nxp_fmurt1170-v1:Add bootloader

nxp_fmurt1170-v1:bootloader removed ADC

nxp_fmurt1170-v1:bootloader base bootloader script off of script.ld

nxp_fmurt1170-v1:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000

fmurt1170-v1:hw_config Bootloader has to have 12 bytes

boards/nxp/fmurt1170-v1/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/nxp/fmurt1170-v1/firmware.prototype

@@ -1,5 +1,5 @@
 {
-    "board_id": 31,
+    "board_id": 35,
     "magic": "PX4FWv1",
     "description": "Firmware for the NXPFMURT1170v1 board",
     "image": "",

boards/nxp/fmurt1170-v1/nuttx-config/bootloader/defconfig

@@ -0,0 +1,111 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_SPI_EXCHANGE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/fmurt1170-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="imxrt"
+CONFIG_ARCH_CHIP_IMXRT=y
+CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_ITCM=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_BOOTLOADER_FIXUP=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_FORCE_ALIGNMENT=y
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=104926
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x001d
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMURT1170 v1.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x1FC9
+CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_INFO=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEBUG_USAGEFAULT=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_EDMA=y
+CONFIG_IMXRT_EDMA_EDBG=y
+CONFIG_IMXRT_EDMA_ELINK=y
+CONFIG_IMXRT_EDMA_NTCD=64
+CONFIG_IMXRT_FLEXSPI2=y
+CONFIG_IMXRT_LPUART8=y
+CONFIG_IMXRT_SNVS_LPSRTC=y
+CONFIG_IMXRT_USBDEV=y
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPUART8_BAUD=57600
+CONFIG_LPUART8_IFLOWCONTROL=y
+CONFIG_LPUART8_OFLOWCONTROL=y
+CONFIG_LPUART8_RXBUFSIZE=600
+CONFIG_LPUART8_RXDMA=y
+CONFIG_LPUART8_TXBUFSIZE=1500
+CONFIG_LPUART8_TXDMA=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=1835008
+CONFIG_RAM_START=0x20240000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DMA=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/nxp/fmurt1170-v1/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,195 @@
+/****************************************************************************
+ * boards/arm/imxrt/imxrt1170-evk/scripts/flash.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Specify the memory areas */
+
+ /* Reallocate
+  * Final Configuration is
+  *    No DTCM
+  *    512k  OCRAM M7 (FlexRAM)          (2038:0000-203f:ffff)
+  *    128k  OCRAMM7 FlexRAM ECC         (2036:0000-2037:ffff)
+  *    64k   OCRAM2 ECC parity           (2035:0000-2035:ffff)
+  *    64k   OCRAM1 ECC parity           (2034:0000-2034:ffff)
+  *    512k  FlexRAM OCRAM2              (202C:0000-2033:ffff)
+  *    512k  FlexRAM OCRAM1              (2024:0000-202B:ffff)
+  *    256k  System  OCRAM M4            (2020:0000-2023:ffff)
+  */
+
+MEMORY
+{
+  flash (rx)  : ORIGIN = 0x30000000, LENGTH = 128K
+  sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k
+  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
+  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+EXTERN(g_flash_config)
+EXTERN(g_image_vector_table)
+EXTERN(g_boot_data)
+EXTERN(board_get_manifest)
+EXTERN(_bootdelay_signature)
+
+ENTRY(__start)
+
+SECTIONS
+{
+    /* Image Vector Table and Boot Data for booting from external flash */
+
+    .boot_hdr : ALIGN(4)
+    {
+        FILL(0xff)
+        . = 0x400 ;
+        __boot_hdr_start__ = ABSOLUTE(.) ;
+        KEEP(*(.boot_hdr.conf))
+        . = 0x1000 ;
+        KEEP(*(.boot_hdr.ivt))
+        . = 0x1020 ;
+        KEEP(*(.boot_hdr.boot_data))
+        . = 0x1030 ;
+        KEEP(*(.boot_hdr.dcd_data))
+        __boot_hdr_end__ = ABSOLUTE(.) ;
+        . = 0x2000 ;
+    } >flash
+
+    .vectors :
+    {
+        KEEP(*(.vectors))
+        *(.text .text.__start)
+    } >flash
+
+    .itcmfunc :
+    {
+        . = ALIGN(8);
+        _sitcmfuncs = ABSOLUTE(.);
+        FILL(0xFF)
+        . = 0x40 ;
+        . = ALIGN(8);
+        _eitcmfuncs = ABSOLUTE(.);
+    } > itcm AT > flash
+
+    _fitcmfuncs = LOADADDR(.itcmfunc);
+
+    /* The RAM vector table (if present) should lie at the beginning of SRAM */
+
+    .ram_vectors (COPY) : {
+        *(.ram_vectors)
+    } > dtcm
+
+    .text : ALIGN(4)
+    {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        . = ALIGN(4096);
+        _etext = ABSOLUTE(.);
+        _srodata = ABSOLUTE(.);
+        *(.rodata .rodata.*)
+        . = ALIGN(4096);
+        _erodata = ABSOLUTE(.);
+    } > flash
+
+    .init_section :
+    {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > flash
+
+    .ARM.extab :
+    {
+        *(.ARM.extab*)
+    } > flash
+
+    .ARM.exidx :
+    {
+        __exidx_start = ABSOLUTE(.);
+        *(.ARM.exidx*)
+        __exidx_end = ABSOLUTE(.);
+    } > flash
+
+    _eronly = ABSOLUTE(.);
+
+    .data :
+    {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        . = ALIGN(4);
+        _edata = ABSOLUTE(.);
+    } > sram AT > flash
+
+    .ramfunc ALIGN(4):
+    {
+        _sramfuncs = ABSOLUTE(.);
+        *(.ramfunc  .ramfunc.*)
+        _eramfuncs = ABSOLUTE(.);
+    } > sram AT > flash
+
+    _framfuncs = LOADADDR(.ramfunc);
+
+    .bss :
+    {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > sram
+
+    /* 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) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+
+    _boot_loadaddr = ORIGIN(flash);
+    _boot_size = LENGTH(flash);
+    _ram_size = LENGTH(sram);
+    _sdtcm = ORIGIN(dtcm);
+    _edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
+}

