#define ROM_FUNC_MEMCPY44 ROM_TABLE_CODE('C', '4')
#define ROM_FUNC_RESET_USB_BOOT ROM_TABLE_CODE('U', 'B')
#define ROM_FUNC_CONNECT_INTERNAL_FLASH ROM_TABLE_CODE('I', 'F')
#define ROM_FUNC_FLASH_EXIT_XIP ROM_TABLE_CODE('E', 'X')
#define ROM_FUNC_FLASH_RANGE_ERASE ROM_TABLE_CODE('R', 'E')
#define ROM_FUNC_FLASH_RANGE_PROGRAM ROM_TABLE_CODE('R', 'P')
#define ROM_FUNC_FLASH_FLUSH_CACHE ROM_TABLE_CODE('F', 'C')
#define ROM_FUNC_FLASH_ENTER_CMD_XIP ROM_TABLE_CODE('C', 'X')
#define ROM_TABLE_CODE(c1, c2) ((c1) | ((c2) << 8))
typedef unsigned short uint16_t;
typedef unsigned long uint32_t;
typedef unsigned long uintptr_t;
typedef void *(*rom_table_lookup_fn)(uint16_t *table, uint32_t code);
typedef void __attribute__((noreturn)) (*rom_reset_usb_boot_fn)(uint32_t, uint32_t);
#define rom_hword_as_ptr(rom_address) (void *)(uintptr_t)(*(uint16_t *)(uintptr_t)(rom_address))
void *rom_func_lookup(uint32_t code) {
rom_table_lookup_fn rom_table_lookup = (rom_table_lookup_fn) rom_hword_as_ptr(0x18);
uint16_t *func_table = (uint16_t *) rom_hword_as_ptr(0x14);
return rom_table_lookup(func_table, code);
}
void reset_usb_boot(uint32_t usb_activity_gpio_pin_mask, uint32_t disable_interface_mask) {
rom_reset_usb_boot_fn func = (rom_reset_usb_boot_fn) rom_func_lookup(ROM_FUNC_RESET_USB_BOOT);
func(usb_activity_gpio_pin_mask, disable_interface_mask);
}
*/
import "C"
// EnterBootloader should perform a system reset in preparation
// to switch to the bootloader to flash new firmware.
func EnterBootloader() {
C.reset_usb_boot(0, 0)
}

4
src/machine/machine_rp2040_gpio.go
View File

@ -9,7 +9,7 @@ import (
"unsafe"
)
type io struct {
type ioType struct {
status volatile.Register32
ctrl volatile.Register32
}
@ -21,7 +21,7 @@ type irqCtrl struct {
}
type ioBank0Type struct {
io [30]io
io [30]ioType
intR [4]volatile.Register32
proc0IRQctrl irqCtrl
proc1IRQctrl irqCtrl

244
src/machine/machine_rp2040_rom.go
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@ -0,0 +1,244 @@
//go:build rp2040
package machine
import (
"bytes"
"runtime/interrupt"
"unsafe"
)
/*
// https://github.com/raspberrypi/pico-sdk
// src/rp2_common/pico_bootrom/include/pico/bootrom.h
#define ROM_FUNC_POPCOUNT32 ROM_TABLE_CODE('P', '3')
#define ROM_FUNC_REVERSE32 ROM_TABLE_CODE('R', '3')
#define ROM_FUNC_CLZ32 ROM_TABLE_CODE('L', '3')
#define ROM_FUNC_CTZ32 ROM_TABLE_CODE('T', '3')
#define ROM_FUNC_MEMSET ROM_TABLE_CODE('M', 'S')
#define ROM_FUNC_MEMSET4 ROM_TABLE_CODE('S', '4')
#define ROM_FUNC_MEMCPY ROM_TABLE_CODE('M', 'C')
#define ROM_FUNC_MEMCPY44 ROM_TABLE_CODE('C', '4')
#define ROM_FUNC_RESET_USB_BOOT ROM_TABLE_CODE('U', 'B')
#define ROM_FUNC_CONNECT_INTERNAL_FLASH ROM_TABLE_CODE('I', 'F')
#define ROM_FUNC_FLASH_EXIT_XIP ROM_TABLE_CODE('E', 'X')
#define ROM_FUNC_FLASH_RANGE_ERASE ROM_TABLE_CODE('R', 'E')
#define ROM_FUNC_FLASH_RANGE_PROGRAM ROM_TABLE_CODE('R', 'P')
#define ROM_FUNC_FLASH_FLUSH_CACHE ROM_TABLE_CODE('F', 'C')
#define ROM_FUNC_FLASH_ENTER_CMD_XIP ROM_TABLE_CODE('C', 'X')
#define ROM_TABLE_CODE(c1, c2) ((c1) | ((c2) << 8))
typedef unsigned char uint8_t;
typedef unsigned short uint16_t;
typedef unsigned long uint32_t;
typedef unsigned long size_t;
typedef unsigned long uintptr_t;
#define false 0
#define true 1
typedef int bool;
#define ram_func __attribute__((section(".ramfuncs"),noinline))
typedef void *(*rom_table_lookup_fn)(uint16_t *table, uint32_t code);
typedef void __attribute__((noreturn)) (*rom_reset_usb_boot_fn)(uint32_t, uint32_t);
typedef void (*flash_init_boot2_copyout_fn)(void);