boards/nxp/fmurt1170-v1/nuttx-config/scripts/ocram-script.ld

@@ -64,7 +64,7 @@
 
 MEMORY
 {
-  flash    (rx)  : ORIGIN = 0x30000000, LENGTH = 7M
+  flash    (rx)  : ORIGIN = 0x30040000, LENGTH = 7M-256K
   flashxip (rx)  : ORIGIN = 0x30700000, LENGTH = 1M
   /*                     Vectors @ boot+ivt   OCRAM2   Flex RAM     Boot  IVT */
   sram     (rwx) : ORIGIN = 0x20240000 + 40K, LENGTH = 512K + 256K + 128K - (32K + 8K)
@@ -78,6 +78,7 @@ EXTERN(g_flash_config)
 EXTERN(g_image_vector_table)
 EXTERN(g_boot_data)
 EXTERN(g_dcd_data)
+EXTERN(_bootdelay_signature)
 
 ENTRY(_stext)
 
@@ -222,6 +223,13 @@ SECTIONS
     {
         _stext = ABSOLUTE(.);
         *(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
         *(.text .text.*)
         _etext = ABSOLUTE(.);
 

boards/nxp/fmurt1170-v1/nuttx-config/scripts/script.ld

@@ -34,7 +34,7 @@
 
 MEMORY
 {
-  flash (rx)  : ORIGIN = 0x30000000, LENGTH = 3M /* We have 64M but we do not want to wait to program it all */
+  flash (rx)  : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */
   sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k
   itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
   dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
@@ -46,6 +46,7 @@ EXTERN(g_flash_config)
 EXTERN(g_image_vector_table)
 EXTERN(g_boot_data)
 EXTERN(board_get_manifest)
+EXTERN(_bootdelay_signature)
 
 ENTRY(__start)
 
@@ -98,6 +99,13 @@ SECTIONS
     {
         _stext = ABSOLUTE(.);
         *(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
         *(.text .text.*)
         *(.fixup)
         *(.gnu.warning)