typedef void (*flash_enable_xip_via_boot2_fn)(void);
typedef void (*flash_exit_xip_fn)(void);
typedef void (*flash_flush_cache_fn)(void);
typedef void (*flash_connect_internal_fn)(void);
typedef void (*flash_range_erase_fn)(uint32_t, size_t, uint32_t, uint16_t);
typedef void (*flash_range_program_fn)(uint32_t, const uint8_t*, size_t);
static inline __attribute__((always_inline)) void __compiler_memory_barrier(void) {
__asm__ volatile ("" : : : "memory");
}
#define rom_hword_as_ptr(rom_address) (void *)(uintptr_t)(*(uint16_t *)(uintptr_t)(rom_address))
void *rom_func_lookup(uint32_t code) {
rom_table_lookup_fn rom_table_lookup = (rom_table_lookup_fn) rom_hword_as_ptr(0x18);
uint16_t *func_table = (uint16_t *) rom_hword_as_ptr(0x14);
return rom_table_lookup(func_table, code);
}
void reset_usb_boot(uint32_t usb_activity_gpio_pin_mask, uint32_t disable_interface_mask) {
rom_reset_usb_boot_fn func = (rom_reset_usb_boot_fn) rom_func_lookup(ROM_FUNC_RESET_USB_BOOT);
func(usb_activity_gpio_pin_mask, disable_interface_mask);
}
#define FLASH_BLOCK_ERASE_CMD 0xd8
#define FLASH_PAGE_SIZE (1u << 8)
#define FLASH_SECTOR_SIZE (1u << 12)
#define FLASH_BLOCK_SIZE (1u << 16)
#define FLASH_UNIQUE_ID_SIZE_BYTES 8
#define BOOT2_SIZE_WORDS 64
#define XIP_BASE 0x10000000
static uint32_t boot2_copyout[BOOT2_SIZE_WORDS];
static bool boot2_copyout_valid = false;
static ram_func void flash_init_boot2_copyout() {
if (boot2_copyout_valid)
return;
for (int i = 0; i < BOOT2_SIZE_WORDS; ++i)
boot2_copyout[i] = ((uint32_t *)XIP_BASE)[i];
__compiler_memory_barrier();
boot2_copyout_valid = true;
}
static ram_func void flash_enable_xip_via_boot2() {
((void (*)(void))boot2_copyout+1)();
}
// See https://github.com/raspberrypi/pico-sdk/blob/master/src/rp2_common/hardware_flash/flash.c#L86
void ram_func flash_range_write(uint32_t offset, const uint8_t *data, size_t count)
{
flash_range_program_fn flash_range_program_func = (flash_range_program_fn) rom_func_lookup(ROM_FUNC_FLASH_RANGE_PROGRAM);
flash_connect_internal_fn flash_connect_internal_func = (flash_connect_internal_fn) rom_func_lookup(ROM_FUNC_CONNECT_INTERNAL_FLASH);
flash_exit_xip_fn flash_exit_xip_func = (flash_exit_xip_fn) rom_func_lookup(ROM_FUNC_FLASH_EXIT_XIP);
flash_flush_cache_fn flash_flush_cache_func = (flash_flush_cache_fn) rom_func_lookup(ROM_FUNC_FLASH_FLUSH_CACHE);
flash_init_boot2_copyout();
__compiler_memory_barrier();
flash_connect_internal_func();
flash_exit_xip_func();
flash_range_program_func(offset, data, count);
flash_flush_cache_func();
flash_enable_xip_via_boot2();
}
void ram_func flash_erase_blocks(uint32_t offset, size_t count)
{
flash_range_erase_fn flash_range_erase_func = (flash_range_erase_fn) rom_func_lookup(ROM_FUNC_FLASH_RANGE_ERASE);
flash_connect_internal_fn flash_connect_internal_func = (flash_connect_internal_fn) rom_func_lookup(ROM_FUNC_CONNECT_INTERNAL_FLASH);
flash_exit_xip_fn flash_exit_xip_func = (flash_exit_xip_fn) rom_func_lookup(ROM_FUNC_FLASH_EXIT_XIP);
flash_flush_cache_fn flash_flush_cache_func = (flash_flush_cache_fn) rom_func_lookup(ROM_FUNC_FLASH_FLUSH_CACHE);
flash_init_boot2_copyout();
__compiler_memory_barrier();
flash_connect_internal_func();
flash_exit_xip_func();
flash_range_erase_func(offset, count, FLASH_BLOCK_SIZE, FLASH_BLOCK_ERASE_CMD);
flash_flush_cache_func();
flash_enable_xip_via_boot2();
}
*/
import "C"
// EnterBootloader should perform a system reset in preparation
// to switch to the bootloader to flash new firmware.
func EnterBootloader() {
C.reset_usb_boot(0, 0)
}
// Flash related code
const memoryStart = 0
// compile-time check for ensuring we fulfill BlockDevice interface
var _ BlockDevice = flashBlockDevice{}
var Flash flashBlockDevice
type flashBlockDevice struct {
}
// ReadAt reads the given number of bytes from the block device.
func (f flashBlockDevice) ReadAt(p []byte, off int64) (n int, err error) {
if uintptr(off)+uintptr(len(p)) > FlashDataEnd() {
return 0, errFlashCannotReadPastEOF
}
data := unsafe.Slice((*byte)(unsafe.Pointer(uintptr(off))), len(p))
copy(p, data)
return len(p), nil
}
// WriteAt writes the given number of bytes to the block device.
// Only word (32 bits) length data can be programmed.
// If the length of p is not long enough it will be padded with 0xFF bytes.
// This method assumes that the destination is already erased.
func (f flashBlockDevice) WriteAt(p []byte, off int64) (n int, err error) {
if uintptr(off)+uintptr(len(p)) > FlashDataEnd() {
return 0, errFlashCannotWritePastEOF
}
state := interrupt.Disable()
defer interrupt.Restore(state)
// rp2040 writes to offset, not actual address
// e.g. real address 0x10003000 is written to at
// 0x00003000
address := uintptr(off) - C.XIP_BASE
padded := f.pad(p)
C.flash_range_write(C.uint32_t(address),
(*C.uint8_t)(unsafe.Pointer(&padded[0])),
C.ulong(len(padded)))
return len(padded), nil
}
// Size returns the number of bytes in this block device.
func (f flashBlockDevice) Size() int64 {
return int64(FlashDataEnd() - FlashDataStart())
}
const writeBlockSize = 4
// WriteBlockSize returns the block size in which data can be written to
// memory. It can be used by a client to optimize writes, non-aligned writes
// should always work correctly.
func (f flashBlockDevice) WriteBlockSize() int64 {
return writeBlockSize
}
const eraseBlockSizeValue = 1 << 12
func eraseBlockSize() int64 {
return eraseBlockSizeValue
}
// EraseBlockSize returns the smallest erasable area on this particular chip
// in bytes. This is used for the block size in EraseBlocks.
func (f flashBlockDevice) EraseBlockSize() int64 {
return eraseBlockSize()
}
// EraseBlocks erases the given number of blocks. An implementation may
// transparently coalesce ranges of blocks into larger bundles if the chip
// supports this. The start and len parameters are in block numbers, use
// EraseBlockSize to map addresses to blocks.
func (f flashBlockDevice) EraseBlocks(start, length int64) error {
state := interrupt.Disable()
defer interrupt.Restore(state)
address := uintptr(start*f.EraseBlockSize()) - C.XIP_BASE
C.flash_erase_blocks(C.uint32_t(address), C.ulong(length*f.EraseBlockSize()))
return nil
}
// pad data if needed so it is long enough for correct byte alignment on writes.
func (f flashBlockDevice) pad(p []byte) []byte {
paddingNeeded := f.WriteBlockSize() - (int64(len(p)) % f.WriteBlockSize())
if paddingNeeded == 0 {
return p
}
padding := bytes.Repeat([]byte{0xff}, int(paddingNeeded))
return append(p, padding...)
}
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